diff --git a/controls/documentation/LQR_Design.md b/controls/documentation/LQR_Design.md
new file mode 100644
index 0000000000000000000000000000000000000000..cb1b773fa1e747fe28df60d0265833cb45e5cf98
--- /dev/null
+++ b/controls/documentation/LQR_Design.md
@@ -0,0 +1,129 @@
+# LQR Control
+
+This document describes the MATLAB and Simulink implementation
+for designing an LQR controller for our quadcopter platform.
+This work is almost entirely based on Matt Rich's graduate thesis ([Model development, system identification, and control of a quadrotor helicopter][model_dev]),
+specifically sections 4.1, 4.2 (for the nonlinear model), 7.3 (initial LQR control),
+and 7.4 (improved LQR control).
+
+## 1 Theory
+
+### 1.1 Nonlinear Model
+
+The nonlinear model for the quadcopter is described at a high level in section 4.1,
+with individual components further separated and defined in section 4.2. The definition
+is given in the form of $`\dot \Lambda = f(\Lambda)`$ where $`\Lambda`$ is the state vector.
+Technically, this is also a function of rotor force and torque.
+
+There are 12 state variables: three linear velocities ($`u`$, $`v`$, $`w`$),
+three rotational velocities ($`p`$, $`q`$, $`r`$), hree dimesions for location ($`x`$, $`y`$, $`z`$),
+and three Euler angles ($`\phi`$, $`\theta`$, $`\psi`$).
+
+### 1.2 Linearization
+
+The linearization for this system is performed around the only equilibrium we have, which is hovering in a constant
+position. This means that every state variable is $`0`$ except for possibly the $`z`$ position, but we set that to
+$`0`$ as well because it does not affect the linearization. The equilibrium command inputs are also zero except for
+$`u_T`$ (as some non-zero throttle is required to maintain altitude).
+
+### 1.3 LQR Controller
+
+LQR (Linear Quadratic Regulator) control is designed to minimize a given cost function, which is given as
+```math
+J = \int_0^\infty x^T Q x + u^T R u dt
+```
+where $`x`$ is the error between the state and the equilibrium state, and $`u`$ is the difference between the command
+at time $`t`$ and the equilibrium input.
+
+## 2 Implementation
+
+### 2.1 Nonlinear Model and Linearization
+
+The nonlinear model, as described in section 4.1, is implemented in MATLAB in `model/linearization.m` with symbolic variables for
+states and commands. Setting all other values to zero, the equilibrium throttle input is found using this model with a binary search
+for the correct command value. The $`A`$ and $`B`$ state-space matrices are determined with symbolic differentiation, so the linearization
+is automatically updated if the model is improved (or simplified) or if the equilibrium point is manually changed.
+
+### 2.2 LQR Controller
+
+Matt Rich describes two different weighting schemes for the matrices $`Q`$ and $`R`$. The first makes each of these matrices diagonal
+(and $`N = 0`$), so the controller tries to separately minimize each of the state variables. The MATLAB function in `model/initial_lqr.m`
+computes this controller when given the state-space matrices $`A`$ and $`B`$, as well as vectors for state values and command values.
+These vectors should correpsond to approximately the maximum allowable value for each state or command (for example, you might set
+the 10th value of the state weights to $`\frac \pi 6`$ if you don't want the quad to pitch more than about $`30^o`$).
+
+Rich also gives a weighting scheme broken down by what he refers to as subsystems, of which there are four: altitude, lateral,
+longitudinal, and direction. The matrix $`Q`$ then ends up block diagonal (after permutation to make subsystems adjacent).
+The logic behind this is that, for example, if the quad is too far to the right, rolling leftward should reduce the cost rather than
+increase it, because that is the action required to return to equilibrium. Given the $`c`$ and $`d`$ matrices Rich defines in 7.4.2,
+the matlab function in `improved_lqr.m` will construct the corresponding controller for this weighting style. Unfortunately, this design
+has never flown successfully in simulation.
+
+### 2.3 Automated Optimization of LQR Weights
+
+Due to a lack of controls knowledge and intuition in our team, we implemented a MATLAB script to pick weights for the diagonally-weighted
+LQR controller design. The script `repeated_opt.m` picks a random set of weights, then uses MATLAB's included contstrained minimization function
+(`fmincon()`) to search for weights that reduce the actual error when run through the Simulink simulation of the nonlinear model (recall that
+the controller itself was built with only the linearization, so it doesn't represent extreme angles and speeds well). This process is repeated,
+and each set of weights is stored in a file along with a error score (lower implies a better controller).
+
+The function passed to `fmincon()` is `lqr_err()`, which transforms inputs from a subset of the weights to the full weight list and calls the function
+to create the LQR $`K`$ matrix. We assume the lateral and longitudinal weights should be the same, which reduces the dimension of the space for the
+minimization to search to 11 instead of 16. Internally, `lqr_err()` calls `run_once()`, which simply runs the Simulink model and returns the
+error between state and setpoint as the output.
+
+Warning: The LQR controller designed as above (or in any way) has not been tested on our quadcopter. The simulation is a good place to verify that
+the control conceptually works, but don't assume that it will necessarily act the same way on the quad.
+
+### 2.4 C Implementation
+
+The existing PID controller on the quad is run on the [computation graph][ctrl_graph], which only currently handles scalar values. An implementation
+for matrix constants and matrix multiplication blocks is available on the branch `53-add-lqr-controller-to-c`, but the controller itself is not
+finished or connected. To implement the LQR controller (or any sort of state-feedback style controller) on the quad, either this implementation
+needs to be finished or an entirely new implementation needs to replace the computation graph.
+
+## 3 Errata to "Model Development..."
+
+Like any 150-page technical work, Rich's thesis contains its share of mistakes and errors. Most are minor typos or inconsistencies that largely
+have no impact on the readability or usability of the work. There are a few points, however, that deserve note here to clarify discrepencies
+should anyone want to replicate his work again.
+
+In section 4.3.1, gravity in the body reference frame should depend on $`\phi`$ rather than $`\psi`$ (roll affects the direction of gravity, but yaw shouldn't).
+The actual vector of graviational force should be
+```math
+^BG = \begin{bmatrix}
+-mg\sin(\theta)\\
+mg\cos(\theta)\sin(\phi)\\
+mg\cos(\theta)\cos(\phi)\\
+\end{bmatrix}
+```
+
+In section 4.6, the outputs of the camera model should be defined as
+```math
+Y_c[n] = \begin{bmatrix}
+x(nT_c - \tau_c)\\
+\vdots\\
+\psi(nT_c - \tau_c)\\
+\end{bmatrix}
+```
+As written in the original, the actual period was dependent on both the period variable $`T_c`$ and the latency $`\tau_c`$.
+This model is not required for designing a controller, but is necessary if creating a simulation that includes inputs from the camera system.
+
+In section 7.3.1, the list of weights that Rich chose for his test are missing for $`u`$, $`v`$, $`w`$, $`p`$, $`q`$, and $`r`$, and aren't
+exactly clear for the rest. This was one of the reason for the automated weight testing MATLAB script.
+
+In sections 7.4.2.3 and 7.4.2.4, the $`c`$ matrices should be
+```math
+c_{\text{alt}} = c_{\text{dir}} = \begin{bmatrix}
+1 & 0\\
+0 & \sqrt{10}\\
+0 & 0
+\end{bmatrix}
+```
+in order to create the block-diagonal $`Q`$ given in 7.4.2.4. Also note that this $`Q`$ should be symmetric. The third
+value in the top row of the lateral block is $`0.02`$, and the element symmetric from this one should be $`0.02`$ as
+well, not $`0.2`$. As written, $`Q`$ cannot be used in MATLAB to genenerate a LQR controller because it isn't
+positive semidefinite.
+
+[model_dev]: http://lib.dr.iastate.edu/cgi/viewcontent.cgi?article=3777&context=etd
+[ctrl_graph]: ../../quad/src/computation_graph/README.md
diff --git a/controls/documentation/SimulinkModel.md b/controls/documentation/SimulinkModel.md
index 5deb8593aef0ea67688ed9b7c1554781684efd90..796fd09d34d83cb718841ec1e157880889b4c05d 100644
--- a/controls/documentation/SimulinkModel.md
+++ b/controls/documentation/SimulinkModel.md
@@ -2,7 +2,7 @@
This documentation is about the Simulink model of the quadcopter found in `controls/model/`.
Specifically, the description and images are from the file
-[`Quadcopter_Model_R2015A.mdl`](../model/Quadcopter_Model_R2015_A.mdl).
+[`Quadcopter_Model.slx`](../model/Quadcopter_Model.slx).
## 1 Top Level
@@ -28,29 +28,60 @@ The variables used at the top level of the model are as follows:
- $`\frac{d^Bv_0}{dt}`$ - Time derivative of velocity in quadcopter reference frame
- $`^Bg`$ - Gravity in quadcopter reference frame
-The three components are further discussed in the sections below :
+The three components are further discussed in the sections below.
+
+### 1.2 Switches
+
+The top level also contains two toggle swtiches that change the operation of the simulation.
+The left switch toggles between using exact and noisy values for the controls. The
+switch that this toggle controls appears directly above it in the model, and its output is used
+for all but on of the Control System inputs. The right toggle switch changes the simulation from
+using the LQR controller to using the PID, or from PID to LQR. The components that this directly affects
+are all in the Control System block.
## 2 Control System
![Control System Simulink Model][control_sys]
-The two central components of the Control System are the Controller and the
+The three central components of the Control System are the two controllers and the
Signal Mixer.
### 2.1 Variables
The variables used in the controls system not listed above are enumerated below:
- $`u_T`$ - Controller output for thrust
-- $`u_A`$ - Controller output for "ailerons", used to control pitch
-- $`u_E`$ - Controller output for "elevators", used to control roll
+- $`u_A`$ - Controller output for "ailerons", used to control roll
+- $`u_E`$ - Controller output for "elevators", used to control pitch
- $`u_R`$ - Controller output for "rudder", used to control yaw
-### 2.2 Controller
-The controller contains the actual PIDs for each element of the setpoint,
-and outputs control values to the signal mixer.
-
-<!---TODO ADR make new doc or write more about controller--->
-
-### 2.3 Signal Mixer
+### 2.2 Controllers
+There are two separate controllers implemented in this subsystem, a PID controller and an LQR controller.
+
+### 2.2.1 PID Controller
+This controller contains the actual PIDs for each element of the setpoint,
+and outputs control values to the signal mixer. The inputs to the signal mixer are
+values for thrust, aileron, throttle, and rudder. Inside the PID Controller block
+are four sets of nested PIDS, one for each of the output commands. For example,
+the $`u_A`$ output is determined by state variables $`y`$, $`v`$, $`\phi`$, and, $`p`$
+(i.e. lateral position, lateral velocity, roll, and roll rate).
+
+### 2.2.2 LQR Controller
+LQR is a state-feedback controller (currently without an observer) that generates
+command outputs directly from the state estimation provided by the sensors.
+The details of the controller and how it is designed can be found in the
+[`LQR_Design.md`](LQR_Design.md) documentation.
+
+### 2.3 Equilibrium inputs
+The result of either controller is added to the equilibrium input before being
+passed to the signal mixer. Equilibrium for this system is when the quadcopter
+is hovering, so $`u_T`$ must be non-zero (all the other commands are zero, however).
+This correction is required for the LQR controller to work. Though not strictly necessary
+for the PID controller, not correcting for equilibrium input would initially respond
+very slowly as the throttle PID loop accumulated its error integration.
+
+### 2.4 Signal Mixer
+Because the output of the controllers is in a style more fit for airplanes or helicopters
+than a quadrotor, we need to convert the control result values to something meaningful
+to control our flight with.
The Signal Mixer is simply a $`4 \times 4`$ matrix that is multiplied by the vector
$`\begin{pmatrix}u_T & u_A & u_E & u_R\end{pmatrix}^\top`$ to produce a vector
of PWM commands for the motor. As such, each row of the matrix corresponds to one
@@ -65,9 +96,11 @@ S = \left(\begin{array}{rrrr}
```
For example, the fourth column is $`\begin{pmatrix}-1 & 1 & 1 & -1\end{pmatrix}^\top`$,
so when the controller commands a positive rudder (i.e. positive change in yaw),
-the speed of rotors 1 and 4 decrease and 2 and 3 increase.
+the speed of rotors 1 and 4 decrease and 2 and 3 increase.
-<!---TODO ADR The matrix is copied from MATLAB, but that example can't be right--->
+When comparing different research or implementations, be careful to compare signal mixing
+matrices. Everyone has their own scheme for number the rotors and orienting the quad,
+but the signal mixer should give enough information to determine the rotor configuration.
## 3 Actuation
![Actuation Simulink Model][act_sys]
@@ -127,6 +160,9 @@ phase), sample, quantize, and delay their readings.
Without these, the Simulink model would only be good to prove math, and would not
actually provide valuable insight into the physical system.
+The 3D Graphical Simulation block can be opened to geive a simple visualization of
+the quad's flight.
+
### 4.1 Variables
There are no new quantities that haven't already been explained in a previous section.
@@ -135,8 +171,8 @@ A good resource to better understand the mathematical process of this model can
in Matthew Rich's 2012 thesis,
[Model development, system identification, and control of a quadrotor helicopter][model_dev].
-[top_level]: ../../documentation/images/simulink_top_level.png
-[control_sys]: ../../documentation/images/simulink_control_sys.png
+[top_level]: ../../documentation/images/simulink_lqr_top.png
+[control_sys]: ../../documentation/images/simulink_lqr_control.png
[act_sys]: ../../documentation/images/simulink_act_sys.png
-[sensor_sys]: ../../documentation/images/simulink_sensor_sys.png
+[sensor_sys]: ../../documentation/images/simulink_lqr_sensor.png
[model_dev]: http://lib.dr.iastate.edu/cgi/viewcontent.cgi?article=3777&context=etd
diff --git a/controls/model/Quadcopter_Model.slx b/controls/model/Quadcopter_Model.slx
new file mode 100644
index 0000000000000000000000000000000000000000..e7f7ad3500d97b1b851d355dcadb8fac2467ade9
Binary files /dev/null and b/controls/model/Quadcopter_Model.slx differ
diff --git a/controls/model/Quadcopter_Model_R2015_A.mdl b/controls/model/Quadcopter_Model_R2015_A.mdl
deleted file mode 100644
index dc185578f51fa469a8f1b8fb5900bf19a33b89bc..0000000000000000000000000000000000000000
--- a/controls/model/Quadcopter_Model_R2015_A.mdl
+++ /dev/null
@@ -1,17773 +0,0 @@
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- Name " SFunction "
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- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 10"
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- Position [180, 110, 230, 230]
- ZOrder 15
- FunctionName "sf_sfun"
- Parameters "g"
- PortCounts "[5 3]"
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- PortNumber 2
- Name "accelReading"
- RTWStorageClass "Auto"
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- Port {
- PortNumber 3
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- }
- Block {
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- ZOrder 17
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- Block {
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- ZOrder -5
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- Block {
- BlockType Outport
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- ZOrder 12
- Port "2"
- IconDisplay "Port number"
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- ZOrder 1
- SrcBlock "B_vo_dot"
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- DstPort 1
- }
- Line {
- ZOrder 2
- SrcBlock "B_vo"
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- DstBlock " SFunction "
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- Line {
- ZOrder 3
- SrcBlock "B_Omega"
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- Line {
- ZOrder 4
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- Line {
- ZOrder 5
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- Line {
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- Line {
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- Line {
- ZOrder 8
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- Line {
- ZOrder 9
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- }
- Block {
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- ZOrder 50
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- Block {
- BlockType Delay
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- Block {
- BlockType DiscreteFilter
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- Block {
- BlockType DiscreteFilter
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- Block {
- BlockType DiscreteIntegrator
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- ZOrder 30
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- Block {
- BlockType DiscreteIntegrator
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- ZOrder 34
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- Block {
- BlockType Ground
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- Block {
- BlockType Ground
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- Block {
- BlockType Integrator
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- Position [240, 360, 270, 390]
- ZOrder 39
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- Block {
- BlockType Scope
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- Position [845, 409, 875, 441]
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- ListType AxesTitles
- axes1 "%<SignalLabel>"
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- List {
- ListType ScopeGraphics
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- Location [680 330 1240 750]
- }
- Block {
- BlockType Scope
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- List {
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- axes1 "%<SignalLabel>"
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- List {
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- Location [680 330 1240 750]
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- Block {
- BlockType Scope
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- List {
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- axes1 "%<SignalLabel>"
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- List {
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- Location [306 114 866 534]
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- Block {
- BlockType Sum
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- Position [715, 285, 735, 305]
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- ShowName off
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- Block {
- BlockType Sum
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- Block {
- BlockType Sum
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- Block {
- BlockType Sum
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- InputSameDT off
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- Block {
- BlockType RandomNumber
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- Block {
- BlockType Quantizer
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- ZOrder 9
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- Block {
- BlockType ZeroOrderHold
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- Block {
- BlockType RandomNumber
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- Block {
- BlockType Quantizer
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- Block {
- BlockType ZeroOrderHold
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- Block {
- BlockType Constant
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- Block {
- BlockType Outport
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- Block {
- BlockType Outport
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- Line {
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- SrcBlock "accelerometer_noise"
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- Line {
- ZOrder 5
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- Line {
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- Line {
- ZOrder 8
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- ZOrder 87
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- Branch {
- ZOrder 35
- Points [0, 75]
- DstBlock "Discrete-Time\nIntegrator"
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- Line {
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- Branch {
- ZOrder 85
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- Branch {
- ZOrder 45
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- Line {
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- Line {
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- ZOrder 15
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- Line {
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- Branch {
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- Line {
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- Line {
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- Line {
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- Line {
- ZOrder 31
- SrcBlock "\n\n\n\n\n\n\n"
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- Line {
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- Line {
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- Line {
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- Line {
- ZOrder 124
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- Line {
- ZOrder 126
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- Line {
- ZOrder 128
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- Line {
- ZOrder 130
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- Line {
- ZOrder 127
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- Line {
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- Line {
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- Line {
- ZOrder 134
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- }
- }
- Block {
- BlockType SubSystem
- Name "MATLAB Function"
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- Position [1885, 897, 2075, 1113]
- ZOrder 343
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- Block {
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- Position [270, 230, 320, 270]
- ZOrder 11
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- Block {
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- Position [180, 100, 230, 180]
- ZOrder 10
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- Block {
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- Block {
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- Line {
- ZOrder 16
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- Labels [0, 0]
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- Line {
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- ZOrder 19
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- Block {
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- ZOrder 350
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- Position [270, 230, 320, 270]
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- Block {
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- ZOrder 10
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- PortNumber 2
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- Port {
- PortNumber 3
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- }
- Block {
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- Block {
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- Block {
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- Line {
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- Line {
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- ZOrder 21
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- Line {
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- Block {
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- Block {
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- List {
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
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- Position [1935, 303, 1975, 347]
- ZOrder 108
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- TimeRange auto
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- List {
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- List {
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope11"
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- Ports [3]
- Position [1935, 163, 1975, 207]
- ZOrder 114
- NumInputPorts "3"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
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- List {
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- List {
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope2"
- SID "463"
- Ports [1]
- Position [890, 229, 920, 261]
- ZOrder 51
- NumInputPorts "1"
- Open off
- TimeRange auto
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- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -87.04326
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- List {
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- List {
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- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
- MarkerStyles "none|none|none|none|none|none"
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope3"
- SID "464"
- Ports [3]
- Position [1935, 408, 1975, 452]
- ZOrder 116
- NumInputPorts "3"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
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- LimitDataPoints off
- MaxDataPoints 5000
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- YMin -1.00000~-1.00000~-0.000000000000004
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- List {
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- axes1 "%<SignalLabel>"
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- List {
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- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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- LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
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- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
- MarkerStyles "none|none|none|none|none|none"
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope4"
- SID "465"
- Ports [3]
- Position [1935, 643, 1975, 687]
- ZOrder 118
- NumInputPorts "3"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
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- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
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- YMin -1.00000~-1.00000~0.0000000000000004
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- SampleInput off
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- List {
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- axes1 "%<SignalLabel>"
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- List {
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- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
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- SID "1050"
- Ports [1]
- Position [1335, 364, 1365, 396]
- ZOrder 316
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
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- List {
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- List {
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope6"
- SID "466"
- Ports [3]
- Position [1935, 528, 1975, 572]
- ZOrder 79
- NumInputPorts "3"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
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- List {
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- List {
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope7"
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- Ports [1]
- Position [600, 639, 630, 671]
- ZOrder 99
- NumInputPorts "1"
- Open off
- TimeRange auto
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- MaxDataPoints 5000
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- List {
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- MarkerStyles "none|none|none|none|none|none"
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- Location [1 76 1921 1039]
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- Block {
- BlockType Scope
- Name "Scope8"
- SID "468"
- Ports [1]
- Position [820, 629, 850, 661]
- ZOrder 100
- NumInputPorts "1"
- Open off
- TimeRange auto
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- List {
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- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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- Location [1 76 1921 1039]
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- Block {
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- Name "Scope9"
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- Ports [1]
- Position [1225, 229, 1255, 261]
- ZOrder 102
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- Open off
- TimeRange auto
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- List {
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- List {
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- Location [1 76 1921 1039]
- }
- Block {
- BlockType Outport
- Name "B_omega"
- SID "471"
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- ZOrder 61
- IconDisplay "Port number"
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- Block {
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- Name "euler_angles"
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- ZOrder 91
- Port "2"
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- Block {
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- ZOrder 58
- Port "3"
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- ZOrder 88
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- Block {
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- Branch {
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- "nt-size:10px;\">determined, based on the active variant and port name matching.</span></p></body></html>"
- Tag "VSSAddChoiceText"
- Position [71, 28, 448, 69]
- InternalMargins [0, 0, 0, 0]
- FixedHeight off
- FixedWidth off
- HorizontalAlignment "left"
- Interpreter "rich"
- ZOrder -1
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- }
- }
- Block {
- BlockType Saturate
- Name "Saturation"
- SID "756"
- Ports [1, 1]
- Position [1270, 465, 1300, 495]
- ZOrder 44
- InputPortMap "u0"
- UpperLimit "Pmax*ones(4,1)"
- LowerLimit "Pmin*ones(4,1)"
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- Block {
- BlockType Scope
- Name "Scope"
- SID "1421"
- Ports [4]
- Position [1705, 514, 1735, 546]
- ZOrder 320
- NumInputPorts "4"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin 127563.375~120690.00000~120652.25~129711.75
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- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- axes2 "%<SignalLabel>"
- axes3 "%<SignalLabel>"
- axes4 "%<SignalLabel>"
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- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- 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"
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- Location [962 84 1920 1038]
- }
- Block {
- BlockType SubSystem
- Name "Signal Mixer"
- SID "647"
- Ports [4, 1]
- Position [960, 320, 1220, 640]
- ZOrder 35
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
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- SFBlockType "MATLAB Function"
- Variant off
- Object {
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- $ObjectID 84
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, 'u_T', 'texmode', 'on');\nport_label('input', 2, 'u_A', 'texmode', 'on');\np"
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- }
- System {
- Name "Signal Mixer"
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- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
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- BlockType Inport
- Name "height_controlled"
- SID "647::1"
- Position [20, 101, 40, 119]
- ZOrder -1
- IconDisplay "Port number"
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- Block {
- BlockType Inport
- Name "y_controlled"
- SID "647::23"
- Position [20, 136, 40, 154]
- ZOrder 14
- Port "2"
- IconDisplay "Port number"
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- Block {
- BlockType Inport
- Name "x_controlled"
- SID "647::22"
- Position [20, 171, 40, 189]
- ZOrder 13
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "yaw_controlled"
- SID "647::24"
- Position [20, 206, 40, 224]
- ZOrder 15
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Demux
- Name " Demux "
- SID "647::20"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 11
- Outputs "1"
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- Block {
- BlockType S-Function
- Name " SFunction "
- SID "647::19"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 14"
- Ports [4, 2]
- Position [180, 107, 230, 208]
- ZOrder 10
- FunctionName "sf_sfun"
- PortCounts "[4 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
- Port {
- PortNumber 2
- Name "P"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Terminator
- Name " Terminator "
- SID "647::21"
- Position [460, 241, 480, 259]
- ZOrder 12
- }
- Block {
- BlockType Outport
- Name "P"
- SID "647::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
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- ZOrder 105
- SrcBlock "height_controlled"
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- DstPort 1
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- Line {
- ZOrder 106
- SrcBlock "y_controlled"
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- DstBlock " SFunction "
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- Line {
- ZOrder 107
- SrcBlock "x_controlled"
- SrcPort 1
- DstBlock " SFunction "
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- Line {
- ZOrder 108
- SrcBlock "yaw_controlled"
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- DstBlock " SFunction "
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- ZOrder 109
- Labels [0, 0]
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- DstBlock "P"
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- ZOrder 110
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- Line {
- ZOrder 111
- SrcBlock " SFunction "
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- DstBlock " Demux "
- DstPort 1
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- Block {
- BlockType Sum
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- Position [665, 350, 685, 370]
- ZOrder 36
- ShowName off
- IconShape "round"
- Inputs "|++"
- InputSameDT off
- OutDataTypeStr "Inherit: Inherit via internal rule"
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- Block {
- BlockType Sum
- Name "Sum1"
- SID "749"
- Ports [2, 1]
- Position [665, 430, 685, 450]
- ZOrder 37
- ShowName off
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- InputSameDT off
- OutDataTypeStr "Inherit: Inherit via internal rule"
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- Block {
- BlockType Sum
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- SID "750"
- Ports [2, 1]
- Position [665, 510, 685, 530]
- ZOrder 38
- ShowName off
- IconShape "round"
- Inputs "|++"
- InputSameDT off
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
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- Block {
- BlockType Sum
- Name "Sum3"
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- Ports [2, 1]
- Position [665, 590, 685, 610]
- ZOrder 39
- ShowName off
- IconShape "round"
- Inputs "|++"
- InputSameDT off
- OutDataTypeStr "Inherit: Inherit via internal rule"
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- Block {
- BlockType SubSystem
- Name "Throttle Command Input"
- SID "1278"
- Ports [1, 1]
- Position [740, 337, 895, 383]
- ZOrder 318
- ForegroundColor "magenta"
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- RequestExecContextInheritance off
- Variant on
- Object {
- $PropName "MaskObject"
- $ObjectID 85
- $ClassName "Simulink.Mask"
- Display "disp('Throttle Command', 'texmode', 'on');"
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- System {
- Name "Throttle Command Input"
- Location [-8, -8, 1928, 1048]
- Open off
- ModelBrowserVisibility off
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- PaperType "usletter"
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- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
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- ShowPageBoundaries off
- ZoomFactor "175"
- Block {
- BlockType Inport
- Name "z_command_model"
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- Position [85, 118, 115, 132]
- ZOrder 288
- IconDisplay "Port number"
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- Block {
- BlockType SubSystem
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- Ports [1, 1]
- Position [185, 153, 345, 187]
- ZOrder 287
- ShowName off
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- VariantControl "logAnalysisToggle==0"
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- Display "disp('Throttle Command from Model', 'texmode', 'on');"
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- System {
- Name "Feedback"
- Location [-7, -7, 1288, 688]
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- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
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- PaperType "usletter"
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- IconDisplay "Port number"
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- Block {
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- Name "z_command"
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- IconDisplay "Port number"
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- BlockType SubSystem
- Name "Throttle Command"
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- Ports [0, 1]
- Position [210, 75, 320, 105]
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- VariantControl "logAnalysisToggle==1"
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- $PropName "MaskObject"
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- Display "disp('Throttle Command', 'texmode', 'on');"
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- System {
- Name "Throttle Command"
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- Open off
- ModelBrowserVisibility off
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- ScreenColor "white"
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- ShowPageBoundaries off
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- SID "1284"
- Position [-35, 17, 80, 43]
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- ZeroCross on
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- Block {
- BlockType Outport
- Name "z_command"
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- Position [145, 23, 175, 37]
- ZOrder 172
- IconDisplay "Port number"
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- ZOrder 1
- SrcBlock "From\nWorkspace5"
- SrcPort 1
- DstBlock "z_command"
- DstPort 1
- }
- }
- }
- Block {
- BlockType Outport
- Name "z_command"
- SID "1286"
- Position [410, 118, 440, 132]
- ZOrder -2
- ForegroundColor "magenta"
- IconDisplay "Port number"
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- Annotation {
- SID "1287"
- Name "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">"
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- "; }\n</style></head><body style=\" font-family:'Arial'; font-size:10px; font-weight:400; font-style:normal;\">\n"
- "<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-inde"
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- "atlab://addvsschoiceddg_cb(gcs,'SubSystem')\"><span style=\" font-family:'Helvetica'; font-size:10px; text-deco"
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- "yle=\" font-family:'Helvetica'; font-size:10px;\">2) You cannot connect blocks at this level. At simulation, co"
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- "-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Helvetica'; fo"
- "nt-size:10px;\">determined, based on the active variant and port name matching.</span></p></body></html>"
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- InternalMargins [0, 0, 0, 0]
- FixedHeight off
- FixedWidth off
- HorizontalAlignment "left"
- Interpreter "rich"
- ZOrder -1
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- }
- }
- Block {
- BlockType ToWorkspace
- Name "To Workspace3"
- SID "1207"
- Ports [1]
- Position [1445, 380, 1555, 410]
- ZOrder 228
- ShowName off
- VariableName "motorCommands"
- MaxDataPoints "inf"
- SaveFormat "Structure With Time"
- Save2DSignal "3-D array (concatenate along third dimension)"
- FixptAsFi on
- SampleTime "Tq"
- }
- Block {
- BlockType Constant
- Name "height_controlled_o"
- SID "752"
- Position [615, 380, 645, 410]
- ZOrder 40
- Value "height_controlled_o"
- SampleTime "Tc"
- }
- Block {
- BlockType Constant
- Name "x_controlled_o"
- SID "754"
- Position [615, 545, 645, 575]
- ZOrder 42
- Value "x_controlled_o"
- }
- Block {
- BlockType Constant
- Name "y_controlled_o"
- SID "753"
- Position [615, 465, 645, 495]
- ZOrder 41
- Value "y_controlled_o"
- }
- Block {
- BlockType Constant
- Name "yaw_controlled_o"
- SID "755"
- Position [615, 630, 645, 660]
- ZOrder 43
- Value "yaw_controlled_o"
- }
- Block {
- BlockType Outport
- Name "P"
- SID "578"
- Position [1665, 473, 1695, 487]
- ZOrder -2
- IconDisplay "Port number"
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- ZOrder 1
- SrcBlock "setpoints"
- SrcPort 1
- DstBlock "Demux"
- DstPort 1
- }
- Line {
- ZOrder 30
- SrcBlock "euler_angles_filtered"
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- DstPort 1
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- Line {
- ZOrder 3
- SrcBlock "current_position"
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- DstBlock "Demux2"
- DstPort 1
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- Line {
- ZOrder 34
- SrcBlock "euler_rates"
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- DstBlock "Demux4"
- DstPort 1
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- Line {
- ZOrder 27
- SrcBlock "Demux"
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- DstBlock "Controller"
- DstPort 1
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- Line {
- ZOrder 28
- SrcBlock "Demux"
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- DstBlock "Controller"
- DstPort 2
- }
- Line {
- ZOrder 29
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- DstPort 3
- }
- Line {
- ZOrder 40
- SrcBlock "Demux2"
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- Line {
- ZOrder 41
- SrcBlock "Demux2"
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- Line {
- ZOrder 42
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- Line {
- ZOrder 72
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- DstBlock "Sum3"
- DstPort 1
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- Line {
- ZOrder 77
- SrcBlock "y_controlled_o"
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- Points [25, 0]
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- Points [25, 0]
- DstBlock "Sum2"
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- ZOrder 79
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- ZOrder 80
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- ZOrder 84
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- SrcBlock "Demux1"
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- DstBlock "Controller"
- DstPort 9
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- Line {
- ZOrder 90
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- DstBlock "Controller"
- DstPort 12
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- ZOrder 93
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- DstBlock "Controller"
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- Line {
- ZOrder 94
- SrcBlock "Demux"
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- DstPort 4
- }
- Line {
- ZOrder 95
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- DstBlock "Controller"
- DstPort 10
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- Line {
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- DstBlock "Sum2"
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- ZOrder 205
- SrcBlock "Counter\nFree-Running"
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- ZOrder 500
- SrcBlock "Sum2"
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- DstBlock "Signal Mixer"
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- DstBlock "Sum"
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- Line {
- ZOrder 520
- SrcBlock "height_controlled_o"
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- Points [25, 0]
- DstBlock "Sum"
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- Line {
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- SrcBlock "Motor Commands"
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- Points [42, 0]
- Branch {
- ZOrder 540
- Points [0, 50]
- DstBlock "Demux3"
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- }
- Branch {
- ZOrder 539
- DstBlock "P"
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- Line {
- ZOrder 535
- SrcBlock "Demux3"
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- DstBlock "Scope"
- DstPort 1
- }
- Line {
- ZOrder 536
- SrcBlock "Demux3"
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- DstBlock "Scope"
- DstPort 2
- }
- Line {
- ZOrder 537
- SrcBlock "Demux3"
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- DstBlock "Scope"
- DstPort 3
- }
- Line {
- ZOrder 538
- SrcBlock "Demux3"
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- DstBlock "Scope"
- DstPort 4
- }
- Line {
- ZOrder 543
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- DstBlock "Throttle Command Input"
- DstPort 1
- }
- Line {
- ZOrder 206
- SrcBlock "Saturation"
- SrcPort 1
- Points [49, 0]
- Branch {
- ZOrder 557
- Points [0, -85]
- DstBlock "To Workspace3"
- DstPort 1
- }
- Branch {
- ZOrder 556
- DstBlock "Motor Commands"
- DstPort 1
- }
- }
- }
- }
- Line {
- ZOrder 52
- SrcBlock "Control System"
- SrcPort 1
- DstBlock "Actuation"
- DstPort 1
- }
- Line {
- ZOrder 55
- SrcBlock "Communication System"
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- DstBlock "Control System"
- DstPort 1
- }
- Line {
- ZOrder 189
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- DstBlock " Sensors "
- DstPort 1
- }
- Line {
- ZOrder 190
- SrcBlock "Actuation"
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- DstBlock " Sensors "
- DstPort 2
- }
- Line {
- ZOrder 191
- SrcBlock "Actuation"
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- DstBlock " Sensors "
- DstPort 3
- }
- Line {
- ZOrder 192
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- DstBlock " Sensors "
- DstPort 4
- }
- Line {
- ZOrder 193
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- DstPort 5
- }
- Line {
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- DstBlock " Sensors "
- DstPort 6
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- Points [15, 0; 0, 56; -909, 0; 0, -56]
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- DstPort 4
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- Line {
- ZOrder 223
- SrcBlock " Sensors "
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- Points [33, 0; 0, 154; -941, 0; 0, -129]
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- DstPort 3
- }
- Line {
- ZOrder 224
- SrcBlock " Sensors "
- SrcPort 1
- Points [47, 0; 0, 247; -965, 0; 0, -197]
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- DstPort 2
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- }
-}
-#Finite State Machines
-#
-# Stateflow 80000010
-#
-#
-Stateflow {
- machine {
- id 1
- name "Quadcopter_Model_R2015_A"
- created "03-Nov-2016 18:34:53"
- isLibrary 0
- sfVersion 80000006
- firstTarget 197
- }
- chart {
- id 2
- machine 1
- name "Actuation/Gravity\n\n"
- 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]
- viewObj 2
- ssIdHighWaterMark 7
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 1
- disableImplicitCasting 1
- eml {
- name "gravity"
- }
- firstData 4
- firstTransition 8
- firstJunction 7
- }
- 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 E_Fg = gravity(m, g)\n\nE_Fg = [0; 0; m*g];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 4
- ssIdNumber 5
- name "E_Fg"
- 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"
- linkNode [2 0 5]
- }
- data {
- id 5
- ssIdNumber 6
- name "m"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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"
- linkNode [2 4 6]
- }
- data {
- id 6
- ssIdNumber 7
- name "g"
- scope PARAMETER_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"
- linkNode [2 5 0]
- }
- junction {
- id 7
- position [23.5747 49.5747 7]
- chart 2
- subviewer 2
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [2 0 0]
- }
- transition {
- id 8
- 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 7
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 2
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 2
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [2 0 0]
- }
- instance {
- id 9
- machine 1
- name "Actuation/Gravity\n\n"
- chart 2
- }
- chart {
- id 10
- machine 1
- name "Actuation/Lbe\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 11 0 0]
- viewObj 10
- ssIdHighWaterMark 11
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 2
- disableImplicitCasting 1
- eml {
- name "linear_body_earth_conversion"
- }
- firstData 12
- firstTransition 16
- firstJunction 15
- }
- state {
- id 11
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 10
- treeNode [10 0 0 0]
- superState SUBCHART
- subviewer 10
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function E_ro = linear_body_earth_conversion(B_vo, euler_angles)\n\neuler_rates = zeros(3,1);\nE"
- "_ro = zeros(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLeb = [cos(thet"
- "a)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi); ..."
- "\n cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(p"
- "hi)*cos(psi); ...\n -sin(theta) , sin(phi)*cos(theta) , c"
- "os(phi)*cos(theta) ];\n\nE_ro = Leb * B_vo;"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 12
- ssIdNumber 7
- name "B_vo"
- 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"
- linkNode [10 0 13]
- }
- data {
- id 13
- ssIdNumber 11
- name "euler_angles"
- 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"
- linkNode [10 12 14]
- }
- data {
- id 14
- ssIdNumber 9
- name "E_ro"
- 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"
- linkNode [10 13 0]
- }
- junction {
- id 15
- position [23.5747 49.5747 7]
- chart 10
- subviewer 10
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [10 0 0]
- }
- transition {
- id 16
- 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 15
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 10
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 10
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [10 0 0]
- }
- instance {
- id 17
- machine 1
- name "Actuation/Lbe\n\n\n\n\n\n"
- chart 10
- }
- chart {
- id 18
- machine 1
- name " Sensors /3D Graphical Simulation1/MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 19 0 0]
- viewObj 18
- ssIdHighWaterMark 5
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 3
- disableImplicitCasting 1
- eml {
- name "eigenaxis_ucart"
- }
- firstData 20
- firstTransition 23
- firstJunction 22
- }
- state {
- id 19
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 18
- treeNode [18 0 0 0]
- superState SUBCHART
- subviewer 18
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 20
- ssIdNumber 4
- name "u"
- 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"
- linkNode [18 0 21]
- }
- data {
- id 21
- ssIdNumber 5
- name "y"
- 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"
- linkNode [18 20 0]
- }
- junction {
- id 22
- position [23.5747 49.5747 7]
- chart 18
- subviewer 18
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [18 0 0]
- }
- transition {
- id 23
- 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 22
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 18
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 18
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [18 0 0]
- }
- instance {
- id 24
- machine 1
- name " Sensors /3D Graphical Simulation1/MATLAB Function"
- chart 18
- }
- chart {
- id 25
- machine 1
- name "Actuation/ESC System"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 26 0 0]
- viewObj 25
- ssIdHighWaterMark 18
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 4
- disableImplicitCasting 1
- eml {
- name "ESC"
- }
- firstData 27
- firstTransition 33
- firstJunction 32
- }
- state {
- id 26
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 25
- treeNode [25 0 0 0]
- superState SUBCHART
- subviewer 25
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function Vb_eff = ESC(P, Pmin, Pmax, Vb)\n\nP1 = P(1);\nP2 = P(2);\nP3 = P(3);\nP4 = P(4);\n\n%"
- " Define u_Pi for each of the rotors, limiting it to be greater than 0\n% u_P0 = (rotor_0_duty_cycle/100 - Pmin) "
- "/ (Pmax - Pmin);\n% u_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P2 = (rotor_2_duty_cycle/100 - "
- "Pmin) / (Pmax - Pmin);\n% u_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin);\nu_P0 = (P1 - Pmin) / (Pmax - "
- "Pmin);\nu_P1 = (P2 - Pmin) / (Pmax - Pmin);\nu_P2 = (P3 - Pmin) / (Pmax - Pmin);\nu_P3 = (P4 - Pmin) / (Pmax - P"
- "min);\n\n\n% Determine the effective battery voltage from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;"
- "\nVb_eff_2 = u_P2 * Vb;\nVb_eff_3 = u_P3 * Vb;\n \nVb_eff = [Vb_eff_0, Vb_eff_1, Vb_eff_2, Vb_eff_3];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 27
- ssIdNumber 4
- name "P"
- 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"
- linkNode [25 0 28]
- }
- data {
- id 28
- ssIdNumber 5
- name "Vb_eff"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "1,4"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- linkNode [25 27 29]
- }
- data {
- id 29
- ssIdNumber 16
- name "Pmin"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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"
- linkNode [25 28 30]
- }
- data {
- id 30
- ssIdNumber 17
- name "Pmax"
- scope PARAMETER_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"
- linkNode [25 29 31]
- }
- data {
- id 31
- ssIdNumber 18
- name "Vb"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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"
- linkNode [25 30 0]
- }
- junction {
- id 32
- position [23.5747 49.5747 7]
- chart 25
- subviewer 25
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [25 0 0]
- }
- transition {
- id 33
- 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 32
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 25
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 25
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [25 0 0]
- }
- instance {
- id 34
- machine 1
- name "Actuation/ESC System"
- chart 25
- }
- chart {
- id 35
- machine 1
- name "Actuation/Motor System"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 36 0 0]
- viewObj 35
- ssIdHighWaterMark 16
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 5
- disableImplicitCasting 1
- eml {
- name "motor"
- }
- firstData 37
- firstTransition 47
- firstJunction 46
- }
- state {
- id 36
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 35
- treeNode [35 0 0 0]
- superState SUBCHART
- subviewer 35
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function w_dot = motor(Vb_eff, w, Rm, Kv, Kq, Kd, If, Jreq)\n\n% Define each motors effective bat"
- "tery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);\nVb_eff_3 = Vb_eff(4);\n\n% De"
- "termine the angular velocity of each rotor from feedback\nw_0 = w(1);\nw_1 = w(2);\nw_2 = w(3);\nw_3 = w(4);\n\n"
- "% Determine angular acceleration of each rotor\nw_0_dot = 1/(Jreq*Rm*Kq) * Vb_eff_0 - 1/(Jreq*Rm*Kq*Kv) * w_0 - "
- "1/(Jreq*Kq)*If - (Kd/Jreq) * w_0^2;\nw_1_dot = 1/(Jreq*Rm*Kq) * Vb_eff_1 - 1/(Jreq*Rm*Kq*Kv) * w_1 - 1/(Jreq*Kq)"
- "*If - (Kd/Jreq) * w_1^2;\nw_2_dot = 1/(Jreq*Rm*Kq) * Vb_eff_2 - 1/(Jreq*Rm*Kq*Kv) * w_2 - 1/(Jreq*Kq)*If - (Kd/J"
- "req) * w_2^2;\nw_3_dot = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_3^"
- "2;\n\nw_dot = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 37
- ssIdNumber 4
- name "Vb_eff"
- 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"
- linkNode [35 0 38]
- }
- data {
- id 38
- ssIdNumber 16
- name "w"
- 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"
- linkNode [35 37 39]
- }
- data {
- id 39
- ssIdNumber 7
- name "w_dot"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "1,4"
- }
- 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"
- linkNode [35 38 40]
- }
- data {
- id 40
- ssIdNumber 9
- name "Rm"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
- 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"
- linkNode [35 39 41]
- }
- data {
- id 41
- ssIdNumber 10
- name "Kv"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
- 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"
- linkNode [35 40 42]
- }
- data {
- id 42
- ssIdNumber 11
- name "Kq"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
- 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"
- linkNode [35 41 43]
- }
- data {
- id 43
- ssIdNumber 12
- name "Kd"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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"
- linkNode [35 42 44]
- }
- data {
- id 44
- ssIdNumber 13
- name "If"
- scope PARAMETER_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"
- linkNode [35 43 45]
- }
- data {
- id 45
- ssIdNumber 14
- name "Jreq"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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"
- linkNode [35 44 0]
- }
- junction {
- id 46
- position [23.5747 49.5747 7]
- chart 35
- subviewer 35
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [35 0 0]
- }
- transition {
- id 47
- 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 46
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 35
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 35
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [35 0 0]
- }
- instance {
- id 48
- machine 1
- name "Actuation/Motor System"
- chart 35
- }
- chart {
- id 49
- machine 1
- name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 50 0 0]
- viewObj 49
- ssIdHighWaterMark 31
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 6
- disableImplicitCasting 1
- eml {
- name "rotor"
- }
- firstData 51
- firstTransition 69
- firstJunction 68
- }
- state {
- id 50
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 49
- treeNode [49 0 0 0]
- superState SUBCHART
- subviewer 49
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [B_omega_dot, B_vo_dot]= rotor(w_dot, w, B_Fg, B_omega, B_vo, m, Kt, Kd, rhx, rhy, rhz, "
- "Jreq, Jxx, Jyy, Jzz)\n\n% Create J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;"
- "];\n\n% Create r_hi vector\nrh_0 = [-rhx; rhy; -rhz];\nrh_1 = [rhx; rhy; -rhz];\nrh_2 = [-rhx; -rhy; -rhz];\nrh_"
- "3 = [rhx; -rhy; -rhz];\n\n% Define vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Defi"
- "ne 3x3 Identity Matrix\nI = eye(3);\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; 1"
- "]; %Rotors 0 and 3 use this gamma_omega vector\ngamma_omega_12 = [0; 0; -1]; %Rotors 1 and 2 use this gamma_ome"
- "ga vector\n\n% Define angular velocities for each rotor\nw_0 = w(1);\nw_1 = w(2);\nw_2 = w(3);\nw_3 = w(4);\n\n%"
- " Define angular acceleration for each rotor\nw_0_dot = w_dot(1);\nw_1_dot = w_dot(2);\nw_2_dot = w_dot(3);\nw_3_"
- "dot = w_dot(4);\n\n% Define the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_"
- "Ti;\nB_Fr_1 = Kt * w_1 * w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_T"
- "i;\n\n% Sum up the rotor forces in the z-direction from each vector to get the\n% total body force in the z-dire"
- "ction\nB_Fr = B_Fr_0 + B_Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by ea"
- "ch rotor\n B_Q_d0 = -1 * Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q"
- "_d2 = -1 * Kd * w_2 * w_2 * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the tot"
- "al in-plane drag and induced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_"
- "Q_d0 + B_Q_d1 + B_Q_d2 + B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n"
- "% rotor in the z-direction\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh"
- "_2, B_Fr_2 );\nB_Q_F3 = cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the chan"
- "ge in angular momentum torque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_0"
- "3) + w_0_dot * gamma_omega_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_"
- "omega_12 ); \nB_Q_L2 = -1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3"
- " = -1 * Jreq * ( cross(B_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change"
- " in angular momentum torque produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the t"
- "otal rotor system torque as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and chan"
- "ge in angular momentum\n% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction f"
- "rom each vector to get the\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body fram"
- "e linear velocities\nB_vo_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% "
- "Define the body frame angular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br"
- "_oc, B_F) );\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 51
- ssIdNumber 6
- name "B_omega_dot"
- 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"
- linkNode [49 0 52]
- }
- data {
- id 52
- ssIdNumber 10
- name "w_dot"
- 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"
- linkNode [49 51 53]
- }
- data {
- id 53
- ssIdNumber 11
- name "w"
- 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"
- linkNode [49 52 54]
- }
- data {
- id 54
- ssIdNumber 30
- name "B_Fg"
- 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"
- linkNode [49 53 55]
- }
- data {
- id 55
- ssIdNumber 8
- name "B_omega"
- 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"
- linkNode [49 54 56]
- }
- data {
- id 56
- ssIdNumber 5
- name "B_vo_dot"
- 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"
- linkNode [49 55 57]
- }
- data {
- id 57
- ssIdNumber 7
- name "B_vo"
- 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"
- linkNode [49 56 58]
- }
- data {
- id 58
- ssIdNumber 12
- name "m"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 6
- 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"
- linkNode [49 57 59]
- }
- data {
- id 59
- ssIdNumber 14
- name "Kt"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
- 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"
- linkNode [49 58 60]
- }
- data {
- id 60
- ssIdNumber 13
- name "Kd"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
- 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"
- linkNode [49 59 61]
- }
- data {
- id 61
- ssIdNumber 15
- name "rhx"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 7
- 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"
- linkNode [49 60 62]
- }
- data {
- id 62
- ssIdNumber 16
- name "rhy"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 8
- 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"
- linkNode [49 61 63]
- }
- data {
- id 63
- ssIdNumber 17
- name "rhz"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 9
- 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"
- linkNode [49 62 64]
- }
- data {
- id 64
- ssIdNumber 18
- name "Jreq"
- scope PARAMETER_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"
- linkNode [49 63 65]
- }
- data {
- id 65
- ssIdNumber 19
- name "Jxx"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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"
- linkNode [49 64 66]
- }
- data {
- id 66
- ssIdNumber 20
- name "Jyy"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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"
- linkNode [49 65 67]
- }
- data {
- id 67
- ssIdNumber 21
- name "Jzz"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
- 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"
- linkNode [49 66 0]
- }
- junction {
- id 68
- position [23.5747 49.5747 7]
- chart 49
- subviewer 49
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [49 0 0]
- }
- transition {
- id 69
- 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 68
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 49
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 49
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [49 0 0]
- }
- instance {
- id 70
- machine 1
- name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
- chart 49
- }
- chart {
- id 71
- machine 1
- name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 72 0 0]
- viewObj 71
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 7
- disableImplicitCasting 1
- eml {
- name "angular_body_earth_conversion"
- }
- firstData 73
- firstTransition 77
- firstJunction 76
- }
- state {
- id 72
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 71
- treeNode [71 0 0 0]
- superState SUBCHART
- subviewer 71
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\nphi = euler_angles"
- "(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n 0, cos(p"
- "hi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n\n \neuler_rates "
- "= Aeb * B_omega;\n "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 73
- ssIdNumber 4
- name "B_omega"
- 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"
- linkNode [71 0 74]
- }
- data {
- id 74
- ssIdNumber 5
- name "euler_rates"
- 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"
- linkNode [71 73 75]
- }
- data {
- id 75
- ssIdNumber 6
- name "euler_angles"
- 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"
- linkNode [71 74 0]
- }
- junction {
- id 76
- position [23.5747 49.5747 7]
- chart 71
- subviewer 71
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [71 0 0]
- }
- transition {
- id 77
- 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 76
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 71
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 71
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [71 0 0]
- }
- instance {
- id 78
- machine 1
- name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- chart 71
- }
- chart {
- id 79
- machine 1
- name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 80 0 0]
- viewObj 79
- ssIdHighWaterMark 13
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 8
- disableImplicitCasting 1
- eml {
- name "linear_earth_body_conversion"
- }
- firstData 81
- firstTransition 87
- firstJunction 86
- }
- state {
- id 80
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 79
- treeNode [79 0 0 0]
- superState SUBCHART
- subviewer 79
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [B_Fg, B_g] = linear_earth_body_conversion(E_Fg, euler_angles, m)\n\nphi = euler_angles"
- "(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLbe = [ cos(theta)*cos(psi) ,"
- " cos(theta)*sin(psi) , -sin(theta) ; ...\n sin(phi)*sin(theta)*cos(psi)-c"
- "os(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), sin(phi)*cos(theta); ...\n cos(phi)*sin("
- "theta)*cos(psi)+sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi), cos(phi)*cos(theta)];\n\nB_Fg"
- " = Lbe * E_Fg;\n\nB_g = B_Fg/m;"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 81
- ssIdNumber 7
- name "E_Fg"
- 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"
- linkNode [79 0 82]
- }
- data {
- id 82
- ssIdNumber 11
- name "euler_angles"
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "3"
- }
- 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"
- linkNode [79 81 83]
- }
- data {
- id 83
- ssIdNumber 9
- name "B_Fg"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "3"
- }
- 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"
- linkNode [79 82 84]
- }
- data {
- id 84
- ssIdNumber 12
- name "B_g"
- 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"
- linkNode [79 83 85]
- }
- data {
- id 85
- ssIdNumber 13
- name "m"
- scope PARAMETER_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"
- linkNode [79 84 0]
- }
- junction {
- id 86
- position [23.5747 49.5747 7]
- chart 79
- subviewer 79
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [79 0 0]
- }
- transition {
- id 87
- 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 86
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 79
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 79
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [79 0 0]
- }
- instance {
- id 88
- machine 1
- name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- chart 79
- }
- chart {
- id 89
- machine 1
- name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 90 0 0]
- viewObj 89
- ssIdHighWaterMark 15
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 10
- disableImplicitCasting 1
- eml {
- name "idealIMU"
- }
- firstData 91
- firstTransition 100
- firstJunction 99
- }
- state {
- id 90
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 89
- treeNode [89 0 0 0]
- superState SUBCHART
- subviewer 89
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
- "\na = B_vo_dot + cross(B_Omega,B_vo); % body frame acceleration \n\naccelReading = (a - B_g)/g ; % accelerometer"
- " reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 91
- ssIdNumber 4
- name "B_vo_dot"
- 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"
- linkNode [89 0 92]
- }
- data {
- id 92
- ssIdNumber 9
- name "B_vo"
- 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"
- linkNode [89 91 93]
- }
- data {
- id 93
- ssIdNumber 5
- name "accelReading"
- 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"
- linkNode [89 92 94]
- }
- data {
- id 94
- ssIdNumber 6
- name "B_Omega"
- 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"
- linkNode [89 93 95]
- }
- data {
- id 95
- ssIdNumber 7
- name "B_g"
- 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"
- linkNode [89 94 96]
- }
- data {
- id 96
- ssIdNumber 8
- name "gyroReading"
- 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"
- linkNode [89 95 97]
- }
- data {
- id 97
- ssIdNumber 10
- name "r_oc"
- 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"
- linkNode [89 96 98]
- }
- data {
- id 98
- ssIdNumber 12
- name "g"
- scope PARAMETER_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"
- linkNode [89 97 0]
- }
- junction {
- id 99
- position [23.5747 49.5747 7]
- chart 89
- subviewer 89
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [89 0 0]
- }
- transition {
- id 100
- 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 99
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 89
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 89
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [89 0 0]
- }
- instance {
- id 101
- machine 1
- name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- chart 89
- }
- chart {
- id 102
- machine 1
- name " Sensors /3D Graphical Simulation/MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 103 0 0]
- viewObj 102
- ssIdHighWaterMark 5
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 11
- disableImplicitCasting 1
- eml {
- name "eigenaxis_ucart"
- }
- firstData 104
- firstTransition 107
- firstJunction 106
- }
- state {
- id 103
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 102
- treeNode [102 0 0 0]
- superState SUBCHART
- subviewer 102
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 104
- ssIdNumber 4
- name "u"
- 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"
- linkNode [102 0 105]
- }
- data {
- id 105
- ssIdNumber 5
- name "y"
- 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"
- linkNode [102 104 0]
- }
- junction {
- id 106
- position [23.5747 49.5747 7]
- chart 102
- subviewer 102
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [102 0 0]
- }
- transition {
- id 107
- 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 106
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 102
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 102
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [102 0 0]
- }
- instance {
- id 108
- machine 1
- name " Sensors /3D Graphical Simulation/MATLAB Function"
- chart 102
- }
- chart {
- id 109
- machine 1
- name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 110 0 0]
- viewObj 109
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 12
- disableImplicitCasting 1
- eml {
- name "angular_body_earth_conversion"
- }
- firstData 111
- firstTransition 115
- firstJunction 114
- }
- state {
- id 110
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 109
- treeNode [109 0 0 0]
- superState SUBCHART
- subviewer 109
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_filtered)\n\n"
- "phi = euler_angles_filtered(1);\ntheta = euler_angles_filtered(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*ta"
- "n(theta); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)"
- "/cos(theta)];\n\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 111
- ssIdNumber 4
- name "gyro_reading"
- 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"
- linkNode [109 0 112]
- }
- data {
- id 112
- ssIdNumber 5
- name "euler_rates_IMU"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "[3,1]"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- linkNode [109 111 113]
- }
- data {
- id 113
- ssIdNumber 6
- name "euler_angles_filtered"
- 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"
- linkNode [109 112 0]
- }
- junction {
- id 114
- position [23.5747 49.5747 7]
- chart 109
- subviewer 109
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [109 0 0]
- }
- transition {
- id 115
- 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 114
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 109
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 109
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [109 0 0]
- }
- instance {
- id 116
- machine 1
- name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
- chart 109
- }
- chart {
- id 117
- machine 1
- name " Sensors /Calculate Pitch and Roll"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 118 0 0]
- viewObj 117
- ssIdHighWaterMark 10
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 13
- disableImplicitCasting 1
- eml {
- name "getPitchAndRoll"
- }
- firstData 119
- firstTransition 124
- firstJunction 123
- }
- state {
- id 118
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 117
- treeNode [117 0 0 0]
- superState SUBCHART
- subviewer 117
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
- "m(accel_reading);\n\n% x_accel = accel_reading(1)/mag;\n% y_accel = accel_reading(2)/mag;\n% z_accel = accel_rea"
- "ding(3)/mag;\n\nx_accel = accel_reading(1);\ny_accel = accel_reading(2);\nz_accel = accel_reading(3);\n\naccel_p"
- "itch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n\n%accel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
- "2 + (1/100)*x_accel^2)) );\n\n%accel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^2 + x_accel^2)) );\nacc"
- "el_roll = atan( -y_accel/( sqrt(z_accel^2 + x_accel^2)) );\n\n% unwrapped_roll = unwrap([accel_roll_prev accel_"
- "roll]);\n% accel_roll = unwrapped_roll(2);\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 119
- ssIdNumber 4
- name "accel_reading"
- 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"
- linkNode [117 0 120]
- }
- data {
- id 120
- ssIdNumber 5
- name "accel_pitch"
- 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"
- linkNode [117 119 121]
- }
- data {
- id 121
- ssIdNumber 6
- name "accel_roll"
- 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"
- linkNode [117 120 122]
- }
- data {
- id 122
- ssIdNumber 7
- name "accel_roll_prev"
- 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"
- linkNode [117 121 0]
- }
- junction {
- id 123
- position [23.5747 49.5747 7]
- chart 117
- subviewer 117
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [117 0 0]
- }
- transition {
- id 124
- 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 123
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 117
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 117
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [117 0 0]
- }
- instance {
- id 125
- machine 1
- name " Sensors /Calculate Pitch and Roll"
- chart 117
- }
- chart {
- id 126
- machine 1
- name "Control System/Signal Mixer"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 127 0 0]
- viewObj 126
- ssIdHighWaterMark 11
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 14
- disableImplicitCasting 1
- eml {
- name "signal_mixer"
- }
- firstData 128
- firstTransition 134
- firstJunction 133
- }
- state {
- id 127
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 126
- treeNode [126 0 0 0]
- superState SUBCHART
- subviewer 126
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function P = signal_mixer(height_controlled, y_controlled, x_controlled, yaw_controlled)\n\ncont"
- "roller_outputs = [ height_controlled; x_controlled; y_controlled; yaw_controlled ];\nsignal_mixer = [ 1, -1, -1,"
- " -1; ... \n 1, 1, -1, 1; ...\n 1, -1, 1, 1; ...\n 1, 1, 1,"
- " -1 ];\n\n% signal_mixer = [ 1, 1, -1, -1; ... \n% 1, -1, -1, 1; ...\n% 1, "
- "1, 1, 1; ...\n% 1, -1, 1, -1 ];\n \nP = signal_mixer * controller_outputs;\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 128
- ssIdNumber 4
- name "height_controlled"
- 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"
- linkNode [126 0 129]
- }
- data {
- id 129
- ssIdNumber 7
- name "y_controlled"
- 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"
- linkNode [126 128 130]
- }
- data {
- id 130
- ssIdNumber 5
- name "P"
- 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"
- linkNode [126 129 131]
- }
- data {
- id 131
- ssIdNumber 6
- name "x_controlled"
- 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"
- linkNode [126 130 132]
- }
- data {
- id 132
- ssIdNumber 8
- name "yaw_controlled"
- 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"
- linkNode [126 131 0]
- }
- junction {
- id 133
- position [23.5747 49.5747 7]
- chart 126
- subviewer 126
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [126 0 0]
- }
- transition {
- id 134
- 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 133
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 126
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 126
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [126 0 0]
- }
- instance {
- id 135
- machine 1
- name "Control System/Signal Mixer"
- chart 126
- }
- chart {
- id 136
- machine 1
- name "Control System/MATLAB Function1"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 137 0 0]
- viewObj 136
- ssIdHighWaterMark 25
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 15
- disableImplicitCasting 1
- eml {
- name "c_controller"
- }
- firstData 138
- firstTransition 160
- firstJunction 159
- }
- state {
- id 137
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 136
- treeNode [136 0 0 0]
- superState SUBCHART
- subviewer 136
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [z_corr, y_cor, x_corr, yaw_corr, pid_y_out, pid_roll_out] = c_controller(set_x, set_y, "
- "set_z, set_yaw, ...\n cur_x, cur_y, cur_z, ...\n cur_phi, cur_theta, cur_psi, ...\n cur_phi_d, cur_thet"
- "a_d, cur_psi_d, vrpn_id, Tc)\n\nout_z = -1;\nout_y = -1;\nout_x = -1;\nout_yaw = -1;\nc_pid_y = -1;\nc_pid_roll "
- "= -1;\n\ncoder.ceval('c_controller', vrpn_id, Tc, set_x, set_y, set_z, set_yaw, ...\n cur_x, "
- "cur_y, cur_z, ...\n cur_phi, cur_theta, cur_psi, ...\n cur_phi_d, cur_thet"
- "a_d, cur_psi_d, ...\n coder.wref(out_z), coder.wref(out_y), coder.wref(out_x), coder.wref(out"
- "_yaw), ...\n coder.wref(c_pid_y), coder.wref(c_pid_roll));\n\nz_corr = out_z;\ny_cor = out_y;"
- "\nx_corr = out_x;\npid_y_out = c_pid_y;\npid_roll_out = c_pid_roll;\nyaw_corr = out_yaw;\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 138
- ssIdNumber 4
- name "set_x"
- 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"
- linkNode [136 0 139]
- }
- data {
- id 139
- ssIdNumber 5
- name "z_corr"
- 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"
- linkNode [136 138 140]
- }
- data {
- id 140
- ssIdNumber 6
- name "set_y"
- 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"
- linkNode [136 139 141]
- }
- data {
- id 141
- ssIdNumber 7
- name "set_z"
- 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"
- linkNode [136 140 142]
- }
- data {
- id 142
- ssIdNumber 8
- name "set_yaw"
- 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"
- linkNode [136 141 143]
- }
- data {
- id 143
- ssIdNumber 9
- name "cur_x"
- 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"
- linkNode [136 142 144]
- }
- data {
- id 144
- ssIdNumber 10
- name "cur_y"
- 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"
- linkNode [136 143 145]
- }
- data {
- id 145
- ssIdNumber 11
- name "cur_z"
- 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"
- linkNode [136 144 146]
- }
- data {
- id 146
- ssIdNumber 12
- name "cur_phi"
- 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"
- linkNode [136 145 147]
- }
- data {
- id 147
- ssIdNumber 13
- name "cur_theta"
- 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"
- linkNode [136 146 148]
- }
- data {
- id 148
- ssIdNumber 14
- name "cur_psi"
- 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"
- linkNode [136 147 149]
- }
- data {
- id 149
- ssIdNumber 15
- name "cur_phi_d"
- 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"
- linkNode [136 148 150]
- }
- data {
- id 150
- ssIdNumber 16
- name "cur_theta_d"
- 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"
- linkNode [136 149 151]
- }
- data {
- id 151
- ssIdNumber 17
- name "cur_psi_d"
- 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"
- linkNode [136 150 152]
- }
- data {
- id 152
- ssIdNumber 18
- name "y_cor"
- 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"
- linkNode [136 151 153]
- }
- data {
- id 153
- ssIdNumber 19
- name "x_corr"
- 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"
- linkNode [136 152 154]
- }
- data {
- id 154
- ssIdNumber 20
- name "yaw_corr"
- 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"
- linkNode [136 153 155]
- }
- data {
- id 155
- ssIdNumber 21
- name "vrpn_id"
- 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"
- linkNode [136 154 156]
- }
- data {
- id 156
- ssIdNumber 22
- name "pid_y_out"
- 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"
- linkNode [136 155 157]
- }
- data {
- id 157
- ssIdNumber 23
- name "pid_roll_out"
- 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"
- linkNode [136 156 158]
- }
- data {
- id 158
- ssIdNumber 25
- name "Tc"
- 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"
- linkNode [136 157 0]
- }
- junction {
- id 159
- position [23.5747 49.5747 7]
- chart 136
- subviewer 136
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [136 0 0]
- }
- transition {
- id 160
- 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 159
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 136
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 136
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [136 0 0]
- }
- instance {
- id 161
- machine 1
- name "Control System/MATLAB Function1"
- chart 136
- }
- chart {
- id 162
- machine 1
- name " Sensors /Aeb_c\n\n\n\n\n\n\n\n\n\n1"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 163 0 0]
- viewObj 162
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 16
- disableImplicitCasting 1
- eml {
- name "angular_body_earth_conversion"
- }
- firstData 164
- firstTransition 168
- firstJunction 167
- }
- state {
- id 163
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 162
- treeNode [162 0 0 0]
- superState SUBCHART
- subviewer 162
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_filtered)\n\n"
- "phi = euler_angles_filtered(1);\ntheta = euler_angles_filtered(2);\npsi = NaN;\n\nphi_dot = -1;\ntheta_dot = -1;"
- "\npsi_dot = -1;\n\np = gyro_reading(1);\nq = gyro_reading(2);\nr = gyro_reading(3);\n\ncoder.ceval( 'aeb_mat', p"
- ", q, r, phi, theta, psi, coder.wref(phi_dot), ...\n coder.wref(theta_dot), coder.wref(psi_dot) );\n\n \neul"
- "er_rates_IMU = [phi_dot; theta_dot; psi_dot];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 164
- ssIdNumber 4
- name "gyro_reading"
- 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"
- linkNode [162 0 165]
- }
- data {
- id 165
- ssIdNumber 5
- name "euler_rates_IMU"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "[3,1]"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- linkNode [162 164 166]
- }
- data {
- id 166
- ssIdNumber 6
- name "euler_angles_filtered"
- 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"
- linkNode [162 165 0]
- }
- junction {
- id 167
- position [23.5747 49.5747 7]
- chart 162
- subviewer 162
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [162 0 0]
- }
- transition {
- id 168
- 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 167
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 162
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 162
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [162 0 0]
- }
- instance {
- id 169
- machine 1
- name " Sensors /Aeb_c\n\n\n\n\n\n\n\n\n\n1"
- chart 162
- }
- chart {
- id 170
- machine 1
- name " Sensors /MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 171 0 0]
- viewObj 170
- ssIdHighWaterMark 7
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 17
- disableImplicitCasting 1
- eml {
- name "complimentaryFilterC"
- }
- firstData 172
- firstTransition 177
- firstJunction 176
- }
- state {
- id 171
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 170
- treeNode [170 0 0 0]
- superState SUBCHART
- subviewer 170
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_angles_IMU = complimentaryFilterC(accel_pitch, accel_roll, euler_rates_gyro)\n\ne"
- "uler_x = euler_rates_gyro(1);\neuler_y = euler_rates_gyro(2);\n\nfiltered_pitch = -1;\nfiltered_roll = -1;\n\nco"
- "der.ceval('compl_filter', accel_pitch, accel_roll, euler_x, euler_y, ...\n coder.wref(filtered_pitch)"
- ", coder.wref(filtered_roll));\n\neuler_angles_IMU = [filtered_roll; filtered_pitch];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 172
- ssIdNumber 4
- name "accel_pitch"
- 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"
- linkNode [170 0 173]
- }
- data {
- id 173
- ssIdNumber 5
- name "euler_angles_IMU"
- 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"
- linkNode [170 172 174]
- }
- data {
- id 174
- ssIdNumber 6
- name "accel_roll"
- 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"
- linkNode [170 173 175]
- }
- data {
- id 175
- ssIdNumber 7
- name "euler_rates_gyro"
- 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"
- linkNode [170 174 0]
- }
- junction {
- id 176
- position [23.5747 49.5747 7]
- chart 170
- subviewer 170
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [170 0 0]
- }
- transition {
- id 177
- 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 176
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 170
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 170
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [170 0 0]
- }
- instance {
- id 178
- machine 1
- name " Sensors /MATLAB Function"
- chart 170
- }
- chart {
- id 179
- machine 1
- name " Sensors /MATLAB Function1"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 180 0 0]
- viewObj 179
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 18
- disableImplicitCasting 1
- eml {
- name "angle_IMU_C"
- }
- firstData 181
- firstTransition 185
- firstJunction 184
- }
- state {
- id 180
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 179
- treeNode [179 0 0 0]
- superState SUBCHART
- subviewer 179
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accel_pitch, accel_roll] = angle_IMU_C(accel_reading)\n\naccel_x = accel_reading(1);\n"
- "accel_y = accel_reading(2);\naccel_z = accel_reading(3);\n\ncalculated_pitch = -1;\ncalculated_roll = -1;\n\ncod"
- "er.ceval('angle_accel', accel_x, accel_y, accel_z, coder.wref(calculated_pitch), coder.wref(calculated_roll));\n"
- "\naccel_pitch = calculated_pitch;\naccel_roll = calculated_roll;"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 181
- ssIdNumber 4
- name "accel_reading"
- 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"
- linkNode [179 0 182]
- }
- data {
- id 182
- ssIdNumber 5
- name "accel_pitch"
- 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"
- linkNode [179 181 183]
- }
- data {
- id 183
- ssIdNumber 6
- name "accel_roll"
- 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"
- linkNode [179 182 0]
- }
- junction {
- id 184
- position [23.5747 49.5747 7]
- chart 179
- subviewer 179
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [179 0 0]
- }
- transition {
- id 185
- 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 184
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 179
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 179
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [179 0 0]
- }
- instance {
- id 186
- machine 1
- name " Sensors /MATLAB Function1"
- chart 179
- }
- chart {
- id 187
- machine 1
- name " Sensors /Complimentary Filter"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 188 0 0]
- viewObj 187
- ssIdHighWaterMark 17
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 19
- disableImplicitCasting 1
- eml {
- name "complimentaryFilter"
- }
- firstData 189
- firstTransition 195
- firstJunction 194
- }
- state {
- id 188
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 187
- treeNode [187 0 0 0]
- superState SUBCHART
- subviewer 187
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "%function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, pre"
- "v_euler_angles_IMU)\nfunction euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_rates_gyro,"
- " prev_euler_angles)\n\nk_gyro = 0.98; \nk_accel = 1-k_gyro; \n\nTs = 0.005; % 5 milliseconds\n\nprev_phi = prev_"
- "euler_angles(1);\nprev_theta = prev_euler_angles(2);\n\nprev_phi_dot = euler_rates_gyro(1);\nprev_theta_dot = eu"
- "ler_rates_gyro(2);\n\nintegrated_phi_gyro = Ts * prev_phi_dot + prev_phi;\nintegrated_theta_gyro = Ts * prev_the"
- "ta_dot + prev_theta;\n\nphi = k_gyro * integrated_phi_gyro + k_accel * accel_roll;\ntheta = k_gyro * integrated_"
- "theta_gyro + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi; theta];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 189
- ssIdNumber 4
- name "accel_pitch"
- 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"
- linkNode [187 0 190]
- }
- data {
- id 190
- ssIdNumber 13
- name "accel_roll"
- 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"
- linkNode [187 189 191]
- }
- data {
- id 191
- ssIdNumber 5
- name "euler_angles_IMU"
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "[2,1]"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- linkNode [187 190 192]
- }
- data {
- id 192
- ssIdNumber 6
- name "euler_rates_gyro"
- 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"
- linkNode [187 191 193]
- }
- data {
- id 193
- ssIdNumber 17
- name "prev_euler_angles"
- 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"
- linkNode [187 192 0]
- }
- junction {
- id 194
- position [23.5747 49.5747 7]
- chart 187
- subviewer 187
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [187 0 0]
- }
- transition {
- id 195
- 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 194
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 187
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 187
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [187 0 0]
- }
- instance {
- id 196
- machine 1
- name " Sensors /Complimentary Filter"
- chart 187
- }
- target {
- id 197
- machine 1
- name "sfun"
- description "Default Simulink S-Function Target."
- linkNode [1 0 0]
- }
-}
diff --git a/controls/model/Quadcopter_Model_R2016_A.slx b/controls/model/Quadcopter_Model_R2016_A.slx
deleted file mode 100644
index 7f461495c2c37f501f258aed80ec8233b134740b..0000000000000000000000000000000000000000
Binary files a/controls/model/Quadcopter_Model_R2016_A.slx and /dev/null differ
diff --git a/controls/model/Quadcopter_Model_R2016_B.slx b/controls/model/Quadcopter_Model_R2016_B.slx
deleted file mode 100644
index 9ddda3cdbd05db65d455a676fe14b5b871b4b78c..0000000000000000000000000000000000000000
Binary files a/controls/model/Quadcopter_Model_R2016_B.slx and /dev/null differ
diff --git a/controls/model/improved_lqr.m b/controls/model/improved_lqr.m
new file mode 100644
index 0000000000000000000000000000000000000000..316a93eaff63038d0ce470920cf658512c5d0da5
--- /dev/null
+++ b/controls/model/improved_lqr.m
@@ -0,0 +1,22 @@
+% Given the state-space linearization, diagonal weighting matrices, and
+% update period, compute the discrete LQR model for the system, described
+% in Matt Rich's thesis section 7.4. Unlike the "initial LQR" design, this
+% version defines its cost function with block-diagonal weighting matrices
+% (instead of purely diagonal matrices)
+
+% c_alt, c_lat, and c_dir are 3x2, 1x4, and 3x2, respectively
+function [lqr_K, lqr_S, lqr_E] = improved_lqr(A, B, c_alt, c_lat, c_dir, d_alt, d_lat, d_dir, T)
+ % Given the block-diagonal weighting matrix, index ordering permutation
+ % to get the controller in our previous state ordering
+ perm = [7 3 1 5 9 11 8 4 2 6 10 12];
+ % Longitudinal is the same as latidude, but the angular weights need to
+ % be flipped
+ d_long = -d_lat;
+ c_long = [c_lat(1:2), -c_lat(3:4)];
+ % Q, R, and N matrices from weighting, given in subsytem components
+ Q_sub = blkdiag(c_alt'*c_alt, c_lat'*c_lat, c_long'*c_long, c_dir'*c_dir);
+ R_sub = blkdiag(d_alt'*d_alt, d_lat'*d_lat, d_long'*d_long, d_dir'*d_dir);
+ N_sub = blkdiag(c_alt'*d_alt, c_lat'*d_lat, c_long'*d_long, c_dir'*d_dir);
+ % Permute subsystem-ordered matrices to get compatible controller
+ [lqr_K, lqr_S, lqr_E] = lqrd(A, B, Q_sub(perm,perm), R_sub, N_sub(perm,:), T);
+end
\ No newline at end of file
diff --git a/controls/model/initial_lqr.m b/controls/model/initial_lqr.m
new file mode 100644
index 0000000000000000000000000000000000000000..9db5ec1150588c4d4d06b0888850dde6a1bdc96b
--- /dev/null
+++ b/controls/model/initial_lqr.m
@@ -0,0 +1,8 @@
+% Given the state-space linearization, diagonal weighting matrices, and
+% update period, compute the discrete LQR model for the system, described
+% in Matt Rich's thesis section 7.3
+function [lqr_K, lqr_S, lqr_E] = initial_lqr(A, B, state_weights, command_weights, T)
+ lqr_Q = diag(1./state_weights.^2);
+ lqr_R = diag(1./command_weights.^2);
+ [lqr_K, lqr_S, lqr_E] = lqrd(A, B, lqr_Q, lqr_R, zeros(12, 4), T);
+end
\ No newline at end of file
diff --git a/controls/model/linearization.m b/controls/model/linearization.m
new file mode 100644
index 0000000000000000000000000000000000000000..75de8cf7b1a71d8cce6a33f894d8c200d0964c9b
--- /dev/null
+++ b/controls/model/linearization.m
@@ -0,0 +1,130 @@
+% Implements the nonlinear model and creates state-space matrices A and B
+% using MATLAB's symbolic differentiation.
+%
+% The model physics is taken from Matt Rich's "Model Development..."
+% sections 4.1 and 4.2
+%
+% This linearization assumes the rotor orientation in the simulink model:
+% 1 2
+% +dx
+% +dy
+%
+% 3 4
+% In some of the internal simulink files, these are indexed 0, ..., 3
+% instead of 1, .., 4. The order is unchanged.
+% Note that the final result should be the same regardless of rotor
+% orientation, but everything internal to this function and its parameters
+% need to be consistent.
+function [A, B] = linearization(m, g, Kt, Kh, Kd, delta_T_z, rx, ry, rz, J, Jreq, Vb, Rm, Kv, Kq, If, signal_mixer)
+ % Symbolic state variables
+ syms u v w p q r x y z ph th ps
+
+ % Rotation matrices. After linearization, these are equivalent to I
+ L_EB = [...
+ cos(th)*cos(ps), sin(ph)*sin(th)*cos(ps)-cos(ph)*sin(ps), cos(ph)*sin(th)*cos(ps)+sin(ph)*sin(ps)
+ cos(th)*sin(ps), sin(ph)*sin(th)*sin(ps)+cos(ph)*cos(ps), cos(ph)*sin(th)*sin(ps)-sin(ph)*cos(ps)
+ -sin(th), sin(ph)*cos(th), cos(ph)*cos(th)];
+ A_EB = [...
+ 1, 0, -sin(th)
+ 0, cos(ph), sin(ph)*cos(th)
+ 0, -sin(ph), cos(ph)*cos(th)];
+
+ % Rotor positions
+ r_h = [...
+ -rx, rx, -rx, rx
+ ry, ry, -ry, -ry
+ -rz, -rz, -rz, -rz
+ ];
+
+ % Gamma matrices select force dimensions
+ Gamma_H = diag([1, 1, 0]);
+ Gamma_Omega = [zeros(2,4); 1, -1, -1, 1];
+
+ % uT, uA, uE, uR
+ u_c = sym('u_c_%d', [1 4]);
+ % Individual rotor commands
+ u_p = (signal_mixer * u_c')';
+
+ % Rotor angular velocities
+ % These values assume no motor transient
+ % (i.e. speeds reached immediately)
+ omega = sym('w_%d', [1 4]);
+ for i = 1:4
+ omega(i) = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*u_p(i)*Vb)))/(2*Rm*Kv*Kq*Kd);
+ end
+
+ % Variable vectors
+ v_B_0 = [u; v; w];
+ Omega_B = [p; q; r];
+
+ % Rotor velocity
+ for i = 1:4
+ v_h(:,i) = v_B_0 + cross(Omega_B, r_h(:,i));
+ end
+
+ % Gravity
+ G_B = m*g*[-sin(th); cos(th)*sin(ph); cos(th)*cos(ph)];
+
+ % Force
+ % Rotor Thrust (3 directions x 4 rotors matrix)
+ T_B = [zeros(2, 4); -(Kt*omega.^2 + delta_T_z*v_h(3,:).*omega)];
+ % Rotor In-plane drag (3 directions x 4 rotors matrix)
+ H_B = -(Kh*ones(3,1)*omega).*(Gamma_H*v_h);
+ % Total Force (Gravity + rotor force summed over all rotors)
+ F_B = G_B + sum(T_B + H_B, 2);
+
+ % Torque
+ for i = 1:4
+ % Force Lever-arm Torque
+ Q_B_F(:,i) = cross(r_h(:,i), T_B(:,i) + H_B(:,i));
+ % Change of Angular Momentum Torque (assuming no motor transient)
+ Q_B_L(:,i) = -Jreq*cross(Omega_B, omega(i)*Gamma_Omega(:,i));
+ % Drag/Induced Torque
+ Q_B_d(:,i) = -Kd*omega(i)^2*Gamma_Omega(:,i);
+ end
+ % Total Torque
+ Q_B = sum(Q_B_F + Q_B_d + Q_B_L, 2);
+
+ % Define state vector Lambda and its time derivative, Lambda_dot
+ Lambda = [u, v, w, p, q, r, x, y, z, ph, th, ps];
+ Lambda_dot = [...
+ 1/m * F_B - cross(Omega_B, v_B_0)
+ J^-1 * Q_B - cross(J^-1 * Omega_B, J * Omega_B)
+ L_EB * v_B_0
+ A_EB * Omega_B
+ ];
+
+ % A is partial of Lambda_dot wrt Lambda
+ for i = 1:12
+ for j = 1:12
+ symA(i, j) = diff(Lambda_dot(i), Lambda(j));
+ end
+ end
+
+ % B is partial of Lambda_dot wrt u_T, u_A, u_E, u_R
+ for i = 1:12
+ for j = 1:4
+ symB(i, j) = diff(Lambda_dot(i), u_c(j));
+ end
+ end
+
+ % Set equilibrium values
+ u = 0; v = 0; w = 0; p = 0; q = 0; r = 0; x = 0; y = 0; z = 0; ph = 0; th = 0; ps = 0;
+ u_c_1 = 0; u_c_2 = 0; u_c_3 = 0; u_c_4 = 0;
+
+ % Binary search for equilibrium throttle value
+ throttle_max = 1; throttle_min = 0;
+ while (abs(double(subs(F_B(3)))) > 1e-7)
+ u_c_1 = (throttle_max + throttle_min)/2;
+ if (double(subs(F_B(3))) > 0)
+ throttle_min = double(u_c_1);
+ else
+ throttle_max = double(u_c_1);
+ end
+ end
+
+ % Convert symbolic linearization matrices to double values
+ A = double(subs(symA));
+ B = double(subs(symB));
+end
+%#ok<*AGROW>
\ No newline at end of file
diff --git a/controls/model/lqr_err.m b/controls/model/lqr_err.m
new file mode 100644
index 0000000000000000000000000000000000000000..fff65cd53944e86089d300a2d8c9f228f4f2b6bc
--- /dev/null
+++ b/controls/model/lqr_err.m
@@ -0,0 +1,19 @@
+% Given a set of weights and the state-space matrices, lqr_err() constructs
+% the LQR controller, runs the Simulink simulation, and computes the sum of
+% the norms of the errors of each setpoint position dimension (x, y, z,
+% roll, pitch, and yaw)
+
+% Note weights is [uv, w, pq, r, xy, z, phth, ps, uT, uAuE, uR]
+% All analogous state variables for x and y are shared to reduce dimension
+function err = lqr_err(A, B, weights, T)
+ w = weights;
+ % This re-expands the weights to length 12 and 4 vectors, respectively
+ state_weights = [w(1) w(1:3) w(3:5) w(5:7) w(7:8)];
+ command_weights = [w(9:10) w(10:11)];
+ [K, ~, ~] = initial_lqr(A, B, state_weights, command_weights, T);
+ % Set the LQR K matrix in the simulator to the newly calculated one
+ assignin('base', 'lqr_K', K);
+ % Run Simulink simulation and return norms of the errors (no plot)
+ sp_err = run_once(false);
+ err = sum(vecnorm(sp_err));
+end
\ No newline at end of file
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index afe8eb6e624c655a1b3a0336d1b87ce3f92c560d..30bda9a41410236868c9e04b964bc3b692c655b6 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,3 +1,6 @@
+% Contains all the measurable parameters of the quadrotor. Must be run
+% before running the simulation or any other functions in this directory
+
% Add Library Blocks and 3D animation to Path
path_1 = genpath('Library_blocks');
path_2 = genpath('3D_Animation');
@@ -11,7 +14,7 @@
% Define Simulink Runtime (if logAnalysisToggle is selected, this will be
% automatically set based on the log files time)
- runtime = 40;%max(time);
+ runtime = 40;
% Model Parameters
m = 1.216; % Quadrotor + battery mass
@@ -63,7 +66,7 @@
OF_Fc = 7;
OF_K = tan(pi * OF_Fc / Fs);
- OF_norm = 1.0 / (1.0 + OF_K/Q + OF_K*OF_K);
+ OF_norm = 1.0 / (1.0 + OF_K/Q + OF_K*OF_K);
OF_b0 = OF_K*OF_K*OF_norm;
OF_b1 = 2.0*OF_b0;
@@ -243,135 +246,142 @@ if logAnalysisToggle == 1
% Pull VRPN pitch and roll
pitch_measured_VRPN = dataStruct.Pitch_trim_add_Sum.data;
-
% Define setpoint timeseries
x_setpoint_model = timeseries(x_setpoint, time);
y_setpoint_model = timeseries(y_setpoint, time);
z_setpoint_model = timeseries(z_setpoint, time);
-
end
if physicsVerificationToggle == 1
- % PHYSICAL SYSTEM PARAMETERS
-
-% quadrotor + battery mass
-m = 1.216;
-% quadrotor + battery inertia tensor
-J = diag([ 0.0130 0.0140 0.0285 ]);
-% quadrotor + battery body frame origin to c.o.g. error radius
-r_oc = [ 0 ; 0 ; 0 ];
-
-% mass of rigidly attached load
-m_L = 0;
-% dimensions of assuemd rectangular load
-x_L = 0; y_L = 0; z_L = 0;
-x_L = 0; y_L = 0; z_L = 0;
-% inertia tensor of load
-J_L = m_L/12*diag([y_L^2+z_L^2,x_L^2+z_L^2,x_L^2+y_L^2]);
-% location of load center of mass in body frame
-r_oL = [0; 0; 0];%[ 0.12 ; 0.12 ; -0.04];%(0.04 + z_L/2) ];
-%r_oL = [ .115 ; .115 ; 0.04];
-
-% acceleration of gravity
-g = 9.81;
-
-% initial dynamics states conditions
-u0 = 0;
-v0 = 0;
-w0 = 0;
-p0 = 0;
-q0 = 0;
-r0 = 0;
-x0 = 0;
-y0 = 0;
-z0 = 0;
-phi0 = 0;
-theta0 = 0;
-psi0 = 0;
-
-% ROTOR PARAMETERS
-
-% nominally equal rotor parameters
-K_T = cell(1,4); K_H = cell(1,4); K_d = cell(1,4);
-Delta_T = cell(1,4);
-%Delta_T = [0 0 0];
-J_r = cell(1,4); Gamma_H = cell(1,4);
-for i = 1:4
- % rotor thrust constants
- K_T{i} = 1.2007e-05;
- % rotor H-force coefficeint
- K_H{i} = 3.4574e-04;
- % rotor drag constant
- K_d{i} = 1.4852e-07;
- % rotor b_z axis velocity thrust adjustment factor
- Delta_T{i} = 0.5*[ 0 0 2.351e-4 ];
- % equivalent rotor + motor moment of inertia
- J_r{i} = 4.2012e-05;
- % h-force xy-plane selection matrix
- Gamma_H{i} = [ 1 0 0 ; 0 1 0 ; 0 0 0 ];
-end
-
-
-
-% ESC-MOTOR PARAMETERS
-have_motor_transient = 1;
-% nominally equal motor and eletronic speed control parameters
-R_m = cell(1,4); K_Q = cell(1,4); K_V = cell(1,4);
-i_0 = cell(1,4); omega_0 = cell(1,4); K_E = cell(1,4);
-p_0 = cell(1,4); p_max = cell(1,4);
-for i = 1:4
- % motor resistance
- R_m{i} = 0.235;
- % motor torque constant
- K_Q{i} = 96.3422;
- % motor back-emf constant
- K_V{i} = 96.3422;
- % motor no-load current
- i_0{i} = 0.3836;
- % initial motor/rotor speed
- omega_0{i} = (m*g/4/K_T{1})^0.5;
- % ESC normalized pwm input factor
- K_E{i} = 1;
- % ESC turn-on duty cycle
- p_0{i} = 0;
- % ESC maximum duty cycle (as calibrated)
- p_max{i} = 1;
+ % PHYSICAL SYSTEM PARAMETERS
+ % quadrotor + battery inertia tensor
+ J = diag([ Jxx Jyy Jzz ]);
+ % quadrotor + battery body frame origin to c.o.g. error radius
+ r_oc = [ 0 ; 0 ; 0 ];
+
+ % mass of rigidly attached load
+ m_L = 0;
+ % dimensions of assuemd rectangular load
+ x_L = 0; y_L = 0; z_L = 0;
+ % inertia tensor of load
+ J_L = m_L/12*diag([y_L^2+z_L^2,x_L^2+z_L^2,x_L^2+y_L^2]);
+ % location of load center of mass in body frame
+ r_oL = [0; 0; 0];%[ 0.12 ; 0.12 ; -0.04];%(0.04 + z_L/2) ];
+ %r_oL = [ .115 ; .115 ; 0.04];
+
+ % acceleration of gravity
+ g = 9.81;
+
+ % initial dynamics states conditions
+ u0 = 0;
+ v0 = 0;
+ w0 = 0;
+ p0 = 0;
+ q0 = 0;
+ r0 = 0;
+ x0 = 0;
+ y0 = 0;
+ z0 = 0;
+ phi0 = 0;
+ theta0 = 0;
+ psi0 = 0;
+
+ % ROTOR PARAMETERS
+
+ % nominally equal rotor parameters
+ K_T = cell(1,4); K_H = cell(1,4); K_d = cell(1,4);
+ Delta_T = cell(1,4);
+ %Delta_T = [0 0 0];
+ J_r = cell(1,4); Gamma_H = cell(1,4);
+ for i = 1:4
+ % rotor thrust constants
+ K_T{i} = Kt;
+ % rotor H-force coefficeint
+ K_H{i} = Kh;
+ % rotor drag constant
+ K_d{i} = Kd;
+ % rotor b_z axis velocity thrust adjustment factor
+ Delta_T{i} = 0.5*[ 0 0 2.351e-4 ];
+ % equivalent rotor + motor moment of inertia
+ J_r{i} = Jreq;
+ % h-force xy-plane selection matrix
+ Gamma_H{i} = [ 1 0 0 ; 0 1 0 ; 0 0 0 ];
+ end
+
+ % ESC-MOTOR PARAMETERS
+ have_motor_transient = 1;
+ % nominally equal motor and eletronic speed control parameters
+ R_m = cell(1,4); K_Q = cell(1,4); K_V = cell(1,4);
+ i_0 = cell(1,4); omega_0 = cell(1,4); K_E = cell(1,4);
+ p_0 = cell(1,4); p_max = cell(1,4);
+ for i = 1:4
+ % motor resistance
+ R_m{i} = 0.235;
+ % motor torque constant
+ K_Q{i} = 96.3422;
+ % motor back-emf constant
+ K_V{i} = 96.3422;
+ % motor no-load current
+ i_0{i} = 0.3836;
+ % initial motor/rotor speed
+ omega_0{i} = (m*g/4/K_T{1})^0.5;
+ % ESC normalized pwm input factor
+ K_E{i} = 1;
+ % ESC turn-on duty cycle
+ p_0{i} = 0;
+ % ESC maximum duty cycle (as calibrated)
+ p_max{i} = 1;
+ end
+
+
+
+ % ROTOR LOCATION/ORIENTATION PARAMETERS
+
+ % locatin of hub 1 in body frame
+ r_h{1} = [ rhx ; rhy ; -rhz ];
+ % rotor 1 thrust unit vector
+ Gamma_T{1} = [ 0 ; 0 ; -1 ];
+ % rotor 1 rotation unit vector
+ Gamma_Omega{1} = [ 0 ; 0 ; -1 ];
+
+ r_h{2} = [ -rhx ; rhy ; -rhz ];
+ Gamma_T{2} = [ 0 ; 0 ; -1 ];
+ Gamma_Omega{2} = [ 0 ; 0 ; 1 ];
+
+ r_h{3} = [ -rhx ; -rhy ; -rhz ];
+ Gamma_T{3} = [ 0 ; 0 ; -1 ];
+ Gamma_Omega{3} = [ 0 ; 0 ; -1 ];
+
+ r_h{4} = [ rhx ; -rhy ; -rhz ];
+ Gamma_T{4} = [ 0 ; 0 ; -1 ];
+ Gamma_Omega{4} = [ 0 ; 0 ; 1 ];
+
+
+
+ % BATTERY PARAMETERS
+
+ % starting/operating battery voltage
+ V_0 = 11.4; %12.4; %11.4;
+ % approximate hovering rate of battery discharge
+ d_V = 0;
+
+ % DISTURBANCE PARAMETERS
+
+ F_D = 1*randn(3,1);
+ Q_D = 0.05*randn(3,1);
end
-
-
-% ROTOR LOCATION/ORIENTATION PARAMETERS
-
-% locatin of hub 1 in body frame
-r_h{1} = [ rhx ; rhy ; -rhz ];
-% rotor 1 thrust unit vector
-Gamma_T{1} = [ 0 ; 0 ; -1 ];
-% rotor 1 rotation unit vector
-Gamma_Omega{1} = [ 0 ; 0 ; -1 ];
-
-r_h{2} = [ -rhx ; rhy ; -rhz ];
-Gamma_T{2} = [ 0 ; 0 ; -1 ];
-Gamma_Omega{2} = [ 0 ; 0 ; 1 ];
-
-r_h{3} = [ -rhx ; -rhy ; -rhz ];
-Gamma_T{3} = [ 0 ; 0 ; -1 ];
-Gamma_Omega{3} = [ 0 ; 0 ; -1 ];
-
-r_h{4} = [ rhx ; -rhy ; -rhz ];
-Gamma_T{4} = [ 0 ; 0 ; -1 ];
-Gamma_Omega{4} = [ 0 ; 0 ; 1 ];
-
-
-
-% BATTERY PARAMETERS
-
-% starting/operating battery voltage
-V_0 = 11.4; %12.4; %11.4;
-% approximate hovering rate of battery discharge
-d_V = 0;
-
-% DISTURBANCE PARAMETERS
-
-F_D = 1*randn(3,1);
-Q_D = 0.05*randn(3,1);
-end
\ No newline at end of file
+% Signal mixer using rotor layout
+% 1 2
+% 3 4
+signal_mixer = [ 1, -1, -1, -1
+ 1, -1, 1, 1
+ 1, 1, -1, 1
+ 1, 1, 1, -1 ];
+
+% Linearize model, load preferred weight set, and build LQR model
+[ssA, ssB] = linearization(m, g, Kt, Kh, Kd, delta_T(3), rhx, rhy, rhz, J, Jreq, Vb, Rm, Kv, Kq, If, signal_mixer);
+load('weights_modern.mat');
+% Set control period to equal period of camera system
+T_LQR = Tc;
+[lqr_K, lqr_S, lqr_E] = initial_lqr(ssA, ssB, state_weights, command_weights, T_LQR);
\ No newline at end of file
diff --git a/controls/model/repeated_opt.m b/controls/model/repeated_opt.m
new file mode 100644
index 0000000000000000000000000000000000000000..bc5df87b46af416744e6b8501a6cf1076859e14f
--- /dev/null
+++ b/controls/model/repeated_opt.m
@@ -0,0 +1,29 @@
+% Change the size of the max value in the for loop to change the number of
+% optimizations run. Each run (except the first) picks a random set of LQR
+% weights and uses matlab's fmincon() to repeatedly run the simulation and
+% minimize the value of lqr_err(). The weights resulting weights are stored
+% as .mat files that can be loaded in modelParameters.m.
+
+% Start with weights that look like Matt Rich's values
+rw = matfile('weights_rich.mat');
+sw = double(rw.state_weights); cw = rw.command_weights;
+x0 = [sw([1,3,4,6,7,9,10,12]) cw([1,3,4])];
+for i = 1:30
+ % For other iterations, create random initial weights
+ if (i > 1)
+ x0 = 100*rand(1, 11);
+ end
+ % Run Matlab optimization on weights to minimize simulated error
+ options = optimoptions('fmincon','Display','iter');
+ [X,FVAL,EXITFLAG,OUTPUT] = fmincon(...
+ @(weights) lqr_err(ssA, ssB, weights, T_LQR),...
+ x0, -eye(11), zeros(11, 1), ...
+ [], [], [], [], [], options);
+
+ % Store result of optimization in file
+ state_weights = X([1, 1:3, 3:5, 5:7, 7:8]);
+ command_weights = X([9:10 10:11]);
+ error_norm = FVAL;
+ fprintf("At timestamp %s, error was %f", datestr(now, 'mmddHHMM'), error_norm);
+ save(['opt_weights_', datestr(now, 'mmddHHMM'), '.mat'], 'state_weights', 'command_weights', 'error_norm');
+end
diff --git a/controls/model/rich_params.m b/controls/model/rich_params.m
new file mode 100644
index 0000000000000000000000000000000000000000..b0e94dbf77820b9e0a803dc4db2518209000d85c
--- /dev/null
+++ b/controls/model/rich_params.m
@@ -0,0 +1,389 @@
+% This file is the same as modelParameters, but the parameter values all
+% match those in Matt Rich's thesis, so the control design or simulation
+% can be run and compared to his results.
+
+% Add Library Blocks and 3D animation to Path
+ path_1 = genpath('Library_blocks');
+ path_2 = genpath('3D_Animation');
+ addpath(path_1, path_2);
+
+% Log Analysis Toggle
+ logAnalysisToggle = 0; % 1 for log analysis, 0 for normal operation
+
+% Physics Verification Toggle
+ physicsVerificationToggle = 1;
+
+% Define Simulink Runtime (if logAnalysisToggle is selected, this will be
+% automatically set based on the log files time)
+ runtime = 40;%max(time);
+
+% Model Parameters
+ m = 0.656; % Quadrotor + battery mass
+ g = 9.81; % Acceleration of gravity
+ Jxx = 0.0081; % Quadrotor and battery motor of inertia around bx (pitch)
+ Jyy = 0.0074; % Quadrotor and battery motor of inertia around by (roll)
+ Jzz = 0.0135; % Quadrotor and battery motor of inertia around bz (yaw)
+ Jreq = 1.376e-05; % Rotor and motor moment of inertia around axis of rotation
+ Kt = 7.3956e-6; % Rotor thrust constant
+ delta_T = [ 0, 0, 1.176e-04 ]; % Thrust constant adjustment factor
+ Kh = 3.4574e-04; % Rotor in-plane drag constant
+ Kd = 5.194e-07; % Rotor drag constant
+ rhx = 0.115; % X-axis distance from center of mass to a rotor hub
+ rhy = 0.115; % Y-axis distance from center of mass to a rotor hub
+ rhz = 0.04; % Z-axis distance from center of mass to a rotor hub
+ r_oc = [0; 0; 0]; % Vector from origin to center of mass
+ Rm = 0.19; % Motor resistance
+ Kq = 110; % Motor torque constant
+ Kv = 110; % Motor back emf constant
+ If = 0.39; % Motor internal friction current
+ Pmin = 0; % Minimum zybo output duty cycle command
+ Pmax = 1; % Maximum zybo output duty cycle command
+ Tc = 0.01;%0.04; % Camera system sampling period
+ Tq = 0.005; % Quad sampling period
+ tau_c = 0; % Camera system total latency
+ Vb = 11.4; % Nominal battery voltage (V)
+ x_controlled_o = 0; % Equilibrium lateral controller output
+ y_controlled_o = 0; % Equilibrium longitudinal controller output
+ yaw_controlled_o = 0; % Equilibrium yaw controller output
+ Kp_mahony = 0.4; % Proportional term for mahony filter
+ Ki_mahony = 0.001; % Integral term for mahony filter
+
+ % Define Biquad Filter Parameters
+ accel_Fc = 10;
+ Fs = 1/Tq;
+ accel_K = tan(pi * accel_Fc / Fs);
+ Q = 0.707;
+ accel_norm = 1.0 / (1.0 + accel_K/Q + accel_K*accel_K);
+
+ accel_b0 = accel_K*accel_K*accel_norm;
+ accel_b1 = 2.0*accel_b0;
+ accel_b2 = accel_b0;
+ accel_a0 = 1;
+ accel_a1 = 2.0*(accel_K*accel_K -1) * accel_norm;
+ accel_a2 = (1.0 - accel_K/Q + accel_K*accel_K) * accel_norm;
+
+ accel_SOS_Matrix = [accel_b0, accel_b1, accel_b2, accel_a0, accel_a1, accel_a2];
+
+ OF_Fc = 7;
+ OF_K = tan(pi * OF_Fc / Fs);
+
+ OF_norm = 1.0 / (1.0 + OF_K/Q + OF_K*OF_K);
+
+ OF_b0 = OF_K*OF_K*OF_norm;
+ OF_b1 = 2.0*OF_b0;
+ OF_b2 = OF_b0;
+ OF_a0 = 1;
+ OF_a1 = 2.0*(OF_K*OF_K -1) * OF_norm;
+ OF_a2 = (1.0 - OF_K/Q + OF_K * OF_K) * OF_norm;
+
+ OF_SOS_Matrix = [OF_b0, OF_b1, OF_b2, OF_a0, OF_a1, OF_a2];
+
+ % Determine Initial Conditions
+
+ % Position Initial Conditions
+ x_o = 0;
+ y_o = 0;
+ z_o = 0;
+
+ % Velocity Initial Conditions
+ x_vel_o = 0;
+ y_vel_o = 0;
+ z_vel_o = 0;
+
+ % Euler Angle Initial Conditions
+ roll_o = 0;
+ pitch_o = 0;
+ yaw_o = 0;
+
+ % Euler Rate Initial Conditions
+ rollrate_o = 0;
+ pitchrate_o = 0;
+ yawrate_o = 0;
+
+ % Equilibrium rotor speeds
+ omega0_o = sqrt((m*g)/(4*Kt));
+ omega1_o = sqrt((m*g)/(4*Kt));
+ omega2_o = sqrt((m*g)/(4*Kt));
+ omega3_o = sqrt((m*g)/(4*Kt));
+
+ % Equilibrium height controller output
+ height_controlled_o = (((Rm*If ...
+ + (((omega0_o * 2 * Rm * Kv * Kq ...
+ * Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
+ * Kd))/Vb)*(Pmax - Pmin) + Pmin);
+
+if logAnalysisToggle == 1
+ %%%%%% Commented out section until logging is .txt file based %%%%%%
+ % FNAME
+ % if you know the name of the log file that you want to parse, set the it
+ % here only if it is in the working directory. Otherwise, you may leave it
+ % blank. You will be able to choose the file to parse through an explorer
+ % window.
+ %
+ %fname = 'sampleLogFile.txt';
+ fname = '';
+ fpath = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\model\logFiles\';
+
+ if(isempty(fname))
+ [fname] = uigetfile('.txt','Select log file', fpath);
+ end
+
+ params.file.name = fname; % file name only
+ params.file.path = fpath; % file path only
+ params.file.pathName = [fpath fname]; % file path with file name
+
+ [dataStruct, headers] = parse_log_model(params.file.pathName);
+
+ time = dataStruct.Time.data;
+ time = time - time(1);
+ time_indices = length(time);
+
+ runtime = max(time);
+
+ % Determine x position error
+ x_setpoint = dataStruct.X_Setpoint_Constant.data;
+ x_pos_raw = dataStruct.VRPN_X_Constant.data;
+ x_error = timeseries(x_setpoint - x_pos_raw, time);
+ x_position = timeseries(x_pos_raw, time);
+
+ % Determine y position error
+ y_setpoint = dataStruct.Y_Setpoint_Constant.data;
+ y_pos_raw = dataStruct.VRPN_Y_Constant.data;
+ y_error = timeseries(y_setpoint - y_pos_raw, time);
+ y_position = timeseries(y_pos_raw, time);
+
+ % Determine z position error
+ z_setpoint = dataStruct.Alt_Setpoint_Constant.data;
+ z_pos_raw = dataStruct.VRPN_Alt_Constant.data;
+ z_error = timeseries(z_setpoint - z_pos_raw, time);
+ z_position = timeseries(z_pos_raw, time);
+
+ % Determine x velocity error
+ x_vel_setpoint = dataStruct.X_pos_PID_Correction.data;
+ x_vel_raw = dataStruct.X_Vel_Correction.data;
+ x_vel_error = timeseries(x_vel_setpoint - x_vel_raw, time);
+ x_vel = timeseries(x_vel_raw, time);
+
+ % Determine y velocity error
+ y_vel_setpoint = dataStruct.Y_pos_PID_Correction.data;
+ y_vel_raw = dataStruct.Y_Vel_Correction.data;
+ y_vel_error = timeseries(y_vel_setpoint - y_vel_raw, time);
+ y_vel = timeseries(y_vel_raw, time);
+
+ % Determine pitch error
+ pitch_setpoint = dataStruct.X_Vel_PID_Correction.data;
+ pitch_angle_raw = dataStruct.Pitch_trim_add_Sum.data;
+ pitch_error = timeseries(pitch_setpoint - pitch_angle_raw, time);
+ pitch_angle = timeseries(pitch_angle_raw, time);
+
+ % Determine roll error
+ roll_setpoint = dataStruct.Y_Vel_PID_Correction.data;
+ roll_angle_raw = dataStruct.Roll_Constant.data;
+ roll_error = timeseries(roll_setpoint - roll_angle_raw, time);
+ roll_angle = timeseries(roll_angle_raw, time);
+
+ % Determine yaw error
+ yaw_setpoint = dataStruct.Yaw_Setpoint_Constant.data;
+ yaw_angle_raw = dataStruct.Yaw_Constant.data;
+ yaw_error = timeseries(yaw_setpoint - yaw_angle_raw, time);
+ yaw_angle = timeseries(yaw_angle_raw, time);
+
+ % Determine pitch rate error
+ pitchrate_setpoint = dataStruct.Pitch_PID_Correction.data;
+ pitchrate_raw = dataStruct.gyro_y.data;
+ pitchrate_error = timeseries(pitchrate_setpoint - pitchrate_raw, time);
+ pitchrate = timeseries(pitchrate_raw, time);
+
+ % Determine roll rate error
+ rollrate_setpoint = dataStruct.Roll_PID_Correction.data;
+ rollrate_raw = dataStruct.gyro_x.data;
+ rollrate_error = timeseries(rollrate_setpoint - rollrate_raw, time);
+ rollrate = timeseries(rollrate_raw, time);
+
+ % Determine yaw rate error
+ yawrate_setpoint = dataStruct.Yaw_PID_Correction.data;
+ yawrate_raw = dataStruct.gyro_z.data;
+ yawrate_error = timeseries(yawrate_setpoint - yawrate_raw, time);
+ yawrate = timeseries(yawrate_raw, time);
+
+ % Pull motor commands from log
+ x_command = dataStruct.Pitch_Rate_PID_Correction.data;
+ y_command = dataStruct.Roll_Rate_PID_Correction.data;
+ z_command = dataStruct.Altitude_PID_Correction.data;
+ yaw_command = dataStruct.Yaw_Rate_PID_Correction.data;
+
+ % Determine signal mix PWM values
+ PWM0 = dataStruct.Signal_Mixer_MOTOR_0.data;
+ PWM1 = dataStruct.Signal_Mixer_MOTOR_1.data;
+ PWM2 = dataStruct.Signal_Mixer_MOTOR_2.data;
+ PWM3 = dataStruct.Signal_Mixer_MOTOR_3.data;
+ PWM_arr = ...
+ [PWM0, PWM1, PWM2, PWM3];
+ motor_commands = timeseries(PWM_arr, time);
+
+ % Pull the measurements from the acceleratometer
+ raw_accel_data_x = dataStruct.accel_x.data;
+ raw_accel_data_y = dataStruct.accel_y.data;
+ raw_accel_data_z = dataStruct.accel_z.data;
+ raw_accel_data_arr = ...
+ [ raw_accel_data_x , raw_accel_data_y , raw_accel_data_z ];
+ raw_accel_data = timeseries( raw_accel_data_arr , time );
+
+ % Pull the measurements from the gyroscope
+ raw_gyro_data_x = dataStruct.gyro_x.data;
+ raw_gyro_data_y = dataStruct.gyro_y.data;
+ raw_gyro_data_z = dataStruct.gyro_z.data;
+ raw_gyro_data_arr = ...
+ [ raw_gyro_data_x , raw_gyro_data_y , raw_gyro_data_z ];
+ raw_gyro_data = timeseries( raw_gyro_data_arr , time );
+
+ % Pull the measurements from the complimentary filter
+ pitch_measured_IMU = dataStruct.Pitch_trim_add_Sum.data;
+ roll_measured_IMU = dataStruct.Roll_Constant.data;
+ IMU_angle_arr = ...
+ [roll_measured_IMU, pitch_measured_IMU];
+ IMU_angle_data = timeseries( IMU_angle_arr, time);
+
+ % Pull VRPN pitch and roll
+ pitch_measured_VRPN = dataStruct.Pitch_trim_add_Sum.data;
+
+
+ % Define setpoint timeseries
+ x_setpoint_model = timeseries(x_setpoint, time);
+ y_setpoint_model = timeseries(y_setpoint, time);
+ z_setpoint_model = timeseries(z_setpoint, time);
+
+end
+
+if physicsVerificationToggle == 1
+ % PHYSICAL SYSTEM PARAMETERS
+
+% quadrotor + battery inertia tensor
+J = diag([Jxx Jyy Jzz]);
+% quadrotor + battery body frame origin to c.o.g. error radius
+r_oc = [ 0 ; 0 ; 0 ];
+
+% mass of rigidly attached load
+m_L = 0;
+% dimensions of assuemd rectangular load
+x_L = 0; y_L = 0; z_L = 0;
+x_L = 0; y_L = 0; z_L = 0;
+% inertia tensor of load
+J_L = m_L/12*diag([y_L^2+z_L^2,x_L^2+z_L^2,x_L^2+y_L^2]);
+% location of load center of mass in body frame
+r_oL = [0; 0; 0];%[ 0.12 ; 0.12 ; -0.04];%(0.04 + z_L/2) ];
+%r_oL = [ .115 ; .115 ; 0.04];
+
+% acceleration of gravity
+g = 9.81;
+
+% initial dynamics states conditions
+u0 = 0;
+v0 = 0;
+w0 = 0;
+p0 = 0;
+q0 = 0;
+r0 = 0;
+x0 = 0;
+y0 = 0;
+z0 = 0;
+phi0 = 0;
+theta0 = 0;
+psi0 = 0;
+
+% ROTOR PARAMETERS
+
+% nominally equal rotor parameters
+K_T = cell(1,4); K_H = cell(1,4); K_d = cell(1,4);
+Delta_T = cell(1,4);
+%Delta_T = [0 0 0];
+J_r = cell(1,4); Gamma_H = cell(1,4);
+for i = 1:4
+ % rotor thrust constants
+ K_T{i} = Kt;
+ % rotor H-force coefficeint
+ K_H{i} = Kh;
+ % rotor drag constant
+ K_d{i} = Kd;
+ % rotor b_z axis velocity thrust adjustment factor
+ Delta_T{i} = .125 * delta_T;
+ % equivalent rotor + motor moment of inertia
+ J_r{i} = Jreq;
+ % h-force xy-plane selection matrix
+ Gamma_H{i} = [ 1 0 0 ; 0 1 0 ; 0 0 0 ];
+end
+
+
+
+% ESC-MOTOR PARAMETERS
+have_motor_transient = 1;
+% nominally equal motor and eletronic speed control parameters
+R_m = cell(1,4); K_Q = cell(1,4); K_V = cell(1,4);
+i_0 = cell(1,4); omega_0 = cell(1,4); K_E = cell(1,4);
+p_0 = cell(1,4); p_max = cell(1,4);
+for i = 1:4
+ % motor resistance
+ R_m{i} = Rm;
+ % motor torque constant
+ K_Q{i} = Kq;
+ % motor back-emf constant
+ K_V{i} = Kv;
+ % motor no-load current
+ i_0{i} = If;
+ % initial motor/rotor speed
+ omega_0{i} = (m*g/4/K_T{1})^0.5;
+ % ESC normalized pwm input factor
+ K_E{i} = 1;
+ % ESC turn-on duty cycle
+ p_0{i} = 0;
+ % ESC maximum duty cycle (as calibrated)
+ p_max{i} = 1;
+end
+
+
+
+% ROTOR LOCATION/ORIENTATION PARAMETERS
+
+% locatin of hub 1 in body frame
+r_h{1} = [ rhx ; rhy ; -rhz ];
+% rotor 1 thrust unit vector
+Gamma_T{1} = [ 0 ; 0 ; -1 ];
+% rotor 1 rotation unit vector
+Gamma_Omega{1} = [ 0 ; 0 ; -1 ];
+
+r_h{2} = [ -rhx ; rhy ; -rhz ];
+Gamma_T{2} = [ 0 ; 0 ; -1 ];
+Gamma_Omega{2} = [ 0 ; 0 ; 1 ];
+
+r_h{3} = [ -rhx ; -rhy ; -rhz ];
+Gamma_T{3} = [ 0 ; 0 ; -1 ];
+Gamma_Omega{3} = [ 0 ; 0 ; -1 ];
+
+r_h{4} = [ rhx ; -rhy ; -rhz ];
+Gamma_T{4} = [ 0 ; 0 ; -1 ];
+Gamma_Omega{4} = [ 0 ; 0 ; 1 ];
+
+
+
+% BATTERY PARAMETERS
+
+% starting/operating battery voltage
+V_0 = 11.4; %12.4; %11.4;
+% approximate hovering rate of battery discharge
+d_V = 0;
+
+% DISTURBANCE PARAMETERS
+
+F_D = 1*randn(3,1);
+Q_D = 0.05*randn(3,1);
+end
+
+signal_mixer = [ 1, -1, -1, -1
+ 1, -1, 1, 1
+ 1, 1, -1, 1
+ 1, 1, 1, -1 ];
+
+% System linearization and lqr construction
+[ssA, ssB] = linearization(m, g, Kt, Kh, Kd, delta_T(3), rhx, rhy, rhz, J, Jreq, Vb, Rm, Kv, Kq, If, signal_mixer);
+load('weights_rich.mat');
+[lqr_K, lqr_S, lqr_E] = initial_lqr(ssA, ssB, state_weights, command_weights, .01);
diff --git a/controls/model/run_once.m b/controls/model/run_once.m
new file mode 100644
index 0000000000000000000000000000000000000000..e90667285f030ccb3a5999f06476ef1f01eac1e8
--- /dev/null
+++ b/controls/model/run_once.m
@@ -0,0 +1,33 @@
+% Runs the simulation once, optionally plotting the setpoint errors
+function [sp_err] = run_once(show_plot)
+ output = sim('Quadcopter_Model', 'ReturnWorkspaceOutputs','on');
+ % Use position errors but not velocity
+ sp_err = output.yout{1}.Values.Data(:, (7:12));
+ setpoints = output.yout{2}.Values.Data;
+ position = [output.yout{3}.Values.Data output.yout{4}.Values.Data(:,3)];
+
+ % Plot position and angle error
+ if show_plot
+ close all;
+ % Separate position and angle errors
+ position_err = sp_err(:, 1:3);
+ angle_err = sp_err(:,4:6);
+ time = output.tout;
+
+ % Draw plots of errors
+ figure; hold on;
+ plot(time, position_err); plot(time, angle_err, '-.');
+ title('Position and Euler Angle Error');
+ xlabel('Time (s)'); ylabel('Error (m or rad)');
+ legend({'x', 'y', 'z', '\phi', '\theta', '\psi'});
+ hold off;
+
+ % Plot position and setpoints
+ figure; hold on;
+ plot(time, position); plot(time, setpoints, '-.');
+ title('Setpoints and Actual Position');
+ xlabel('Time (s)'); ylabel('Value (m or rad)');
+ legend({'x', 'y', 'z', '\psi'});
+ hold off;
+ end
+end
\ No newline at end of file
diff --git a/controls/model/test_improved_lqr.m b/controls/model/test_improved_lqr.m
new file mode 100644
index 0000000000000000000000000000000000000000..33ef15eddffc046be30ed7d39afd33adba72d7d3
--- /dev/null
+++ b/controls/model/test_improved_lqr.m
@@ -0,0 +1,4 @@
+[lqr_K, lqr_S, lqr_E] = improved_lqr(ssA, ssB,...
+ [1,0;0,sqrt(10);0,0], [.5, 1/.6, 1/25, 1/.25], [1,0;0,sqrt(10);0,0],...
+ [0;0;1/50], 1/60, [0;0;1/50],...
+ .01);
\ No newline at end of file
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
deleted file mode 100644
index 35a8b396d018cd92f55e5327af5b488dbafddcaf..0000000000000000000000000000000000000000
Binary files a/controls/model/test_model.slx and /dev/null differ
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
deleted file mode 100644
index ce48e8a27d8d691a51c7680ee7430230795f463d..0000000000000000000000000000000000000000
--- a/controls/model/test_model_R2015A.mdl
+++ /dev/null
@@ -1,12432 +0,0 @@
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- InitialConditionSource "internal"
- InitialCondition "0"
- InitialConditionSetting "Output"
- SampleTime "1"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- LockScale off
- RndMeth "Floor"
- SaturateOnIntegerOverflow off
- LimitOutput off
- UpperSaturationLimit "inf"
- LowerSaturationLimit "-inf"
- ShowSaturationPort off
- ShowStatePort off
- IgnoreLimit off
- StateMustResolveToSignalObject off
- RTWStateStorageClass "Auto"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
- }
- Block {
- BlockType DiscreteTransferFcn
- NumeratorSource "Dialog"
- Numerator "[1]"
- DenominatorSource "Dialog"
- Denominator "[1 0.5]"
- InitialStatesSource "Dialog"
- InitialStates "0"
- InputProcessing "Elements as channels (sample based)"
- ExternalReset "None"
- InitialDenominatorStates "0"
- FilterStructure "Direct form II"
- SampleTime "-1"
- a0EqualsOne off
- NumCoefMin "[]"
- NumCoefMax "[]"
- DenCoefMin "[]"
- DenCoefMax "[]"
- OutMin "[]"
- OutMax "[]"
- StateDataTypeStr "Inherit: Same as input"
- MultiplicandDataTypeStr "Inherit: Same as input"
- NumCoefDataTypeStr "Inherit: Inherit via internal rule"
- DenCoefDataTypeStr "Inherit: Inherit via internal rule"
- NumProductDataTypeStr "Inherit: Inherit via internal rule"
- DenProductDataTypeStr "Inherit: Inherit via internal rule"
- NumAccumDataTypeStr "Inherit: Inherit via internal rule"
- DenAccumDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- LockScale off
- RndMeth "Floor"
- SaturateOnIntegerOverflow off
- StateMustResolveToSignalObject off
- RTWStateStorageClass "Auto"
- }
- Block {
- BlockType Gain
- Gain "1"
- Multiplication "Element-wise(K.*u)"
- ParamMin "[]"
- ParamMax "[]"
- ParamDataTypeStr "Inherit: Same as input"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: Same as input"
- LockScale off
- RndMeth "Floor"
- SaturateOnIntegerOverflow on
- SampleTime "-1"
- }
- Block {
- BlockType Ground
- }
- Block {
- BlockType Inport
- Port "1"
- OutputFunctionCall off
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: auto"
- LockScale off
- BusOutputAsStruct off
- PortDimensions "-1"
- VarSizeSig "Inherit"
- SampleTime "-1"
- SignalType "auto"
- SamplingMode "auto"
- LatchByDelayingOutsideSignal off
- LatchInputForFeedbackSignals off
- Interpolate on
- }
- Block {
- BlockType Integrator
- ExternalReset "none"
- InitialConditionSource "internal"
- InitialCondition "0"
- LimitOutput off
- UpperSaturationLimit "inf"
- LowerSaturationLimit "-inf"
- WrapState off
- WrappedStateUpperValue "pi"
- WrappedStateLowerValue "-pi"
- ShowSaturationPort off
- ShowStatePort off
- AbsoluteTolerance "auto"
- IgnoreLimit off
- ZeroCross on
- ContinuousStateAttributes "''"
- }
- Block {
- BlockType Mux
- Inputs "4"
- DisplayOption "none"
- UseBusObject off
- BusObject "BusObject"
- NonVirtualBus off
- }
- Block {
- BlockType Outport
- Port "1"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: auto"
- LockScale off
- BusOutputAsStruct off
- PortDimensions "-1"
- VarSizeSig "Inherit"
- SampleTime "-1"
- SignalType "auto"
- SamplingMode "auto"
- SourceOfInitialOutputValue "Dialog"
- OutputWhenDisabled "held"
- InitialOutput "[]"
- }
- Block {
- BlockType Quantizer
- QuantizationInterval "0.5"
- LinearizeAsGain on
- SampleTime "-1"
- }
- Block {
- BlockType RandomNumber
- Mean "0"
- Variance "1"
- Seed "0"
- SampleTime "-1"
- VectorParams1D on
- }
- Block {
- BlockType RateTransition
- Integrity on
- Deterministic on
- X0 "0"
- OutPortSampleTimeOpt "Specify"
- OutPortSampleTimeMultiple "1"
- OutPortSampleTime "-1"
- }
- Block {
- BlockType S-Function
- FunctionName "system"
- SFunctionModules "''"
- PortCounts "[]"
- SFunctionDeploymentMode off
- EnableBusSupport off
- }
- Block {
- BlockType Saturate
- UpperLimitSource "Dialog"
- UpperLimit "0.5"
- LowerLimitSource "Dialog"
- LowerLimit "-0.5"
- LinearizeAsGain on
- ZeroCross on
- SampleTime "-1"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: Same as input"
- LockScale off
- RndMeth "Floor"
- }
- 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
- }
- Block {
- BlockType Step
- Time "1"
- Before "0"
- After "1"
- SampleTime "-1"
- VectorParams1D on
- ZeroCross on
- }
- Block {
- BlockType SubSystem
- ShowPortLabels "FromPortIcon"
- Permissions "ReadWrite"
- PermitHierarchicalResolution "All"
- TreatAsAtomicUnit off
- MinAlgLoopOccurrences off
- PropExecContextOutsideSubsystem off
- CheckFcnCallInpInsideContextMsg off
- SystemSampleTime "-1"
- RTWSystemCode "Auto"
- RTWFcnNameOpts "Auto"
- RTWFileNameOpts "Auto"
- FunctionInterfaceSpec "void_void"
- FunctionWithSeparateData off
- RTWMemSecFuncInitTerm "Inherit from model"
- RTWMemSecFuncExecute "Inherit from model"
- RTWMemSecDataConstants "Inherit from model"
- RTWMemSecDataInternal "Inherit from model"
- RTWMemSecDataParameters "Inherit from model"
- SimViewingDevice off
- DataTypeOverride "UseLocalSettings"
- DataTypeOverrideAppliesTo "AllNumericTypes"
- MinMaxOverflowLogging "UseLocalSettings"
- Opaque off
- MaskHideContents off
- SFBlockType "NONE"
- Variant off
- GeneratePreprocessorConditionals off
- ContentPreviewEnabled off
- IsWebBlock off
- }
- Block {
- BlockType Sum
- IconShape "rectangular"
- Inputs "++"
- CollapseMode "All dimensions"
- CollapseDim "1"
- InputSameDT on
- AccumDataTypeStr "Inherit: Inherit via internal rule"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: Same as first input"
- LockScale off
- RndMeth "Floor"
- SaturateOnIntegerOverflow on
- SampleTime "-1"
- }
- Block {
- BlockType Terminator
- }
- Block {
- BlockType ZeroOrderHold
- SampleTime "1"
- }
- }
- System {
- Name "test_model_R2015A"
- Location [69, 48, 1812, 988]
- Open on
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "125"
- ReportName "simulink-default.rpt"
- SIDHighWatermark "904"
- Block {
- BlockType SubSystem
- Name " Sensors "
- SID "650"
- Ports [6, 4]
- Position [1195, 272, 1415, 508]
- ZOrder 73
- ForegroundColor "yellow"
- ShowName off
- RequestExecContextInheritance off
- Object {
- $PropName "MaskObject"
- $ObjectID 20
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
- "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
- "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
- "', 1, '\\Theta_{filtered}', 'texmode', 'on');\nport_label('output', 2, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_"
- "label('output', 3, '^{E}r_o', 'texmode', 'on');\ndisp('Sensors', 'texmode', 'on'); "
- }
- System {
- Name " Sensors "
- Location [69, 48, 1812, 988]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "125"
- Block {
- BlockType Inport
- Name "B_Omega"
- SID "651"
- Position [1015, 678, 1045, 692]
- ZOrder 265
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "euler_angles"
- SID "652"
- Position [1440, 1043, 1470, 1057]
- ZOrder 266
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_vo"
- SID "653"
- Position [1015, 613, 1045, 627]
- ZOrder 267
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "E_ro"
- SID "654"
- Position [1440, 963, 1470, 977]
- ZOrder 268
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_vo_dot"
- SID "655"
- Position [1015, 548, 1045, 562]
- ZOrder 269
- Port "5"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_g"
- SID "656"
- Position [1015, 743, 1045, 757]
- ZOrder 273
- Port "6"
- IconDisplay "Port number"
- }
- Block {
- BlockType SubSystem
- Name "3D Graphical Simulation"
- SID "698"
- Ports [2]
- Position [1725, 1075, 1875, 1135]
- ZOrder 287
- Commented "on"
- RequestExecContextInheritance off
- Object {
- $PropName "MaskObject"
- $ObjectID 21
- $ClassName "Simulink.Mask"
- Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
- }
- System {
- Name "3D Graphical Simulation"
- Location [-8, -8, 1928, 1048]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "100"
- Block {
- BlockType Inport
- Name "Displacement"
- SID "699"
- Position [110, 218, 140, 232]
- ZOrder -1
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "Euler Angles"
- SID "700"
- Position [125, 108, 155, 122]
- ZOrder -2
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType BusCreator
- Name "Bus\nCreator"
- SID "701"
- Ports [3, 1]
- Position [600, 76, 610, 154]
- ZOrder -3
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType BusCreator
- Name "Bus\nCreator1"
- SID "702"
- Ports [3, 1]
- Position [630, 191, 640, 269]
- ZOrder -4
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType BusCreator
- Name "Bus\nCreator2"
- SID "703"
- Ports [3, 1]
- Position [385, 75, 390, 155]
- ZOrder -5
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType BusSelector
- Name "Bus\nSelector"
- SID "704"
- Ports [1, 3]
- Position [500, 77, 505, 153]
- ZOrder -6
- ShowName off
- OutputSignals "phi,theta,psi"
- Port {
- PortNumber 1
- Name "<phi>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "<theta>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "<psi>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Demux
- Name "Demux"
- SID "705"
- Ports [1, 3]
- Position [440, 183, 450, 267]
- ZOrder -7
- BackgroundColor "black"
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType Demux
- Name "Demux1"
- SID "706"
- Ports [1, 3]
- Position [290, 75, 295, 155]
- ZOrder -8
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "phi"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "theta"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "psi"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Gain
- Name "Gain"
- SID "707"
- Position [550, 240, 580, 270]
- ZOrder -10
- Gain "-1"
- ParamDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
- }
- Block {
- BlockType Gain
- Name "Gain1"
- SID "708"
- Position [670, 208, 710, 252]
- ZOrder -11
- Gain "eye(3)*1"
- Multiplication "Matrix(K*u)"
- ParamDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
- }
- Block {
- BlockType Gain
- Name "Gain2"
- SID "709"
- Position [550, 190, 580, 220]
- ZOrder -12
- Gain "-1"
- ParamDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
- }
- Block {
- BlockType SubSystem
- Name "MATLAB Function"
- SID "710"
- Ports [1, 1]
- Position [655, 92, 725, 138]
- ZOrder 5
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ExplicitOnly"
- TreatAsAtomicUnit on
- RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
- System {
- Name "MATLAB Function"
- Location [223, 338, 826, 833]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "100"
- SIDHighWatermark "21"
- Block {
- BlockType Inport
- Name "u"
- SID "710::1"
- Position [20, 101, 40, 119]
- ZOrder -1
- IconDisplay "Port number"
- }
- Block {
- BlockType Demux
- Name " Demux "
- SID "710::20"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 11
- Outputs "1"
- }
- Block {
- BlockType S-Function
- Name " SFunction "
- SID "710::19"
- Tag "Stateflow S-Function test_model_R2015A 11"
- Ports [1, 2]
- Position [180, 100, 230, 160]
- ZOrder 10
- FunctionName "sf_sfun"
- PortCounts "[1 2]"
- EnableBusSupport on
- Port {
- PortNumber 2
- Name "y"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Terminator
- Name " Terminator "
- SID "710::21"
- Position [460, 241, 480, 259]
- ZOrder 12
- }
- Block {
- BlockType Outport
- Name "y"
- SID "710::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
- }
- Line {
- ZOrder 1
- SrcBlock "u"
- SrcPort 1
- DstBlock " SFunction "
- DstPort 1
- }
- Line {
- Name "y"
- ZOrder 2
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 2
- DstBlock "y"
- DstPort 1
- }
- Line {
- ZOrder 3
- SrcBlock " Demux "
- SrcPort 1
- DstBlock " Terminator "
- DstPort 1
- }
- Line {
- ZOrder 4
- SrcBlock " SFunction "
- SrcPort 1
- DstBlock " Demux "
- DstPort 1
- }
- }
- }
- Block {
- BlockType RateTransition
- Name "Rate Transition"
- SID "711"
- Position [755, 94, 795, 136]
- ZOrder -13
- NamePlacement "alternate"
- OutPortSampleTime "0.06"
- }
- Block {
- BlockType RateTransition
- Name "Rate Transition1"
- SID "712"
- Position [735, 210, 770, 250]
- ZOrder -14
- OutPortSampleTime "0.06"
- }
- Block {
- BlockType Reference
- Name "VR Sink"
- SID "713"
- Ports [2]
- Position [865, 76, 1055, 234]
- ZOrder -15
- LibraryVersion "1.34"
- SourceBlock "vrlib/VR Sink"
- SourceType "Virtual Reality Sink"
- InstantiateOnLoad on
- SampleTime "-1"
- ViewEnable on
- RemoteChange off
- RemoteView off
- FieldsWritten "Helicopter.rotation.4.1.1.double#Helicopter.translation.3.1.1.double"
- WorldFileName "quadrotor_world_ucart.wrl"
- AutoView on
- VideoDimensions "[]"
- AllowVariableSize off
- }
- Line {
- ZOrder 1
- SrcBlock "Displacement"
- SrcPort 1
- DstBlock "Demux"
- DstPort 1
- }
- Line {
- ZOrder 2
- SrcBlock "Bus\nCreator2"
- SrcPort 1
- DstBlock "Bus\nSelector"
- DstPort 1
- }
- Line {
- ZOrder 3
- SrcBlock "Demux"
- SrcPort 1
- Points [40, 0; 0, 40; 120, 0]
- DstBlock "Bus\nCreator1"
- DstPort 3
- }
- Line {
- ZOrder 4
- SrcBlock "Gain"
- SrcPort 1
- Points [5, 0; 0, -25]
- DstBlock "Bus\nCreator1"
- DstPort 2
- }
- Line {
- ZOrder 5
- SrcBlock "Gain2"
- SrcPort 1
- DstBlock "Bus\nCreator1"
- DstPort 1
- }
- Line {
- ZOrder 6
- SrcBlock "Rate Transition1"
- SrcPort 1
- Points [35, 0; 0, -35]
- DstBlock "VR Sink"
- DstPort 2
- }
- Line {
- ZOrder 7
- SrcBlock "Rate Transition"
- SrcPort 1
- DstBlock "VR Sink"
- DstPort 1
- }
- Line {
- ZOrder 8
- SrcBlock "Demux"
- SrcPort 3
- DstBlock "Gain"
- DstPort 1
- }
- Line {
- ZOrder 9
- SrcBlock "Demux"
- SrcPort 2
- Points [80, 0]
- DstBlock "Gain2"
- DstPort 1
- }
- Line {
- ZOrder 10
- SrcBlock "Bus\nCreator1"
- SrcPort 1
- DstBlock "Gain1"
- DstPort 1
- }
- Line {
- Name "<phi>"
- ZOrder 11
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 1
- Points [0, -10; 45, 0; 0, 60]
- DstBlock "Bus\nCreator"
- DstPort 3
- }
- Line {
- Name "<psi>"
- ZOrder 12
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 3
- Points [0, -10; 75, 0]
- DstBlock "Bus\nCreator"
- DstPort 2
- }
- Line {
- Name "<theta>"
- ZOrder 13
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 2
- Points [30, 0; 0, -25]
- DstBlock "Bus\nCreator"
- DstPort 1
- }
- Line {
- ZOrder 14
- SrcBlock "Gain1"
- SrcPort 1
- DstBlock "Rate Transition1"
- DstPort 1
- }
- Line {
- Name "psi"
- ZOrder 15
- Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 3
- DstBlock "Bus\nCreator2"
- DstPort 3
- }
- Line {
- Name "theta"
- ZOrder 16
- Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Bus\nCreator2"
- DstPort 2
- }
- Line {
- Name "phi"
- ZOrder 17
- Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 1
- DstBlock "Bus\nCreator2"
- DstPort 1
- }
- Line {
- ZOrder 18
- SrcBlock "Euler Angles"
- SrcPort 1
- DstBlock "Demux1"
- DstPort 1
- }
- Line {
- ZOrder 19
- SrcBlock "Bus\nCreator"
- SrcPort 1
- DstBlock "MATLAB Function"
- DstPort 1
- }
- Line {
- ZOrder 20
- SrcBlock "MATLAB Function"
- SrcPort 1
- DstBlock "Rate Transition"
- DstPort 1
- }
- }
- }
- Block {
- BlockType SubSystem
- Name "3D Graphical Simulation1"
- SID "714"
- Ports [2]
- Position [2635, 815, 2785, 875]
- ZOrder 290
- Commented "on"
- RequestExecContextInheritance off
- Object {
- $PropName "MaskObject"
- $ObjectID 22
- $ClassName "Simulink.Mask"
- Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
- }
- System {
- Name "3D Graphical Simulation1"
- Location [108, 36, 1850, 976]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
- PaperOrientation "landscape"
- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "100"
- Block {
- BlockType Inport
- Name "Euler Angles\n"
- SID "715"
- Position [180, 108, 210, 122]
- ZOrder -1
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "Displacement"
- SID "716"
- Position [180, 218, 210, 232]
- ZOrder -2
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType BusCreator
- Name "Bus\nCreator"
- SID "717"
- Ports [3, 1]
- Position [600, 76, 610, 154]
- ZOrder -3
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType BusCreator
- Name "Bus\nCreator1"
- SID "718"
- Ports [3, 1]
- Position [630, 191, 640, 269]
- ZOrder -4
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
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- Block {
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- }
- Block {
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- Position [260, 542, 300, 578]
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- Block {
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- Block {
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- Block {
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- Block {
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- DstPort 2
- }
- Line {
- ZOrder 80
- SrcBlock "MATLAB Function"
- SrcPort 1
- DstBlock "Saturation"
- DstPort 1
- }
- Line {
- ZOrder 81
- SrcBlock "Saturation"
- SrcPort 1
- Points [21, 0]
- Branch {
- ZOrder 122
- Points [0, 110]
- DstBlock "Scope1"
- DstPort 1
- }
- Branch {
- ZOrder 121
- DstBlock "Motor Commands"
- DstPort 1
- }
- }
- Line {
- ZOrder 84
- SrcBlock "Demux1"
- SrcPort 1
- DstBlock "Controller"
- DstPort 8
- }
- Line {
- ZOrder 86
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Controller"
- DstPort 9
- }
- Line {
- ZOrder 90
- SrcBlock "Demux4"
- SrcPort 1
- DstBlock "Controller"
- DstPort 11
- }
- Line {
- ZOrder 91
- SrcBlock "Demux4"
- SrcPort 2
- DstBlock "Controller"
- DstPort 12
- }
- Line {
- ZOrder 93
- SrcBlock "Demux4"
- SrcPort 3
- DstBlock "Controller"
- DstPort 13
- }
- Line {
- ZOrder 94
- SrcBlock "Demux"
- SrcPort 4
- DstBlock "Controller"
- DstPort 4
- }
- Line {
- ZOrder 95
- SrcBlock "Demux1"
- SrcPort 3
- DstBlock "Controller"
- DstPort 10
- }
- Line {
- ZOrder 131
- SrcBlock "Controller"
- SrcPort 3
- DstBlock "Sum2"
- DstPort 1
- }
- Line {
- ZOrder 133
- SrcBlock "height_controlled_o"
- SrcPort 1
- Points [25, 0]
- DstBlock "Sum"
- DstPort 2
- }
- }
- }
- Line {
- ZOrder 52
- SrcBlock "Control System"
- SrcPort 1
- DstBlock "Actuation"
- DstPort 1
- }
- Line {
- ZOrder 55
- SrcBlock "Communication System"
- SrcPort 1
- DstBlock "Control System"
- DstPort 1
- }
- Line {
- ZOrder 189
- SrcBlock "Actuation"
- SrcPort 1
- DstBlock " Sensors "
- DstPort 1
- }
- Line {
- ZOrder 191
- SrcBlock "Actuation"
- SrcPort 3
- DstBlock " Sensors "
- DstPort 3
- }
- Line {
- ZOrder 192
- SrcBlock "Actuation"
- SrcPort 4
- DstBlock " Sensors "
- DstPort 4
- }
- Line {
- ZOrder 193
- SrcBlock "Actuation"
- SrcPort 5
- DstBlock " Sensors "
- DstPort 5
- }
- Line {
- ZOrder 194
- SrcBlock "Actuation"
- SrcPort 6
- DstBlock " Sensors "
- DstPort 6
- }
- Line {
- ZOrder 195
- SrcBlock " Sensors "
- SrcPort 3
- Points [9, 0; 0, 210; -903, 0; 0, -160]
- DstBlock "Control System"
- DstPort 4
- }
- Line {
- ZOrder 196
- SrcBlock " Sensors "
- SrcPort 2
- Points [16, 0; 0, 302; -924, 0; 0, -247]
- DstBlock "Control System"
- DstPort 3
- }
- Line {
- ZOrder 190
- SrcBlock "Actuation"
- SrcPort 2
- DstBlock " Sensors "
- DstPort 2
- }
- Line {
- ZOrder 208
- SrcBlock " Sensors "
- SrcPort 4
- Points [2, 0; 0, 42; -903, 0; 0, -162]
- DstBlock "Control System"
- DstPort 2
- }
- }
-}
-#Finite State Machines
-#
-# Stateflow 80000005
-#
-#
-Stateflow {
- machine {
- id 1
- name "test_model_R2015A"
- created "03-Nov-2016 18:34:53"
- isLibrary 0
- firstTarget 145
- sfVersion 80000005
- }
- chart {
- id 2
- name "Actuation/Gravity\n\n"
- 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 8
- firstJunction 7
- viewObj 2
- machine 1
- ssIdHighWaterMark 7
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 4
- chartFileNumber 1
- disableImplicitCasting 1
- eml {
- name "gravity"
- }
- }
- 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 E_Fg = gravity(m, g)\n\nE_Fg = [0; 0; m*g];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 4
- ssIdNumber 5
- name "E_Fg"
- linkNode [2 0 5]
- 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 5
- ssIdNumber 6
- name "m"
- linkNode [2 4 6]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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 7
- name "g"
- linkNode [2 5 0]
- scope PARAMETER_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 7
- position [23.5747 49.5747 7]
- chart 2
- linkNode [2 0 0]
- subviewer 2
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 8
- 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 7
- 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 9
- name "Actuation/Gravity\n\n"
- machine 1
- chart 2
- }
- chart {
- id 10
- name "Actuation/Lbe\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 11 0 0]
- firstTransition 16
- firstJunction 15
- viewObj 10
- machine 1
- ssIdHighWaterMark 11
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 12
- chartFileNumber 2
- disableImplicitCasting 1
- eml {
- name "linear_body_earth_conversion"
- }
- }
- state {
- id 11
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 10
- treeNode [10 0 0 0]
- superState SUBCHART
- subviewer 10
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function E_ro = linear_body_earth_conversion(B_vo, euler_angles)\n\neuler_rates = zeros(3,1);\nE"
- "_ro = zeros(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLeb = [cos(thet"
- "a)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi); ..."
- "\n cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(p"
- "hi)*cos(psi); ...\n -sin(theta) , sin(phi)*cos(theta) , c"
- "os(phi)*cos(theta) ];\n\nE_ro = Leb * B_vo;"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 12
- ssIdNumber 7
- name "B_vo"
- linkNode [10 0 13]
- 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 13
- ssIdNumber 11
- name "euler_angles"
- linkNode [10 12 14]
- 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 14
- ssIdNumber 9
- name "E_ro"
- linkNode [10 13 0]
- 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"
- }
- junction {
- id 15
- position [23.5747 49.5747 7]
- chart 10
- linkNode [10 0 0]
- subviewer 10
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 16
- 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 15
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 10
- linkNode [10 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 10
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 17
- name "Actuation/Lbe\n\n\n\n\n\n"
- machine 1
- chart 10
- }
- chart {
- id 18
- name " Sensors /3D Graphical Simulation1/MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 19 0 0]
- firstTransition 23
- firstJunction 22
- viewObj 18
- machine 1
- ssIdHighWaterMark 5
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 20
- chartFileNumber 3
- disableImplicitCasting 1
- eml {
- name "eigenaxis_ucart"
- }
- }
- state {
- id 19
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 18
- treeNode [18 0 0 0]
- superState SUBCHART
- subviewer 18
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 20
- ssIdNumber 4
- name "u"
- linkNode [18 0 21]
- 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 21
- ssIdNumber 5
- name "y"
- linkNode [18 20 0]
- 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"
- }
- junction {
- id 22
- position [23.5747 49.5747 7]
- chart 18
- linkNode [18 0 0]
- subviewer 18
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 23
- 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 22
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 18
- linkNode [18 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 18
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 24
- name " Sensors /3D Graphical Simulation1/MATLAB Function"
- machine 1
- chart 18
- }
- chart {
- id 25
- name "Actuation/ESC System"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 26 0 0]
- firstTransition 33
- firstJunction 32
- viewObj 25
- machine 1
- ssIdHighWaterMark 18
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 27
- chartFileNumber 4
- disableImplicitCasting 1
- eml {
- name "ESC"
- }
- }
- state {
- id 26
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 25
- treeNode [25 0 0 0]
- superState SUBCHART
- subviewer 25
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function Vb_eff = ESC(rotor_duty_cycles, Pmin, Pmax, Vb)\n\nrotor_0_duty_cycle = rotor_duty_cyc"
- "les(1);\nrotor_1_duty_cycle = rotor_duty_cycles(2);\nrotor_2_duty_cycle = rotor_duty_cycles(3);\nrotor_3_duty_cy"
- "cle = rotor_duty_cycles(4);\n\n% Define u_Pi for each of the rotors, limiting it to be greater than 0\n% u_P0 = "
- "(rotor_0_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u"
- "_P2 = (rotor_2_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin)"
- ";\nu_P0 = (rotor_0_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P1 = (rotor_1_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P"
- "2 = (rotor_2_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P3 = (rotor_3_duty_cycle - Pmin) / (Pmax - Pmin);\n\n\n% Det"
- "ermine the effective battery voltage from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;\nVb_eff_2 = u_P"
- "2 * Vb;\nVb_eff_3 = u_P3 * Vb;\n \nVb_eff = [Vb_eff_0, Vb_eff_1, Vb_eff_2, Vb_eff_3];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 27
- ssIdNumber 4
- name "rotor_duty_cycles"
- linkNode [25 0 28]
- 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 28
- ssIdNumber 5
- name "Vb_eff"
- linkNode [25 27 29]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "1,4"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 29
- ssIdNumber 16
- name "Pmin"
- linkNode [25 28 30]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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 30
- ssIdNumber 17
- name "Pmax"
- linkNode [25 29 31]
- scope PARAMETER_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 31
- ssIdNumber 18
- name "Vb"
- linkNode [25 30 0]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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 32
- position [23.5747 49.5747 7]
- chart 25
- linkNode [25 0 0]
- subviewer 25
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 33
- 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 32
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 25
- linkNode [25 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 25
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 34
- name "Actuation/ESC System"
- machine 1
- chart 25
- }
- chart {
- id 35
- name "Actuation/Motor System"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 36 0 0]
- firstTransition 47
- firstJunction 46
- viewObj 35
- machine 1
- ssIdHighWaterMark 16
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 37
- chartFileNumber 5
- disableImplicitCasting 1
- eml {
- name "motor"
- }
- }
- state {
- id 36
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 35
- treeNode [35 0 0 0]
- superState SUBCHART
- subviewer 35
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function angular_acceleration = motor(Vb_eff, angular_velocity, Rm, Kv, Kq, Kd, If, Jreq)\n\n% De"
- "fine each motors effective battery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);\n"
- "Vb_eff_3 = Vb_eff(4);\n\n% Determine the angular velocity of each rotor from feedback\nw_0 = angular_velocity(1)"
- ";\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% w_0 = (-1 + sqrt(1 - "
- "4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_0)))/2*Rm*Kv*Kq*Kd;\n% w_1 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_"
- "eff_1)))/2*Rm*Kv*Kq*Kd;\n% w_2 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_2)))/2*Rm*Kv*Kq*Kd;\n% w_3 ="
- " (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_3)))/2*Rm*Kv*Kq*Kd;\n% angular_velocity = [w_0, w_1, w_2, w_"
- "3];\n\n% Determine angular acceleration of each rotor\nw_0_dot = 1/(Jreq*Rm*Kq) * Vb_eff_0 - 1/(Jreq*Rm*Kq*Kv) *"
- " w_0 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_0^2;\nw_1_dot = 1/(Jreq*Rm*Kq) * Vb_eff_1 - 1/(Jreq*Rm*Kq*Kv) * w_1 - 1/(J"
- "req*Kq)*If - (Kd/Jreq) * w_1^2;\nw_2_dot = 1/(Jreq*Rm*Kq) * Vb_eff_2 - 1/(Jreq*Rm*Kq*Kv) * w_2 - 1/(Jreq*Kq)*If "
- "- (Kd/Jreq) * w_2^2;\nw_3_dot = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq)"
- " * w_3^2;\n\n\n\nangular_acceleration = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 37
- ssIdNumber 4
- name "Vb_eff"
- linkNode [35 0 38]
- 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 38
- ssIdNumber 16
- name "angular_velocity"
- linkNode [35 37 39]
- 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 39
- ssIdNumber 7
- name "angular_acceleration"
- linkNode [35 38 40]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "1,4"
- }
- 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 40
- ssIdNumber 9
- name "Rm"
- linkNode [35 39 41]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
- 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 41
- ssIdNumber 10
- name "Kv"
- linkNode [35 40 42]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
- 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 42
- ssIdNumber 11
- name "Kq"
- linkNode [35 41 43]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
- 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 43
- ssIdNumber 12
- name "Kd"
- linkNode [35 42 44]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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 44
- ssIdNumber 13
- name "If"
- linkNode [35 43 45]
- scope PARAMETER_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 45
- ssIdNumber 14
- name "Jreq"
- linkNode [35 44 0]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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 46
- position [23.5747 49.5747 7]
- chart 35
- linkNode [35 0 0]
- subviewer 35
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 47
- 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 46
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 35
- linkNode [35 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 35
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 48
- name "Actuation/Motor System"
- machine 1
- chart 35
- }
- chart {
- id 49
- name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 50 0 0]
- firstTransition 69
- firstJunction 68
- viewObj 49
- machine 1
- ssIdHighWaterMark 30
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 51
- chartFileNumber 6
- disableImplicitCasting 1
- eml {
- name "rotor"
- }
- }
- state {
- id 50
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 49
- treeNode [49 0 0 0]
- superState SUBCHART
- subviewer 49
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
- "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\n%B_vo_dot = zeros(3,1);\n%B_omega_dot = zeros(3,1);\n\n% C"
- "reate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\n"
- "% rh_0 = [-rhx; rhy; rhz];\n% rh_1 = [rhx; rhy; rhz];\n% rh_2 = [-rhx; -rhy; rhz];\n% rh_3 = [rhx; -rhy; rhz];\n"
- "rh_0 = [-rhx; rhy; -rhz];\nrh_1 = [rhx; rhy; -rhz];\nrh_2 = [-rhx; -rhy; -rhz];\nrh_3 = [rhx; -rhy; -rhz];\n\n% "
- "Define vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = "
- "eye(3);\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\n%gamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use th"
- "is gamma_omega vector\n%gamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\ngamma_omega_03 "
- "= [0; 0; 1]; %Rotors 0 and 3 use this gamma_omega vector\ngamma_omega_12 = [0; 0; -1]; %Rotors 1 and 2 use this"
- " gamma_omega vector\n\n% Define angular velocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_vel"
- "ocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% Define angular acceleration for each roto"
- "r\nw_0_dot = angular_acceleration(1);\nw_1_dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw"
- "_3_dot = angular_acceleration(4);\n\n% Define the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * "
- "w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w"
- "_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor forces in the z-direction from each vector to get the\n% total body f"
- "orce in the z-direction\nB_Fr = B_Fr_0 + B_Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced tor"
- "que produced by each rotor\n B_Q_d0 = -1 * Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gam"
- "ma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2 * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n"
- "\n% Sum up the total in-plane drag and induced torque to get the total\n% in-plane drag and induced torque on th"
- "e body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + B_Q_d3;\n\n% Define the force lever arm torque created from the force"
- " produced by each\n% rotor in the z-direction\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\n"
- "B_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n"
- "\n%Define the change in angular momentum torque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w"
- "_0 * gamma_omega_03) + w_0_dot * gamma_omega_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) "
- "+ w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_om"
- "ega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum u"
- "p the total change in angular momentum torque produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;"
- "\n\n% Define the total rotor system torque as the sum of the in-plane drag and\n% induced torque, force lever ar"
- "m torque, and change in angular momentum\n% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in"
- " the z-direction from each vector to get the\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% De"
- "fine the body frame linear velocities\nB_vo_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, "
- "br_oc)) ) );\n\n% Define the body frame angular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B"
- "_omega) - cross(br_oc, B_F) );\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 51
- ssIdNumber 6
- name "B_omega_dot"
- linkNode [49 0 52]
- 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 52
- ssIdNumber 10
- name "angular_acceleration"
- linkNode [49 51 53]
- 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 53
- ssIdNumber 11
- name "angular_velocity"
- linkNode [49 52 54]
- 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 54
- ssIdNumber 30
- name "B_Fg"
- linkNode [49 53 55]
- 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 55
- ssIdNumber 8
- name "B_omega"
- linkNode [49 54 56]
- 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 56
- ssIdNumber 5
- name "B_vo_dot"
- linkNode [49 55 57]
- 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 57
- ssIdNumber 7
- name "B_vo"
- linkNode [49 56 58]
- 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 58
- ssIdNumber 12
- name "m"
- linkNode [49 57 59]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 6
- 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 59
- ssIdNumber 14
- name "Kt"
- linkNode [49 58 60]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
- 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 60
- ssIdNumber 13
- name "Kd"
- linkNode [49 59 61]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
- 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 61
- ssIdNumber 15
- name "rhx"
- linkNode [49 60 62]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 7
- 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 62
- ssIdNumber 16
- name "rhy"
- linkNode [49 61 63]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 8
- 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 63
- ssIdNumber 17
- name "rhz"
- linkNode [49 62 64]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 9
- 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 64
- ssIdNumber 18
- name "Jreq"
- linkNode [49 63 65]
- scope PARAMETER_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 65
- ssIdNumber 19
- name "Jxx"
- linkNode [49 64 66]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
- 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 66
- ssIdNumber 20
- name "Jyy"
- linkNode [49 65 67]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
- 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 67
- ssIdNumber 21
- name "Jzz"
- linkNode [49 66 0]
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
- 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 68
- position [23.5747 49.5747 7]
- chart 49
- linkNode [49 0 0]
- subviewer 49
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 69
- 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 68
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 49
- linkNode [49 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 49
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 70
- name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
- machine 1
- chart 49
- }
- chart {
- id 71
- name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 72 0 0]
- firstTransition 77
- firstJunction 76
- viewObj 71
- machine 1
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 73
- chartFileNumber 7
- disableImplicitCasting 1
- eml {
- name "angular_body_earth_conversion"
- }
- }
- state {
- id 72
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 71
- treeNode [71 0 0 0]
- superState SUBCHART
- subviewer 71
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\neuler_rates = zero"
- "s(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta"
- "); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(th"
- "eta)];\n\n \neuler_rates = Aeb * B_omega;\n "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 73
- ssIdNumber 4
- name "B_omega"
- linkNode [71 0 74]
- 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 74
- ssIdNumber 5
- name "euler_rates"
- linkNode [71 73 75]
- 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 75
- ssIdNumber 6
- name "euler_angles"
- linkNode [71 74 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 76
- position [23.5747 49.5747 7]
- chart 71
- linkNode [71 0 0]
- subviewer 71
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 77
- 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 76
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 71
- linkNode [71 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 71
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 78
- name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- machine 1
- chart 71
- }
- chart {
- id 79
- name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 80 0 0]
- firstTransition 87
- firstJunction 86
- viewObj 79
- machine 1
- ssIdHighWaterMark 13
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 81
- chartFileNumber 8
- disableImplicitCasting 1
- eml {
- name "linear_earth_body_conversion"
- }
- }
- state {
- id 80
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 79
- treeNode [79 0 0 0]
- superState SUBCHART
- subviewer 79
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [B_Fg, B_g] = linear_earth_body_conversion(E_Fg, euler_angles, m)\n\nphi = euler_angles"
- "(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLbe = [ cos(theta)*cos(psi) ,"
- " cos(theta)*sin(psi) , -sin(theta) ; ...\n sin(phi)*sin(theta)*cos(psi)-c"
- "os(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), sin(phi)*cos(theta); ...\n cos(phi)*sin("
- "theta)*cos(psi)+sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi), cos(phi)*cos(theta)];\n\nB_Fg"
- " = Lbe * E_Fg;\n\nB_g = B_Fg/m;"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 81
- ssIdNumber 7
- name "E_Fg"
- linkNode [79 0 82]
- 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 82
- ssIdNumber 11
- name "euler_angles"
- linkNode [79 81 83]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "3"
- }
- 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 83
- ssIdNumber 9
- name "B_Fg"
- linkNode [79 82 84]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "3"
- }
- 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 84
- ssIdNumber 12
- name "B_g"
- linkNode [79 83 85]
- 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 85
- ssIdNumber 13
- name "m"
- linkNode [79 84 0]
- scope PARAMETER_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 86
- position [23.5747 49.5747 7]
- chart 79
- linkNode [79 0 0]
- subviewer 79
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 87
- 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 86
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 79
- linkNode [79 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 79
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 88
- name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- machine 1
- chart 79
- }
- chart {
- id 89
- name " Sensors /Complimentary Filter\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 90 0 0]
- firstTransition 96
- firstJunction 95
- viewObj 89
- visible 1
- machine 1
- subviewS {
- }
- ssIdHighWaterMark 16
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 91
- chartFileNumber 9
- disableImplicitCasting 1
- eml {
- name "complimentaryFilter"
- }
- }
- state {
- id 90
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 89
- treeNode [89 0 0 0]
- superState SUBCHART
- subviewer 89
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "%function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, pre"
- "v_euler_angles_IMU)\nfunction euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro"
- ")\n\n% LOOP_TIME = 5*10^-3;\n% \n% prev_phi = prev_euler_angles_IMU(1);\n% prev_theta = prev_euler_angles_IMU(2)"
- ";\n% \n% phi_dot_gyro = euler_angles_gyro(1);\n% theta_dot_gyro = euler_angles_gyro(2);\n\n% phi = 0.98 * ( prev"
- "_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\n% theta = 0.98 * ( prev_theta + theta_dot_gyro * LOOP_TI"
- "ME) + 0.02 * accel_pitch;\nk_gyro = 0.98; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_"
- "accel * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [p"
- "hi; theta];\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 91
- ssIdNumber 4
- name "accel_pitch"
- linkNode [89 0 92]
- 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 92
- ssIdNumber 13
- name "accel_roll"
- linkNode [89 91 93]
- 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 93
- ssIdNumber 5
- name "euler_angles_IMU"
- linkNode [89 92 94]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "[2,1]"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 94
- ssIdNumber 6
- name "euler_angles_gyro"
- linkNode [89 93 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 95
- position [23.5747 49.5747 7]
- chart 89
- linkNode [89 0 0]
- subviewer 89
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 96
- 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 95
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 89
- linkNode [89 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 89
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 97
- name " Sensors /Complimentary Filter\n\n\n\n\n\n\n\n"
- machine 1
- chart 89
- }
- chart {
- id 98
- name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 99 0 0]
- firstTransition 109
- firstJunction 108
- viewObj 98
- machine 1
- ssIdHighWaterMark 15
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 100
- chartFileNumber 10
- disableImplicitCasting 1
- eml {
- name "idealIMU"
- }
- }
- state {
- id 99
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 98
- treeNode [98 0 0 0]
- superState SUBCHART
- subviewer 98
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
- "\na = B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccelReading = (a - B_g)/g ; % acceleromete"
- "r reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 100
- ssIdNumber 4
- name "B_vo_dot"
- linkNode [98 0 101]
- 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 101
- ssIdNumber 9
- name "B_vo"
- linkNode [98 100 102]
- 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 102
- ssIdNumber 5
- name "accelReading"
- linkNode [98 101 103]
- 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 103
- ssIdNumber 6
- name "B_Omega"
- linkNode [98 102 104]
- 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 104
- ssIdNumber 7
- name "B_g"
- linkNode [98 103 105]
- 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 105
- ssIdNumber 8
- name "gyroReading"
- linkNode [98 104 106]
- 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 106
- ssIdNumber 10
- name "r_oc"
- linkNode [98 105 107]
- 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 107
- ssIdNumber 12
- name "g"
- linkNode [98 106 0]
- scope PARAMETER_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 108
- position [23.5747 49.5747 7]
- chart 98
- linkNode [98 0 0]
- subviewer 98
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 109
- 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 108
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 98
- linkNode [98 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 98
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 110
- name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- machine 1
- chart 98
- }
- chart {
- id 111
- name " Sensors /3D Graphical Simulation/MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 112 0 0]
- firstTransition 116
- firstJunction 115
- viewObj 111
- machine 1
- ssIdHighWaterMark 5
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 113
- chartFileNumber 11
- disableImplicitCasting 1
- eml {
- name "eigenaxis_ucart"
- }
- }
- state {
- id 112
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 111
- treeNode [111 0 0 0]
- superState SUBCHART
- subviewer 111
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 113
- ssIdNumber 4
- name "u"
- linkNode [111 0 114]
- 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 114
- ssIdNumber 5
- name "y"
- linkNode [111 113 0]
- 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"
- }
- junction {
- id 115
- position [23.5747 49.5747 7]
- chart 111
- linkNode [111 0 0]
- subviewer 111
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 116
- 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 115
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 111
- linkNode [111 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 111
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 117
- name " Sensors /3D Graphical Simulation/MATLAB Function"
- machine 1
- chart 111
- }
- chart {
- id 118
- name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 119 0 0]
- firstTransition 124
- firstJunction 123
- viewObj 118
- machine 1
- ssIdHighWaterMark 6
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 120
- chartFileNumber 12
- disableImplicitCasting 1
- eml {
- name "angular_body_earth_conversion"
- }
- }
- state {
- id 119
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 118
- treeNode [118 0 0 0]
- superState SUBCHART
- subviewer 118
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_IMU)\n\nphi ="
- " euler_angles_IMU(1);\ntheta = euler_angles_IMU(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n"
- " 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n"
- "\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 120
- ssIdNumber 4
- name "gyro_reading"
- linkNode [118 0 121]
- 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 121
- ssIdNumber 5
- name "euler_rates_IMU"
- linkNode [118 120 122]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "[3,1]"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 122
- ssIdNumber 6
- name "euler_angles_IMU"
- linkNode [118 121 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 123
- position [23.5747 49.5747 7]
- chart 118
- linkNode [118 0 0]
- subviewer 118
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 124
- 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 123
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 118
- linkNode [118 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 118
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 125
- name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
- machine 1
- chart 118
- }
- chart {
- id 126
- name " Sensors /Calculate Pitch and Roll\n\n\n\n\n\n\n\n\n\n\n\n1"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 127 0 0]
- firstTransition 133
- firstJunction 132
- viewObj 126
- machine 1
- ssIdHighWaterMark 10
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 128
- chartFileNumber 13
- disableImplicitCasting 1
- eml {
- name "getPitchAndRoll"
- }
- }
- state {
- id 127
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 126
- treeNode [126 0 0 0]
- superState SUBCHART
- subviewer 126
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
- "m(accel_reading);\n\nx_accel = accel_reading(1)/mag;\ny_accel = accel_reading(2)/mag;\nz_accel = accel_reading(3"
- ")/mag;\n\naccel_pitch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n%unwrapped_pitch = unwrap([accel_pitch_prev "
- "accel_pitch]);\n%accel_pitch = unwrapped_pitch(2);\n\naccel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
- "2 + (1/100)*x_accel^2)) );\nunwrapped_roll = unwrap([accel_roll_prev accel_roll]);\naccel_roll = unwrapped_roll("
- "2); \n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 128
- ssIdNumber 4
- name "accel_reading"
- linkNode [126 0 129]
- 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 129
- ssIdNumber 5
- name "accel_pitch"
- linkNode [126 128 130]
- 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 130
- ssIdNumber 6
- name "accel_roll"
- linkNode [126 129 131]
- 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 131
- ssIdNumber 7
- name "accel_roll_prev"
- linkNode [126 130 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 132
- position [23.5747 49.5747 7]
- chart 126
- linkNode [126 0 0]
- subviewer 126
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 133
- 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 132
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 126
- linkNode [126 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 126
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 134
- name " Sensors /Calculate Pitch and Roll\n\n\n\n\n\n\n\n\n\n\n\n1"
- machine 1
- chart 126
- }
- chart {
- id 135
- name "Control System/MATLAB Function"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 136 0 0]
- firstTransition 143
- firstJunction 142
- viewObj 135
- visible 1
- machine 1
- subviewS {
- }
- ssIdHighWaterMark 11
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 137
- chartFileNumber 14
- disableImplicitCasting 1
- eml {
- name "signal_mixer"
- }
- }
- state {
- id 136
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 135
- treeNode [135 0 0 0]
- superState SUBCHART
- subviewer 135
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function motorCommands = signal_mixer(height_controlled, y_controlled, x_controlled, yaw_control"
- "led)\n\ncontroller_outputs = [ height_controlled; x_controlled; y_controlled; yaw_controlled ];\nsignal_mixer = "
- "[ 1, -1, -1, -1; ... \n 1, 1, -1, 1; ...\n 1, -1, 1, 1; ...\n "
- " 1, 1, 1, -1 ];\n\n% signal_mixer = [ 1, 1, -1, -1; ... \n% 1, -1, -1, 1; ...\n% "
- " 1, 1, 1, 1; ...\n% 1, -1, 1, -1 ];\n\nmotorCommands = signal_mixer * controller_out"
- "puts;\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- data {
- id 137
- ssIdNumber 4
- name "height_controlled"
- linkNode [135 0 138]
- 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 138
- ssIdNumber 7
- name "y_controlled"
- linkNode [135 137 139]
- 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 139
- ssIdNumber 5
- name "motorCommands"
- linkNode [135 138 140]
- 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 140
- ssIdNumber 6
- name "x_controlled"
- linkNode [135 139 141]
- 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 141
- ssIdNumber 8
- name "yaw_controlled"
- linkNode [135 140 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 142
- position [23.5747 49.5747 7]
- chart 135
- linkNode [135 0 0]
- subviewer 135
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 143
- 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 142
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 135
- linkNode [135 0 0]
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 135
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- instance {
- id 144
- name "Control System/MATLAB Function"
- machine 1
- chart 135
- }
- target {
- id 145
- name "sfun"
- description "Default Simulink S-Function Target."
- machine 1
- linkNode [1 0 0]
- }
-}
diff --git a/controls/model/test_model_R2015Ax.slx b/controls/model/test_model_R2015Ax.slx
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index feb8b73e27a6546344f8e37555adce78811d6436..0000000000000000000000000000000000000000
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diff --git a/controls/model/weights_modern.mat b/controls/model/weights_modern.mat
new file mode 100644
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diff --git a/controls/model/weights_old_quad.mat b/controls/model/weights_old_quad.mat
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diff --git a/controls/model/weights_rich.mat b/controls/model/weights_rich.mat
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diff --git a/documentation/images/simulink_lqr_control.png b/documentation/images/simulink_lqr_control.png
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index 0000000000000000000000000000000000000000..b9773c67678079ae49e3ba58aa3b4a9507c01c34
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diff --git a/documentation/images/simulink_lqr_sensor.png b/documentation/images/simulink_lqr_sensor.png
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index 0000000000000000000000000000000000000000..a1ab30ecc1774ab7014f806f0c57274287ff3e59
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diff --git a/documentation/images/simulink_lqr_top.png b/documentation/images/simulink_lqr_top.png
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index 0000000000000000000000000000000000000000..c2788ab123be6355915c0ee06c7e0c93fc48588f
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