diff --git a/controls/.gitignore b/controls/.gitignore
deleted file mode 100644
index 8b19222b04b8afacb65b2cf3b41651efc7b162e0..0000000000000000000000000000000000000000
--- a/controls/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*.asv
-*.autosave
\ No newline at end of file
diff --git a/controls/model/IMU_prototype.mdl b/controls/model/IMU_prototype.mdl
index 0719120da90753a997289c717475134c7fd8b8eb..26f8dfe330d2d394f0907001dd9a2f2d7ac57720 100644
--- a/controls/model/IMU_prototype.mdl
+++ b/controls/model/IMU_prototype.mdl
@@ -1,16 +1,26 @@
Model {
Name "IMU_prototype"
- Version 8.5
- MdlSubVersion 0
+ Version 8.8
SavedCharacterEncoding "windows-1252"
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.7"
+ ComputedModelVersion "1.9"
NumModelReferences 0
NumTestPointedSignals 0
+ NumProvidedFunctions 0
+ NumRequiredFunctions 0
+ NumResetEvents 0
+ HasInitializeEvent 0
+ HasTerminateEvent 0
+ IsExportFunctionModel 0
}
+ LogicAnalyzerGraphicalSettings ""
+ LogicAnalyzerPlugin "on"
+ LogicAnalyzerSignalOrdering ""
+ DiagnosticSuppressor "on"
+ SuppressorTable "22 serialization::archive 11 0 3 0 0 0 8 0"
ScopeRefreshTime 0.035000
OverrideScopeRefreshTime on
DisableAllScopes on
@@ -20,6 +30,7 @@ Model {
MinMaxOverflowArchiveMode "Overwrite"
FPTRunName "Run 1"
MaxMDLFileLineLength 120
+ LastSavedArchitecture "win64"
Object {
$PropName "BdWindowsInfo"
$ObjectID 1
@@ -29,7 +40,7 @@ Model {
$ObjectID 2
$ClassName "Simulink.WindowInfo"
IsActive [1]
- Location [750.0, 139.0, 1062.0, 703.0]
+ Location [-8.0, -8.0, 1936.0, 1056.0]
Object {
$PropName "ModelBrowserInfo"
$ObjectID 3
@@ -38,7 +49,7 @@ Model {
DockPosition "Left"
Width [50]
Height [50]
- Filter [8]
+ Filter [9]
}
Object {
$PropName "ExplorerBarInfo"
@@ -51,23 +62,46 @@ Model {
$ObjectID 5
$ClassName "Simulink.EditorInfo"
IsActive [1]
- ViewObjType "SimulinkTopLevel"
- LoadSaveID "0"
- Extents [1028.0, 548.0]
- ZoomFactor [1.0]
- Offset [-12.68749862909317, -115.07500931620598]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "20"
+ Extents [1755.0, 876.0]
+ ZoomFactor [1.5]
+ Offset [-45.247619047619196, -6.2261904761904816]
}
+ Object {
+ $PropName "DockComponentsInfo"
+ $ObjectID 6
+ $ClassName "Simulink.DockComponentInfo"
+ Type "GLUE2:PropertyInspector"
+ ID "Property Inspector"
+ Visible [0]
+ CreateCallback ""
+ UserData ""
+ Floating [0]
+ DockPosition "Right"
+ Width [640]
+ Height [480]
+ }
+ WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
+ "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
+ "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABfAP///wAAAAEAAAAAAAAAAPwCA"
+ "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
+ "QBjAHQAbwByAAAAAAD/////AAAAJwD///8AAAeAAAADogAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
+ "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
+ "////wEAAAB5/////wAAAAAAAAAA/////wEAAADa/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFT/////wAAAAAAAAAA/"
+ "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAMr/////wAAAAAAAAAA/"
+ "////wEAAANa/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
}
}
Created "Wed Nov 16 14:00:52 2016"
Creator "m87rich"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
- LastModifiedBy "m87rich"
+ LastModifiedBy "Andy"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Wed Nov 16 14:55:39 2016"
- RTWModifiedTimeStamp 401208787
- ModelVersionFormat "1.%<AutoIncrement:7>"
+ LastModifiedDate "Fri Nov 18 17:01:30 2016"
+ RTWModifiedTimeStamp 401389289
+ ModelVersionFormat "1.%<AutoIncrement:9>"
ConfigurationManager "none"
SampleTimeColors off
SampleTimeAnnotations off
@@ -75,6 +109,10 @@ Model {
WideLines off
ShowLineDimensions off
ShowPortDataTypes off
+ ShowEditTimeErrors on
+ ShowEditTimeWarnings on
+ ShowEditTimeAdvisorChecks off
+ ShowPortUnits off
ShowDesignRanges off
ShowLoopsOnError on
IgnoreBidirectionalLines off
@@ -83,8 +121,10 @@ Model {
ShowSignalResolutionIcons on
ShowViewerIcons on
SortedOrder off
+ VariantCondition off
ExecutionContextIcon off
ShowLinearizationAnnotations on
+ ShowVisualizeInsertedRTB on
ShowMarkup on
BlockNameDataTip off
BlockParametersDataTip off
@@ -92,6 +132,7 @@ Model {
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
+ FunctionConnectors off
BrowserLookUnderMasks off
SimulationMode "normal"
PauseTimes "5"
@@ -108,10 +149,10 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 6
+ $ObjectID 7
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "IMU_prototype"
- overrideMode_ [0U]
+ overrideMode_ [0.0]
Array {
Type "Cell"
Dimension 1
@@ -125,27 +166,6 @@ Model {
PropName "logAsSpecifiedByModelsSSIDs_"
}
}
- RecordCoverage off
- CovPath "/"
- CovSaveName "covdata"
- CovMetricSettings "dw"
- CovNameIncrementing off
- CovHtmlReporting on
- CovForceBlockReductionOff on
- CovEnableCumulative on
- covSaveCumulativeToWorkspaceVar on
- CovSaveSingleToWorkspaceVar on
- CovCumulativeVarName "covCumulativeData"
- CovCumulativeReport off
- CovReportOnPause on
- CovModelRefEnable "Off"
- CovExternalEMLEnable off
- CovSFcnEnable on
- CovBoundaryAbsTol 0.000010
- CovBoundaryRelTol 0.010000
- CovUseTimeInterval off
- CovStartTime 0
- CovStopTime 0
ExtModeBatchMode off
ExtModeEnableFloating on
ExtModeTrigType "manual"
@@ -173,14 +193,18 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 7
- Version "1.15.0"
+ $ObjectID 8
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
Array {
Type "Handle"
- Dimension 8
+ Dimension 9
Simulink.SolverCC {
- $ObjectID 8
- Version "1.15.0"
+ $ObjectID 9
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
StartTime "0.0"
StopTime "1"
AbsTol "auto"
@@ -197,7 +221,7 @@ Model {
MinStep "auto"
MaxConsecutiveMinStep "1"
RelTol "1e-3"
- SolverMode "Auto"
+ EnableMultiTasking on
EnableConcurrentExecution off
ConcurrentTasks off
Solver "ode45"
@@ -207,15 +231,20 @@ Model {
ZeroCrossControl "UseLocalSettings"
ZeroCrossAlgorithm "Nonadaptive"
AlgebraicLoopSolver "TrustRegion"
+ SolverInfoToggleStatus off
+ IsAutoAppliedInSIP off
SolverResetMethod "Fast"
PositivePriorityOrder off
AutoInsertRateTranBlk off
SampleTimeConstraint "Unconstrained"
InsertRTBMode "Whenever possible"
+ SampleTimeProperty []
}
Simulink.DataIOCC {
- $ObjectID 9
- Version "1.15.0"
+ $ObjectID 10
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
Decimation "1"
ExternalInput "[t, u]"
FinalStateName "xFinal"
@@ -234,6 +263,8 @@ Model {
DSMLogging on
InspectSignalLogs off
VisualizeSimOutput on
+ StreamToWorkspace off
+ StreamVariableName "streamout"
SaveTime on
ReturnWorkspaceOutputs off
StateSaveName "xout"
@@ -245,10 +276,13 @@ Model {
OutputTimes "[]"
ReturnWorkspaceOutputsName "out"
Refine "1"
+ LoggingToFile off
+ LoggingFileName "out.mat"
+ LoggingIntervals "[-inf, inf]"
}
Simulink.OptimizationCC {
- $ObjectID 10
- Version "1.15.0"
+ $ObjectID 11
+ Version "1.16.5"
Array {
Type "Cell"
Dimension 8
@@ -262,10 +296,11 @@ Model {
Cell "UseSpecifiedMinMax"
PropName "DisabledProps"
}
+ Description ""
BlockReduction on
BooleanDataType on
ConditionallyExecuteInputs on
- InlineParams off
+ DefaultParameterBehavior "Tunable"
UseDivisionForNetSlopeComputation "off"
UseFloatMulNetSlope off
DefaultUnderspecifiedDataType "double"
@@ -277,6 +312,7 @@ Model {
CachingGlobalReferences off
GlobalBufferReuse on
StrengthReduction off
+ AdvancedOptControl ""
ExpressionFolding on
BooleansAsBitfields off
BitfieldContainerType "uint_T"
@@ -296,7 +332,6 @@ Model {
NoFixptDivByZeroProtection off
EfficientFloat2IntCast off
EfficientMapNaN2IntZero on
- OptimizeModelRefInitCode off
LifeSpan "inf"
MaxStackSize "Inherit from target"
BufferReusableBoundary on
@@ -304,8 +339,15 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 11
- Version "1.15.0"
+ $ObjectID 12
+ Version "1.16.5"
+ Array {
+ Type "Cell"
+ Dimension 1
+ Cell "UseOnlyExistingSharedCode"
+ PropName "DisabledProps"
+ }
+ Description ""
RTPrefix "error"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
@@ -332,7 +374,6 @@ Model {
IgnoredZcDiagnostic "warning"
SolverPrmCheckMsg "none"
InheritedTsInSrcMsg "warning"
- DiscreteInheritContinuousMsg "warning"
MultiTaskDSMMsg "error"
MultiTaskCondExecSysMsg "error"
MultiTaskRateTransMsg "error"
@@ -354,17 +395,20 @@ Model {
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
- FcnCallInpInsideContextMsg "EnableAllAsError"
+ FcnCallInpInsideContextMsg "error"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
+ UseOnlyExistingSharedCode "error"
SFcnCompatibilityMsg "none"
FrameProcessingCompatibilityMsg "error"
UniqueDataStoreMsg "none"
BusObjectLabelMismatch "warning"
RootOutportRequireBusObject "warning"
AssertControl "UseLocalSettings"
+ AllowSymbolicDim on
+ RowMajorDimensionSupport off
ModelReferenceIOMsg "none"
ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
ModelReferenceVersionMismatchMessage "none"
@@ -380,21 +424,33 @@ Model {
StrictBusMsg "ErrorLevel1"
BusNameAdapt "WarnAndRepair"
NonBusSignalsTreatedAsBus "none"
+ SymbolicDimMinMaxWarning "warning"
+ LossOfSymbolicDimsSimulationWarning "warning"
+ LossOfSymbolicDimsCodeGenerationWarning "error"
BlockIODiagnostic "none"
SFUnusedDataAndEventsDiag "warning"
SFUnexpectedBacktrackingDiag "warning"
SFInvalidInputDataAccessInChartInitDiag "warning"
SFNoUnconditionalDefaultTransitionDiag "warning"
SFTransitionOutsideNaturalParentDiag "warning"
- SFUnconditionalTransitionShadowingDiag "warning"
+ SFUnreachableExecutionPathDiag "warning"
SFUndirectedBroadcastEventsDiag "warning"
SFTransitionActionBeforeConditionDiag "warning"
SFOutputUsedAsStateInMooreChartDiag "error"
+ SFTemporalDelaySmallerThanSampleTimeDiag "warning"
+ SFSelfTransitionDiag "warning"
+ SFExecutionAtInitializationDiag "none"
+ SFMachineParentedDataDiag "warning"
IntegerSaturationMsg "warning"
+ AllowedUnitSystems "all"
+ UnitsInconsistencyMsg "warning"
+ AllowAutomaticUnitConversions on
}
Simulink.HardwareCC {
- $ObjectID 12
- Version "1.15.0"
+ $ObjectID 13
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
ProdBitPerChar 8
ProdBitPerShort 16
ProdBitPerInt 32
@@ -403,6 +459,8 @@ Model {
ProdBitPerFloat 32
ProdBitPerDouble 64
ProdBitPerPointer 32
+ ProdBitPerSizeT 32
+ ProdBitPerPtrDiffT 32
ProdLargestAtomicInteger "Char"
ProdLargestAtomicFloat "None"
ProdIntDivRoundTo "Undefined"
@@ -419,6 +477,8 @@ Model {
TargetBitPerFloat 32
TargetBitPerDouble 64
TargetBitPerPointer 32
+ TargetBitPerSizeT 32
+ TargetBitPerPtrDiffT 32
TargetLargestAtomicInteger "Char"
TargetLargestAtomicFloat "None"
TargetShiftRightIntArith on
@@ -431,26 +491,44 @@ Model {
TargetHWDeviceType "Specified"
TargetUnknown off
ProdEqTarget on
+ UseEmbeddedCoderFeatures on
+ UseSimulinkCoderFeatures on
}
Simulink.ModelReferenceCC {
- $ObjectID 13
- Version "1.15.0"
+ $ObjectID 14
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
+ EnableRefExpFcnMdlSchedulingChecks on
CheckModelReferenceTargetMessage "error"
EnableParallelModelReferenceBuilds off
ParallelModelReferenceErrorOnInvalidPool on
ParallelModelReferenceMATLABWorkerInit "None"
ModelReferenceNumInstancesAllowed "Multi"
PropagateVarSize "Infer from blocks in model"
+ ModelDependencies ""
ModelReferencePassRootInputsByReference on
ModelReferenceMinAlgLoopOccurrences off
PropagateSignalLabelsOutOfModel off
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 14
- Version "1.15.0"
- SFSimOverflowDetection on
+ $ObjectID 15
+ Version "1.16.5"
+ DisabledProps []
+ Description ""
+ SimCustomSourceCode ""
+ SimCustomHeaderCode ""
+ SimCustomInitializer ""
+ SimCustomTerminator ""
+ SimReservedNameArray []
+ SimUserSources ""
+ SimUserIncludeDirs ""
+ SimUserLibraries ""
+ SimUserDefines ""
+ SimCustomCompilerFlags ""
+ SimCustomLinkerFlags ""
SFSimEcho on
SimCtrlC on
SimIntegrity on
@@ -458,11 +536,14 @@ Model {
SimParseCustomCode on
SimBuildMode "sf_incremental_build"
SimGenImportedTypeDefs off
+ ModelFunctionsGlobalVisibility "on"
+ CompileTimeRecursionLimit 50
+ EnableRuntimeRecursion on
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 15
- Version "1.15.0"
+ $ObjectID 16
+ Version "1.16.5"
Array {
Type "Cell"
Dimension 16
@@ -485,6 +566,7 @@ Model {
PropName "DisabledProps"
}
SystemTargetFile "grt.tlc"
+ HardwareBoard "None"
TLCOptions ""
GenCodeOnly off
MakeCommand "make_rtw"
@@ -498,6 +580,7 @@ Model {
SaveLog off
RTWVerbose on
RetainRTWFile off
+ RTWBuildHooks []
ProfileTLC off
TLCDebug off
TLCCoverage off
@@ -509,10 +592,13 @@ Model {
CustomInclude ""
CustomSource ""
CustomLibrary ""
+ CustomDefine ""
+ CustomLAPACKCallback ""
CustomInitializer ""
CustomTerminator ""
Toolchain "Automatically locate an installed toolchain"
BuildConfiguration "Faster Builds"
+ CustomToolchainOptions []
IncludeHyperlinkInReport off
LaunchReport off
PortableWordSizes off
@@ -534,6 +620,7 @@ Model {
GenerateCodeReplacementReport off
GenerateMissedCodeReplacementReport off
RTWCompilerOptimization "off"
+ ObjectivePriorities []
RTWCustomCompilerOptimizations ""
CheckMdlBeforeBuild "Off"
SharedConstantsCachingThreshold 1024
@@ -541,11 +628,11 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 16
- Version "1.15.0"
+ $ObjectID 17
+ Version "1.16.5"
Array {
Type "Cell"
- Dimension 24
+ Dimension 26
Cell "IgnoreCustomStorageClasses"
Cell "ParameterTuningSideEffectCode"
Cell "IgnoreTestpoints"
@@ -570,8 +657,12 @@ Model {
Cell "CustomSymbolStrMacro"
Cell "CustomSymbolStrUtil"
Cell "ReqsInCode"
+ Cell "CustomSymbolStrModelFcn"
+ Cell "CustomUserTokenString"
PropName "DisabledProps"
}
+ Description ""
+ Comment ""
ForceParamTrailComments off
GenerateComments on
CommentStyle "Auto"
@@ -593,31 +684,39 @@ Model {
CustomSymbolStrType "$N$R$M_T"
CustomSymbolStrField "$N$M"
CustomSymbolStrFcn "$R$N$M$F"
+ CustomSymbolStrModelFcn "$R$N"
CustomSymbolStrFcnArg "rt$I$N$M"
CustomSymbolStrBlkIO "rtb_$N$M"
CustomSymbolStrTmpVar "$N$M"
CustomSymbolStrMacro "$R$N$M"
CustomSymbolStrUtil "$N$C"
+ CustomUserTokenString ""
+ CustomCommentsFcn ""
DefineNamingRule "None"
+ DefineNamingFcn ""
ParamNamingRule "None"
+ ParamNamingFcn ""
SignalNamingRule "None"
+ SignalNamingFcn ""
InsertBlockDesc off
InsertPolySpaceComments off
SimulinkBlockComments on
MATLABSourceComments off
EnableCustomComments off
+ InternalIdentifierFile ""
InternalIdentifier "Shortened"
InlinedPrmAccess "Literals"
ReqsInCode off
UseSimReservedNames off
+ ReservedNameArray []
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 17
- Version "1.15.0"
+ $ObjectID 18
+ Version "1.16.5"
Array {
Type "Cell"
- Dimension 13
+ Dimension 16
Cell "GeneratePreprocessorConditionals"
Cell "IncludeMdlTerminateFcn"
Cell "SuppressErrorStatus"
@@ -631,8 +730,12 @@ Model {
Cell "SupportAbsoluteTime"
Cell "SupportContinuousTime"
Cell "SupportNonInlinedSFcns"
+ Cell "ExistingSharedCode"
+ Cell "RemoveDisableFunc"
+ Cell "RemoveResetFunc"
PropName "DisabledProps"
}
+ Description ""
TargetFcnLib "ansi_tfl_table_tmw.mat"
TargetLibSuffix ""
TargetPreCompLibLocation ""
@@ -645,6 +748,7 @@ Model {
MultiwordLength 2048
GenerateFullHeader on
InferredTypesCompatibility off
+ ExistingSharedCode ""
GenerateSampleERTMain off
GenerateTestInterfaces off
ModelReferenceCompliant on
@@ -669,6 +773,8 @@ Model {
PurelyIntegerCode off
SupportContinuousTime on
SupportNonInlinedSFcns on
+ RemoveDisableFunc off
+ RemoveResetFunc off
SupportVariableSizeSignals off
ParenthesesLevel "Nominal"
CastingMode "Nominal"
@@ -676,9 +782,12 @@ Model {
ModelStepFunctionPrototypeControlCompliant off
CPPClassGenCompliant on
AutosarCompliant off
+ MDXCompliant off
GRTInterface off
GenerateAllocFcn off
+ UseToolchainInfoCompliant on
GenerateSharedConstants on
+ CoderGroups []
UseMalloc off
ExtMode off
ExtModeStaticAlloc off
@@ -686,6 +795,7 @@ Model {
ExtModeStaticAllocSize 1000000
ExtModeTransport 0
ExtModeMexFile "ext_comm"
+ ExtModeMexArgs ""
ExtModeIntrfLevel "Level1"
RTWCAPISignals off
RTWCAPIParams off
@@ -697,9 +807,49 @@ Model {
PropName "Components"
}
}
+ SlCovCC.ConfigComp {
+ $ObjectID 19
+ Version "1.16.5"
+ DisabledProps []
+ Description "Simulink Coverage Configuration Component"
+ Name "Simulink Coverage"
+ CovEnable off
+ CovScope "EntireSystem"
+ CovIncludeTopModel on
+ RecordCoverage off
+ CovPath "/"
+ CovSaveName "covdata"
+ CovCompData ""
+ CovMetricSettings "dw"
+ CovFilter ""
+ CovHTMLOptions ""
+ CovNameIncrementing off
+ CovHtmlReporting on
+ CovForceBlockReductionOff on
+ CovEnableCumulative on
+ CovSaveCumulativeToWorkspaceVar on
+ CovSaveSingleToWorkspaceVar on
+ CovCumulativeVarName "covCumulativeData"
+ CovCumulativeReport off
+ CovSaveOutputData on
+ CovOutputDir "slcov_output/$ModelName$"
+ CovDataFileName "$ModelName$_cvdata"
+ CovShowResultsExplorer on
+ CovReportOnPause on
+ CovModelRefEnable "off"
+ CovModelRefExcluded ""
+ CovExternalEMLEnable off
+ CovSFcnEnable on
+ CovBoundaryAbsTol 1e-05
+ CovBoundaryRelTol 0.01
+ CovUseTimeInterval off
+ CovStartTime 0
+ CovStopTime 0
+ }
PropName "Components"
}
Name "Configuration"
+ ExtraOptions ""
CurrentDlgPage "Solver"
ConfigPrmDlgPosition [ 228, 112, 1308, 752 ]
}
@@ -707,11 +857,11 @@ Model {
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 7
+ $ObjectID 8
}
Object {
$PropName "DataTransfer"
- $ObjectID 18
+ $ObjectID 20
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -754,7 +904,7 @@ Model {
MaskDefaults {
SelfModifiable "off"
IconFrame "on"
- IconOpaque "on"
+ IconOpaque "opaque"
RunInitForIconRedraw "off"
IconRotate "none"
PortRotate "default"
@@ -802,6 +952,7 @@ Model {
OutDataTypeStr "Inherit: auto"
LockScale off
BusOutputAsStruct off
+ Unit "inherit"
PortDimensions "-1"
VarSizeSig "Inherit"
SampleTime "-1"
@@ -819,11 +970,13 @@ Model {
OutDataTypeStr "Inherit: auto"
LockScale off
BusOutputAsStruct off
+ Unit "inherit"
PortDimensions "-1"
VarSizeSig "Inherit"
SampleTime "-1"
SignalType "auto"
SamplingMode "auto"
+ EnsureOutportIsVirtual off
SourceOfInitialOutputValue "Dialog"
OutputWhenDisabled "held"
InitialOutput "[]"
@@ -847,28 +1000,11 @@ Model {
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
- SFunctionDeploymentMode off
- EnableBusSupport off
}
Block {
BlockType Scope
- ModelBased off
- TickLabels "OneTimeTick"
- ZoomMode "on"
- Grid "on"
- ShowLegends off
- TimeRange "auto"
- YMin "-5"
- YMax "5"
- SaveToWorkspace off
- SaveName "ScopeData"
- DataFormat "Array"
- LimitDataPoints on
- MaxDataPoints "5000"
- Decimation "1"
- SampleInput off
- SampleTime "-1"
- ScrollMode off
+ DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg"
+ Floating off
}
Block {
BlockType SubSystem
@@ -878,7 +1014,6 @@ Model {
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
- CheckFcnCallInpInsideContextMsg off
SystemSampleTime "-1"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
@@ -897,8 +1032,9 @@ Model {
Opaque off
MaskHideContents off
SFBlockType "NONE"
- Variant off
GeneratePreprocessorConditionals off
+ PropagateVariantConditions off
+ TreatAsGroupedWhenPropagatingVariantConditions on
ContentPreviewEnabled off
IsWebBlock off
}
@@ -928,8 +1064,8 @@ Model {
}
System {
Name "IMU_prototype"
- Location [750, 139, 1812, 842]
- Open on
+ Location [-8, -8, 1928, 1048]
+ Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -940,7 +1076,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "250"
ReportName "simulink-default.rpt"
SIDHighWatermark "33"
Block {
@@ -960,10 +1096,11 @@ Model {
Position [365, 81, 550, 174]
ZOrder 20
RequestExecContextInheritance off
+ Variant off
System {
Name "IMU"
- Location [750, 139, 1812, 842]
- Open off
+ Location [-8, -8, 1928, 1048]
+ Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -974,10 +1111,10 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "150"
Block {
BlockType Inport
- Name "dv"
+ Name "B_vo_dot"
SID "21"
Position [110, 173, 140, 187]
ZOrder 17
@@ -985,7 +1122,7 @@ Model {
}
Block {
BlockType Inport
- Name "v"
+ Name "B_vo"
SID "29"
Position [110, 208, 140, 222]
ZOrder 25
@@ -994,7 +1131,7 @@ Model {
}
Block {
BlockType Inport
- Name "Omega"
+ Name "B_Omega"
SID "30"
Position [110, 243, 140, 257]
ZOrder 26
@@ -1003,7 +1140,7 @@ Model {
}
Block {
BlockType Inport
- Name "g"
+ Name "B_Fg"
SID "31"
Position [110, 278, 140, 292]
ZOrder 27
@@ -1014,14 +1151,14 @@ Model {
BlockType Ground
Name "Ground"
SID "27"
- Position [500, 460, 520, 480]
+ Position [500, 365, 520, 385]
ZOrder 23
}
Block {
BlockType Ground
Name "Ground1"
SID "28"
- Position [500, 30, 520, 50]
+ Position [500, 120, 520, 140]
ZOrder 24
}
Block {
@@ -1037,6 +1174,7 @@ Model {
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
+ Variant off
System {
Name "MATLAB Function"
Location [223, 338, 826, 833]
@@ -1052,10 +1190,10 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
- SIDHighWatermark "23"
+ SIDHighWatermark "26"
Block {
BlockType Inport
- Name "dv"
+ Name "B_vo_dot"
SID "1::1"
Position [20, 101, 40, 119]
ZOrder -1
@@ -1063,7 +1201,7 @@ Model {
}
Block {
BlockType Inport
- Name "v"
+ Name "B_vo"
SID "1::22"
Position [20, 136, 40, 154]
ZOrder 13
@@ -1072,7 +1210,7 @@ Model {
}
Block {
BlockType Inport
- Name "Omega"
+ Name "B_Omega"
SID "1::19"
Position [20, 171, 40, 189]
ZOrder 10
@@ -1081,7 +1219,7 @@ Model {
}
Block {
BlockType Inport
- Name "g"
+ Name "B_Fg"
SID "1::20"
Position [20, 206, 40, 224]
ZOrder 11
@@ -1100,23 +1238,25 @@ Model {
Block {
BlockType Demux
Name " Demux "
- SID "1::17"
+ SID "1::25"
Ports [1, 1]
Position [270, 230, 320, 270]
- ZOrder 8
+ ZOrder 16
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
- SID "1::16"
+ SID "1::24"
Tag "Stateflow S-Function IMU_prototype 2"
Ports [5, 3]
- Position [180, 105, 230, 225]
- ZOrder 7
+ Position [180, 100, 230, 220]
+ ZOrder 15
FunctionName "sf_sfun"
PortCounts "[5 3]"
- EnableBusSupport on
+ SFunctionDeploymentMode off
+ EnableBusSupport off
+ SFcnIsStateOwnerBlock off
Port {
PortNumber 2
Name "accel_reading"
@@ -1133,9 +1273,9 @@ Model {
Block {
BlockType Terminator
Name " Terminator "
- SID "1::18"
+ SID "1::26"
Position [460, 241, 480, 259]
- ZOrder 9
+ ZOrder 17
}
Block {
BlockType Outport
@@ -1155,35 +1295,35 @@ Model {
IconDisplay "Port number"
}
Line {
- ZOrder 43
- SrcBlock "dv"
+ ZOrder 52
+ SrcBlock "B_vo_dot"
SrcPort 1
DstBlock " SFunction "
DstPort 1
}
Line {
- ZOrder 44
- SrcBlock "v"
+ ZOrder 53
+ SrcBlock "B_vo"
SrcPort 1
DstBlock " SFunction "
DstPort 2
}
Line {
- ZOrder 45
- SrcBlock "Omega"
+ ZOrder 54
+ SrcBlock "B_Omega"
SrcPort 1
DstBlock " SFunction "
DstPort 3
}
Line {
- ZOrder 46
- SrcBlock "g"
+ ZOrder 55
+ SrcBlock "B_Fg"
SrcPort 1
DstBlock " SFunction "
DstPort 4
}
Line {
- ZOrder 47
+ ZOrder 56
SrcBlock "r_oc"
SrcPort 1
DstBlock " SFunction "
@@ -1191,7 +1331,7 @@ Model {
}
Line {
Name "accel_reading"
- ZOrder 48
+ ZOrder 57
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 2
@@ -1200,7 +1340,7 @@ Model {
}
Line {
Name "gyro_reading"
- ZOrder 49
+ ZOrder 58
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 3
@@ -1208,16 +1348,17 @@ Model {
DstPort 1
}
Line {
- ZOrder 50
+ ZOrder 59
SrcBlock " Demux "
SrcPort 1
DstBlock " Terminator "
DstPort 1
}
Line {
- ZOrder 51
+ ZOrder 60
SrcBlock " SFunction "
SrcPort 1
+ Points [20, 0]
DstBlock " Demux "
DstPort 1
}
@@ -1337,7 +1478,7 @@ Model {
BlockType Constant
Name "r_oc"
SID "32"
- Position [95, 307, 160, 333]
+ Position [30, 307, 95, 333]
ZOrder 28
Value "zeros(3,1)"
}
@@ -1462,28 +1603,28 @@ Model {
}
Line {
ZOrder 56
- SrcBlock "dv"
+ SrcBlock "B_vo_dot"
SrcPort 1
DstBlock "MATLAB Function"
DstPort 1
}
Line {
ZOrder 57
- SrcBlock "v"
+ SrcBlock "B_vo"
SrcPort 1
DstBlock "MATLAB Function"
DstPort 2
}
Line {
ZOrder 58
- SrcBlock "Omega"
+ SrcBlock "B_Omega"
SrcPort 1
DstBlock "MATLAB Function"
DstPort 3
}
Line {
ZOrder 59
- SrcBlock "g"
+ SrcBlock "B_Fg"
SrcPort 1
DstBlock "MATLAB Function"
DstPort 4
@@ -1504,24 +1645,13 @@ Model {
Ports [1]
Position [635, 134, 665, 166]
ZOrder 3
- Floating off
- Location [1, 55, 1921, 1029]
- Open off
+ ScopeSpecificationString "C++SS(StrPVP('Location','[1, 55, 1921, 1029]'),StrPVP('Open','off'),MxPVP('AxesTitles'"
+ ",24,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',28,'struct(''FigureColor'',''[0.5 0.5 0.5]'','"
+ "'AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]'',"
+ "''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerStyles'',''none|none|none|no"
+ "ne|none|none'')'),StrPVP('LimitDataPoints','on'),StrPVP('DataFormat','Array'),StrPVP('Decimation','1'),StrPVP('B"
+ "lockParamSampleInput','off'))"
NumInputPorts "1"
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- }
- List {
- ListType ScopeGraphics
- FigureColor "[0.5 0.5 0.5]"
- AxesColor "[0 0 0]"
- AxesTickColor "[1 1 1]"
- LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
- LineStyles "-|-|-|-|-|-"
- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
- MarkerStyles "none|none|none|none|none|none"
- }
}
Block {
BlockType Scope
@@ -1530,25 +1660,13 @@ Model {
Ports [1]
Position [590, 89, 620, 121]
ZOrder 13
- Floating off
- Location [188, 365, 512, 604]
- Open off
+ ScopeSpecificationString "C++SS(StrPVP('Location','[188, 365, 512, 604]'),StrPVP('Open','off'),MxPVP('AxesTitles"
+ "',24,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',28,'struct(''FigureColor'',''[0.5 0.5 0.5]'',"
+ "''AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]''"
+ ",''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerStyles'',''none|none|none|n"
+ "one|none|none'')'),StrPVP('SaveName','ScopeData1'),StrPVP('LimitDataPoints','on'),StrPVP('DataFormat','Array'),S"
+ "trPVP('Decimation','1'),StrPVP('BlockParamSampleInput','off'))"
NumInputPorts "1"
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- }
- List {
- ListType ScopeGraphics
- FigureColor "[0.5 0.5 0.5]"
- AxesColor "[0 0 0]"
- AxesTickColor "[1 1 1]"
- LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
- LineStyles "-|-|-|-|-|-"
- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
- MarkerStyles "none|none|none|none|none|none"
- }
- SaveName "ScopeData1"
}
Line {
ZOrder 55
@@ -1603,7 +1721,7 @@ Model {
}
#Finite State Machines
#
-# Stateflow 80000005
+# Stateflow 80000010
#
#
Stateflow {
@@ -1612,32 +1730,32 @@ Stateflow {
name "IMU_prototype"
created "16-Nov-2016 14:11:28"
isLibrary 0
+ sfVersion 80000010
firstTarget 14
- sfVersion 80000005
}
chart {
id 2
+ machine 1
name "IMU/MATLAB Function"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 3 0 0]
- firstTransition 12
- firstJunction 11
viewObj 2
visible 1
- machine 1
subviewS {
}
ssIdHighWaterMark 10
decomposition CLUSTER_CHART
type EML_CHART
- firstData 4
chartFileNumber 2
disableImplicitCasting 1
eml {
name "fcn"
}
+ firstData 4
+ firstTransition 12
+ firstJunction 11
}
state {
id 3
@@ -1653,17 +1771,16 @@ Stateflow {
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function [accel_reading,gyro_reading] = fcn(dv,v,Omega,g,r_oc)\n%#codegen\n\na = dv + cross(Omega"
- ",v) ; % body frame acceleration \n\naccel_reading = a - g ; % accelerometer reading (ideal)\n\ngyro_reading = Om"
- "ega ; % gyroscope reading (ideal) \n\nend\n\n"
+ script "function [accel_reading,gyro_reading] = fcn(B_vo_dot, B_vo, B_Omega, B_Fg, r_oc)\n%#codegen\n\na "
+ "= B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccel_reading = a - B_Fg ; % accelerometer read"
+ "ing (ideal)\n\ngyro_reading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 4
ssIdNumber 4
- name "dv"
- linkNode [2 0 5]
+ name "B_vo_dot"
scope INPUT_DATA
machine 1
props {
@@ -1675,14 +1792,17 @@ Stateflow {
primitive SF_DOUBLE_TYPE
}
complexity SF_COMPLEX_INHERITED
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 0 5]
}
data {
id 5
ssIdNumber 9
- name "v"
- linkNode [2 4 6]
+ name "B_vo"
scope INPUT_DATA
machine 1
props {
@@ -1697,14 +1817,17 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 4 6]
}
data {
id 6
ssIdNumber 5
name "accel_reading"
- linkNode [2 5 7]
scope OUTPUT_DATA
machine 1
props {
@@ -1717,14 +1840,17 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 5 7]
}
data {
id 7
ssIdNumber 6
- name "Omega"
- linkNode [2 6 8]
+ name "B_Omega"
scope INPUT_DATA
machine 1
props {
@@ -1739,14 +1865,17 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 6 8]
}
data {
id 8
ssIdNumber 7
- name "g"
- linkNode [2 7 9]
+ name "B_Fg"
scope INPUT_DATA
machine 1
props {
@@ -1761,14 +1890,17 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 7 9]
}
data {
id 9
ssIdNumber 8
name "gyro_reading"
- linkNode [2 8 10]
scope OUTPUT_DATA
machine 1
props {
@@ -1783,14 +1915,17 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 8 10]
}
data {
id 10
ssIdNumber 10
name "r_oc"
- linkNode [2 9 0]
scope INPUT_DATA
machine 1
props {
@@ -1805,17 +1940,21 @@ Stateflow {
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_INHERITED
+ unit {
+ name "inherit"
+ }
}
dataType "Inherit: Same as Simulink"
+ linkNode [2 9 0]
}
junction {
id 11
position [23.5747 49.5747 7]
chart 2
- linkNode [2 0 0]
subviewer 2
ssIdNumber 3
type CONNECTIVE_JUNCTION
+ linkNode [2 0 0]
}
transition {
id 12
@@ -1831,7 +1970,6 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 2
- linkNode [2 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 2
drawStyle SMART
@@ -1840,18 +1978,19 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
+ linkNode [2 0 0]
}
instance {
id 13
- name "IMU/MATLAB Function"
machine 1
+ name "IMU/MATLAB Function"
chart 2
}
target {
id 14
+ machine 1
name "sfun"
description "Default Simulink S-Function Target."
- machine 1
linkNode [1 0 0]
}
}
diff --git a/controls/model/IMU_prototype.mdl.r2015a b/controls/model/IMU_prototype.mdl.r2015a
new file mode 100644
index 0000000000000000000000000000000000000000..0719120da90753a997289c717475134c7fd8b8eb
--- /dev/null
+++ b/controls/model/IMU_prototype.mdl.r2015a
@@ -0,0 +1,1857 @@
+Model {
+ Name "IMU_prototype"
+ Version 8.5
+ MdlSubVersion 0
+ SavedCharacterEncoding "windows-1252"
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.7"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime on
+ DisableAllScopes on
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ FPTRunName "Run 1"
+ MaxMDLFileLineLength 120
+ Object {
+ $PropName "BdWindowsInfo"
+ $ObjectID 1
+ $ClassName "Simulink.BDWindowsInfo"
+ Object {
+ $PropName "WindowsInfo"
+ $ObjectID 2
+ $ClassName "Simulink.WindowInfo"
+ IsActive [1]
+ Location [750.0, 139.0, 1062.0, 703.0]
+ Object {
+ $PropName "ModelBrowserInfo"
+ $ObjectID 3
+ $ClassName "Simulink.ModelBrowserInfo"
+ Visible [0]
+ DockPosition "Left"
+ Width [50]
+ Height [50]
+ Filter [8]
+ }
+ Object {
+ $PropName "ExplorerBarInfo"
+ $ObjectID 4
+ $ClassName "Simulink.ExplorerBarInfo"
+ Visible [1]
+ }
+ Object {
+ $PropName "EditorsInfo"
+ $ObjectID 5
+ $ClassName "Simulink.EditorInfo"
+ IsActive [1]
+ ViewObjType "SimulinkTopLevel"
+ LoadSaveID "0"
+ Extents [1028.0, 548.0]
+ ZoomFactor [1.0]
+ Offset [-12.68749862909317, -115.07500931620598]
+ }
+ }
+ }
+ Created "Wed Nov 16 14:00:52 2016"
+ Creator "m87rich"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "m87rich"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Wed Nov 16 14:55:39 2016"
+ RTWModifiedTimeStamp 401208787
+ ModelVersionFormat "1.%<AutoIncrement:7>"
+ ConfigurationManager "none"
+ SampleTimeColors off
+ SampleTimeAnnotations off
+ LibraryLinkDisplay "disabled"
+ WideLines off
+ ShowLineDimensions off
+ ShowPortDataTypes off
+ ShowDesignRanges off
+ ShowLoopsOnError on
+ IgnoreBidirectionalLines off
+ ShowStorageClass off
+ ShowTestPointIcons on
+ ShowSignalResolutionIcons on
+ ShowViewerIcons on
+ SortedOrder off
+ ExecutionContextIcon off
+ ShowLinearizationAnnotations on
+ ShowMarkup on
+ BlockNameDataTip off
+ BlockParametersDataTip off
+ BlockDescriptionStringDataTip off
+ ToolBar on
+ StatusBar on
+ BrowserShowLibraryLinks off
+ BrowserLookUnderMasks off
+ SimulationMode "normal"
+ PauseTimes "5"
+ NumberOfSteps 1
+ SnapshotBufferSize 10
+ SnapshotInterval 10
+ NumberOfLastSnapshots 0
+ LinearizationMsg "none"
+ Profile off
+ ParamWorkspaceSource "MATLABWorkspace"
+ AccelSystemTargetFile "accel.tlc"
+ AccelTemplateMakefile "accel_default_tmf"
+ AccelMakeCommand "make_rtw"
+ TryForcingSFcnDF off
+ Object {
+ $PropName "DataLoggingOverride"
+ $ObjectID 6
+ $ClassName "Simulink.SimulationData.ModelLoggingInfo"
+ model_ "IMU_prototype"
+ overrideMode_ [0U]
+ Array {
+ Type "Cell"
+ Dimension 1
+ Cell "IMU_prototype"
+ PropName "logAsSpecifiedByModels_"
+ }
+ Array {
+ Type "Cell"
+ Dimension 1
+ Cell []
+ PropName "logAsSpecifiedByModelsSSIDs_"
+ }
+ }
+ RecordCoverage off
+ CovPath "/"
+ CovSaveName "covdata"
+ CovMetricSettings "dw"
+ CovNameIncrementing off
+ CovHtmlReporting on
+ CovForceBlockReductionOff on
+ CovEnableCumulative on
+ covSaveCumulativeToWorkspaceVar on
+ CovSaveSingleToWorkspaceVar on
+ CovCumulativeVarName "covCumulativeData"
+ CovCumulativeReport off
+ CovReportOnPause on
+ CovModelRefEnable "Off"
+ CovExternalEMLEnable off
+ CovSFcnEnable on
+ CovBoundaryAbsTol 0.000010
+ CovBoundaryRelTol 0.010000
+ CovUseTimeInterval off
+ CovStartTime 0
+ CovStopTime 0
+ ExtModeBatchMode off
+ ExtModeEnableFloating on
+ ExtModeTrigType "manual"
+ ExtModeTrigMode "normal"
+ ExtModeTrigPort "1"
+ ExtModeTrigElement "any"
+ ExtModeTrigDuration 1000
+ ExtModeTrigDurationFloating "auto"
+ ExtModeTrigHoldOff 0
+ ExtModeTrigDelay 0
+ ExtModeTrigDirection "rising"
+ ExtModeTrigLevel 0
+ ExtModeArchiveMode "off"
+ ExtModeAutoIncOneShot off
+ ExtModeIncDirWhenArm off
+ ExtModeAddSuffixToVar off
+ ExtModeWriteAllDataToWs off
+ ExtModeArmWhenConnect on
+ ExtModeSkipDownloadWhenConnect off
+ ExtModeLogAll on
+ ExtModeAutoUpdateStatusClock on
+ ShowModelReferenceBlockVersion off
+ ShowModelReferenceBlockIO off
+ Array {
+ Type "Handle"
+ Dimension 1
+ Simulink.ConfigSet {
+ $ObjectID 7
+ Version "1.15.0"
+ Array {
+ Type "Handle"
+ Dimension 8
+ Simulink.SolverCC {
+ $ObjectID 8
+ Version "1.15.0"
+ StartTime "0.0"
+ StopTime "1"
+ AbsTol "auto"
+ FixedStep "auto"
+ InitialStep "auto"
+ MaxNumMinSteps "-1"
+ MaxOrder 5
+ ZcThreshold "auto"
+ ConsecutiveZCsStepRelTol "10*128*eps"
+ MaxConsecutiveZCs "1000"
+ ExtrapolationOrder 4
+ NumberNewtonIterations 1
+ MaxStep "auto"
+ MinStep "auto"
+ MaxConsecutiveMinStep "1"
+ RelTol "1e-3"
+ SolverMode "Auto"
+ EnableConcurrentExecution off
+ ConcurrentTasks off
+ Solver "ode45"
+ SolverName "ode45"
+ SolverJacobianMethodControl "auto"
+ ShapePreserveControl "DisableAll"
+ ZeroCrossControl "UseLocalSettings"
+ ZeroCrossAlgorithm "Nonadaptive"
+ AlgebraicLoopSolver "TrustRegion"
+ SolverResetMethod "Fast"
+ PositivePriorityOrder off
+ AutoInsertRateTranBlk off
+ SampleTimeConstraint "Unconstrained"
+ InsertRTBMode "Whenever possible"
+ }
+ Simulink.DataIOCC {
+ $ObjectID 9
+ Version "1.15.0"
+ Decimation "1"
+ ExternalInput "[t, u]"
+ FinalStateName "xFinal"
+ InitialState "xInitial"
+ LimitDataPoints on
+ MaxDataPoints "1000"
+ LoadExternalInput off
+ LoadInitialState off
+ SaveFinalState off
+ SaveCompleteFinalSimState off
+ SaveFormat "Array"
+ SignalLoggingSaveFormat "Dataset"
+ SaveOutput on
+ SaveState off
+ SignalLogging on
+ DSMLogging on
+ InspectSignalLogs off
+ VisualizeSimOutput on
+ SaveTime on
+ ReturnWorkspaceOutputs off
+ StateSaveName "xout"
+ TimeSaveName "tout"
+ OutputSaveName "yout"
+ SignalLoggingName "logsout"
+ DSMLoggingName "dsmout"
+ OutputOption "RefineOutputTimes"
+ OutputTimes "[]"
+ ReturnWorkspaceOutputsName "out"
+ Refine "1"
+ }
+ Simulink.OptimizationCC {
+ $ObjectID 10
+ Version "1.15.0"
+ Array {
+ Type "Cell"
+ Dimension 8
+ Cell "BooleansAsBitfields"
+ Cell "PassReuseOutputArgsAs"
+ Cell "PassReuseOutputArgsThreshold"
+ Cell "ZeroExternalMemoryAtStartup"
+ Cell "ZeroInternalMemoryAtStartup"
+ Cell "OptimizeModelRefInitCode"
+ Cell "NoFixptDivByZeroProtection"
+ Cell "UseSpecifiedMinMax"
+ PropName "DisabledProps"
+ }
+ BlockReduction on
+ BooleanDataType on
+ ConditionallyExecuteInputs on
+ InlineParams off
+ UseDivisionForNetSlopeComputation "off"
+ UseFloatMulNetSlope off
+ DefaultUnderspecifiedDataType "double"
+ UseSpecifiedMinMax off
+ InlineInvariantSignals off
+ OptimizeBlockIOStorage on
+ BufferReuse on
+ EnhancedBackFolding off
+ CachingGlobalReferences off
+ GlobalBufferReuse on
+ StrengthReduction off
+ ExpressionFolding on
+ BooleansAsBitfields off
+ BitfieldContainerType "uint_T"
+ EnableMemcpy on
+ MemcpyThreshold 64
+ PassReuseOutputArgsAs "Structure reference"
+ PassReuseOutputArgsThreshold 12
+ ExpressionDepthLimit 128
+ LocalBlockOutputs on
+ RollThreshold 5
+ StateBitsets off
+ DataBitsets off
+ ActiveStateOutputEnumStorageType "Native Integer"
+ ZeroExternalMemoryAtStartup on
+ ZeroInternalMemoryAtStartup on
+ InitFltsAndDblsToZero off
+ NoFixptDivByZeroProtection off
+ EfficientFloat2IntCast off
+ EfficientMapNaN2IntZero on
+ OptimizeModelRefInitCode off
+ LifeSpan "inf"
+ MaxStackSize "Inherit from target"
+ BufferReusableBoundary on
+ SimCompilerOptimization "off"
+ AccelVerboseBuild off
+ }
+ Simulink.DebuggingCC {
+ $ObjectID 11
+ Version "1.15.0"
+ RTPrefix "error"
+ ConsistencyChecking "none"
+ ArrayBoundsChecking "none"
+ SignalInfNanChecking "none"
+ SignalRangeChecking "none"
+ ReadBeforeWriteMsg "UseLocalSettings"
+ WriteAfterWriteMsg "UseLocalSettings"
+ WriteAfterReadMsg "UseLocalSettings"
+ AlgebraicLoopMsg "warning"
+ ArtificialAlgebraicLoopMsg "warning"
+ SaveWithDisabledLinksMsg "warning"
+ SaveWithParameterizedLinksMsg "warning"
+ CheckSSInitialOutputMsg on
+ UnderspecifiedInitializationDetection "Simplified"
+ MergeDetectMultiDrivingBlocksExec "error"
+ CheckExecutionContextPreStartOutputMsg off
+ CheckExecutionContextRuntimeOutputMsg off
+ SignalResolutionControl "UseLocalSettings"
+ BlockPriorityViolationMsg "warning"
+ MinStepSizeMsg "warning"
+ TimeAdjustmentMsg "none"
+ MaxConsecutiveZCsMsg "error"
+ MaskedZcDiagnostic "warning"
+ IgnoredZcDiagnostic "warning"
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+ }
+ Block {
+ BlockType Sum
+ Name "Sum2"
+ SID "11"
+ Ports [2, 1]
+ Position [570, 285, 590, 305]
+ ZOrder 11
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ SID "12"
+ Ports [2, 1]
+ Position [570, 200, 590, 220]
+ ZOrder 12
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType RandomNumber
+ Name "accelerometer_noise"
+ SID "2"
+ Position [630, 140, 660, 170]
+ ZOrder 2
+ Mean "zeros(3,1)"
+ Variance "[ 3e-7 ; 3.3e-7 ; 7.2e-7 ] "
+ Seed "[0,1,2]"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "accelerometer_quantizer"
+ SID "9"
+ Position [770, 195, 800, 225]
+ ZOrder 9
+ QuantizationInterval "2.4400e-04"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "accelerometer_sampling"
+ SID "15"
+ Position [495, 195, 530, 225]
+ ZOrder 15
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType RandomNumber
+ Name "gyroscope_noise"
+ SID "6"
+ Position [630, 315, 660, 345]
+ ZOrder 6
+ Mean "zeros(3,1)"
+ Variance "[ 2.2e-8 ; 1.1e-7 ; 2.4e-8 ]"
+ Seed "[0,1,2]"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "gyroscope_qunatizer"
+ SID "10"
+ Position [770, 280, 800, 310]
+ ZOrder 10
+ QuantizationInterval "1.1e-3"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "gyroscope_sampling"
+ SID "16"
+ Position [495, 280, 530, 310]
+ ZOrder 16
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Constant
+ Name "r_oc"
+ SID "32"
+ Position [95, 307, 160, 333]
+ ZOrder 28
+ Value "zeros(3,1)"
+ }
+ Block {
+ BlockType Outport
+ Name "accelerometer"
+ SID "33"
+ Position [885, 203, 915, 217]
+ ZOrder 29
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "gyroscope"
+ SID "25"
+ Position [885, 288, 915, 302]
+ ZOrder 21
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 51
+ SrcBlock "gyroscope_qunatizer"
+ SrcPort 1
+ DstBlock "gyroscope"
+ DstPort 1
+ }
+ Line {
+ ZOrder 61
+ SrcBlock "accelerometer_quantizer"
+ SrcPort 1
+ DstBlock "accelerometer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "accelerometer_noise"
+ SrcPort 1
+ Points [35, 0]
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 22
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "gyroscope_qunatizer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 24
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 25
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 23
+ SrcBlock "MATLAB Function"
+ SrcPort 2
+ DstBlock "gyroscope_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock "gyroscope_noise"
+ SrcPort 1
+ Points [35, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Line {
+ ZOrder 26
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "accelerometer_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 21
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "accelerometer_quantizer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 31
+ SrcBlock "gyroscope_sampling"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 30
+ SrcBlock "accelerometer_sampling"
+ SrcPort 1
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ Line {
+ ZOrder 52
+ SrcBlock "Ground"
+ SrcPort 1
+ Points [55, 0]
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ Line {
+ ZOrder 53
+ SrcBlock "Ground1"
+ SrcPort 1
+ Points [55, 0]
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Line {
+ ZOrder 56
+ SrcBlock "dv"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 57
+ SrcBlock "v"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 2
+ }
+ Line {
+ ZOrder 58
+ SrcBlock "Omega"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 3
+ }
+ Line {
+ ZOrder 59
+ SrcBlock "g"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 4
+ }
+ Line {
+ ZOrder 60
+ SrcBlock "r_oc"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 5
+ }
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "3"
+ Ports [1]
+ Position [635, 134, 665, 166]
+ ZOrder 3
+ Floating off
+ Location [1, 55, 1921, 1029]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "13"
+ Ports [1]
+ Position [590, 89, 620, 121]
+ ZOrder 13
+ Floating off
+ Location [188, 365, 512, 604]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ SaveName "ScopeData1"
+ }
+ Line {
+ ZOrder 55
+ SrcBlock "IMU"
+ SrcPort 1
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 47
+ SrcBlock "Constant"
+ SrcPort 1
+ Points [261, 0]
+ Branch {
+ ZOrder 50
+ Points [0, 25; 1, 0]
+ Branch {
+ ZOrder 52
+ Points [0, 25; 3, 0]
+ Branch {
+ ZOrder 54
+ Points [0, 25]
+ DstBlock "IMU"
+ DstPort 4
+ }
+ Branch {
+ ZOrder 53
+ DstBlock "IMU"
+ DstPort 3
+ }
+ }
+ Branch {
+ ZOrder 51
+ DstBlock "IMU"
+ DstPort 2
+ }
+ }
+ Branch {
+ ZOrder 49
+ DstBlock "IMU"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 56
+ SrcBlock "IMU"
+ SrcPort 2
+ DstBlock "Scope"
+ DstPort 1
+ }
+ }
+}
+#Finite State Machines
+#
+# Stateflow 80000005
+#
+#
+Stateflow {
+ machine {
+ id 1
+ name "IMU_prototype"
+ created "16-Nov-2016 14:11:28"
+ isLibrary 0
+ firstTarget 14
+ sfVersion 80000005
+ }
+ chart {
+ id 2
+ name "IMU/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 3 0 0]
+ firstTransition 12
+ firstJunction 11
+ viewObj 2
+ visible 1
+ machine 1
+ subviewS {
+ }
+ ssIdHighWaterMark 10
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 4
+ chartFileNumber 2
+ disableImplicitCasting 1
+ eml {
+ name "fcn"
+ }
+ }
+ state {
+ id 3
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 2
+ treeNode [2 0 0 0]
+ superState SUBCHART
+ subviewer 2
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [accel_reading,gyro_reading] = fcn(dv,v,Omega,g,r_oc)\n%#codegen\n\na = dv + cross(Omega"
+ ",v) ; % body frame acceleration \n\naccel_reading = a - g ; % accelerometer reading (ideal)\n\ngyro_reading = Om"
+ "ega ; % gyroscope reading (ideal) \n\nend\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 4
+ ssIdNumber 4
+ name "dv"
+ linkNode [2 0 5]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 5
+ ssIdNumber 9
+ name "v"
+ linkNode [2 4 6]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 6
+ ssIdNumber 5
+ name "accel_reading"
+ linkNode [2 5 7]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 7
+ ssIdNumber 6
+ name "Omega"
+ linkNode [2 6 8]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 8
+ ssIdNumber 7
+ name "g"
+ linkNode [2 7 9]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 9
+ ssIdNumber 8
+ name "gyro_reading"
+ linkNode [2 8 10]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 10
+ ssIdNumber 10
+ name "r_oc"
+ linkNode [2 9 0]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ junction {
+ id 11
+ position [23.5747 49.5747 7]
+ chart 2
+ linkNode [2 0 0]
+ subviewer 2
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 12
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 11
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 2
+ linkNode [2 0 0]
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 2
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ instance {
+ id 13
+ name "IMU/MATLAB Function"
+ machine 1
+ chart 2
+ }
+ target {
+ id 14
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}
diff --git a/controls/model/Quadcopter_Model_R2016_A.slx b/controls/model/Quadcopter_Model_R2016_A.slx
index ba27b2ffc033c00f52f0c6e36bf5f5103a5a0cc8..d9e2d2aad7f62aaeb588674d1c2efc008651e594 100644
Binary files a/controls/model/Quadcopter_Model_R2016_A.slx and b/controls/model/Quadcopter_Model_R2016_A.slx differ
diff --git a/controls/model/Quadcopter_Model_R2016_A.slx.r2016a b/controls/model/Quadcopter_Model_R2016_A.slx.r2016a
new file mode 100644
index 0000000000000000000000000000000000000000..ba27b2ffc033c00f52f0c6e36bf5f5103a5a0cc8
Binary files /dev/null and b/controls/model/Quadcopter_Model_R2016_A.slx.r2016a differ