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ZOrder 14
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ZOrder 16
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EnableBusSupport on
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Name "accelReading"
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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 {
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ZOrder 12
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ZOrder 1
SrcBlock "B_vo_dot"
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DstBlock " SFunction "
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Line {
ZOrder 2
SrcBlock "B_vo"
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DstBlock " SFunction "
DstPort 2
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Line {
ZOrder 3
SrcBlock "B_Omega"
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DstBlock " SFunction "
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Line {
ZOrder 4
SrcBlock "B_g"
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DstBlock " SFunction "
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Line {
ZOrder 5
SrcBlock "r_oc"
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DstBlock " SFunction "
DstPort 5
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DstBlock "accelReading"
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SrcBlock " SFunction "
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Line {
ZOrder 8
SrcBlock " Demux "
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DstBlock " Terminator "
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Line {
ZOrder 9
SrcBlock " SFunction "
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DstBlock " Demux "
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Block {
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Block {
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Block {
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ZOrder 48
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Block {
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ZOrder 49
InputPortMap "u0"
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Block {
BlockType DiscreteIntegrator
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SID "835"
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Position [765, 407, 800, 443]
ZOrder 30
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
ICPrevOutput "DiscIntNeverNeededParam"
ICPrevScaledInput "DiscIntNeverNeededParam"
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Block {
BlockType DiscreteIntegrator
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SID "839"
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Position [595, 407, 630, 443]
ZOrder 34
InitialConditionSetting "State (most efficient)"
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ICPrevOutput "DiscIntNeverNeededParam"
ICPrevScaledInput "DiscIntNeverNeededParam"
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Block {
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ZOrder 23
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Block {
BlockType Ground
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ZOrder 24
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Block {
BlockType Integrator
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Position [240, 360, 270, 390]
ZOrder 39
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Block {
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ZOrder 31
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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 {
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ZOrder 35
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ListType AxesTitles
axes1 "%<SignalLabel>"
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List {
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FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
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Location [680 330 1240 750]
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Block {
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List {
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Block {
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ShowName off
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Block {
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ShowName off
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Block {
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ShowName off
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Block {
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ShowName off
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Block {
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ZOrder 28
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Block {
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ZOrder 29
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Block {
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SrcBlock "Sum2"
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SrcBlock "Sum3"
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SrcBlock "gyroscope_noise"
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ZOrder 85
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ZOrder 14
SrcBlock "Ground1"
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Line {
ZOrder 15
SrcBlock "B_vo_dot"
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ZOrder 49
DstBlock "\n\n\n\n\n\n\n"
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ZOrder 30
SrcBlock "\n\n\n\n\n\n\n"
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Block {
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Position [605, 235, 625, 255]
ZOrder 33
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
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Block {
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Position [485, 235, 505, 255]
ZOrder 37
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
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Block {
BlockType Sum
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SID "691"
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ZOrder 47
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
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Block {
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ShowName off
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InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
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ZOrder 54
SampleTime "Tc"
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Block {
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SID "696"
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ZOrder 43
IconDisplay "Port number"
}
Block {
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ZOrder 55
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SrcBlock "Sum1"
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DstBlock "E_ro_quantizer"
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SrcBlock "E_ro_sampling"
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SrcBlock "Ground1"
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DstBlock "Sum3"
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ZOrder 8
SrcBlock "Sum4"
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DstBlock "yaw_quantizer"
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SrcBlock "Sum6"
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DstBlock "Sum4"
DstPort 1
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Line {
ZOrder 10
SrcBlock "yaw_noise"
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DstBlock "Sum4"
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SrcBlock "yaw_sampling"
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DstBlock "Sum6"
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Line {
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SrcBlock "Ground2"
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DstBlock "Sum6"
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Line {
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SrcBlock "yaw"
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Line {
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SrcBlock "E_ro"
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DstBlock "E_ro_sampling"
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Line {
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SrcBlock "E_ro_quantizer"
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DstBlock "E_ro_camera"
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RequestExecContextInheritance off
Variant on
Object {
$PropName "MaskObject"
$ObjectID 34
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Open off
ModelBrowserVisibility off
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ScreenColor "white"
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PaperUnits "inches"
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Block {
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Block {
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ZOrder 287
ShowName off
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Variant off
VariantControl "logAnalysisToggle==0"
Object {
$PropName "MaskObject"
$ObjectID 35
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System {
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
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PaperUnits "inches"
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ShowPageBoundaries off
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ZOrder 2
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DstBlock "raw_accel"
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Block {
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ShowName off
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$PropName "MaskObject"
$ObjectID 36
$ClassName "Simulink.Mask"
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Open off
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PaperOrientation "landscape"
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FixedHeight off
FixedWidth off
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Block {
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Variant on
Object {
$PropName "MaskObject"
$ObjectID 37
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Open off
ModelBrowserVisibility off
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ShowPageBoundaries off
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ZOrder 287
ShowName off
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Variant off
VariantControl "logAnalysisToggle==0"
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$PropName "MaskObject"
$ObjectID 38
$ClassName "Simulink.Mask"
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ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
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PaperUnits "inches"
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ShowName off
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$PropName "MaskObject"
$ObjectID 39
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Open off
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FixedHeight off
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axes1 "%<SignalLabel>"
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Location [680 330 1240 750]
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Block {
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NumInputPorts "1"
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SaveName ScopeData2
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List {
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axes1 "%<SignalLabel>"
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List {
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Location [1 76 1909 1039]
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Block {
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List {
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axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
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Location [1 76 1909 1039]
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List {
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axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
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List {
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Location [1 76 1921 1039]
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Block {
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YMax 0.86243~5
SampleInput off
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DataFormat StructureWithTime
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List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
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List {
ListType ScopeGraphics
FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
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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 [1 76 1921 1039]
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Block {
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List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<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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DataFormat StructureWithTime
Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
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"
}
Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope6"
SID "466"
Ports [3]
Position [1935, 528, 1975, 572]
ZOrder 79
NumInputPorts "3"
Open off
TimeRange auto
TickLabels OneTimeTick
ShowLegends on
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData4
YMin -1.00000~-1.00000~-0.00000000000004
YMax 1.00000~1.00000~0.00000000000032
SampleInput off
SampleTime -1
ZoomMode on
Grid on
DataFormat StructureWithTime
Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
axes3 "%<SignalLabel>"
}
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"
}
Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope7"
SID "467"
Ports [1]
Position [600, 639, 630, 671]
ZOrder 99
NumInputPorts "1"
Open off
TimeRange auto
TickLabels OneTimeTick
ShowLegends off
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData1
YMin -1.52545
YMax 13.7291
SampleInput off
SampleTime -1
ZoomMode on
Grid on
DataFormat StructureWithTime
Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
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"
}
Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope8"
SID "468"
Ports [1]
Position [820, 629, 850, 661]
ZOrder 100
NumInputPorts "1"
Open off
TimeRange auto
TickLabels OneTimeTick
ShowLegends off
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData2
YMin -14.59237
YMax 14.59237
SampleInput off
SampleTime -1
ZoomMode on
Grid on
DataFormat StructureWithTime
Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
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"
}
Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope9"
SID "469"
Ports [1]
Position [1225, 229, 1255, 261]
ZOrder 102
NumInputPorts "1"
Open off
TimeRange auto
TickLabels OneTimeTick
ShowLegends off
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData3
YMin -1.00000
YMax 1.00000
SampleInput off
SampleTime -1
ZoomMode on
Grid on
DataFormat StructureWithTime
Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
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"
}
Location [1 76 1921 1039]
}
Block {
BlockType Outport
Name "B_omega"
SID "471"
Position [1845, 238, 1875, 252]
ZOrder 61
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "euler_angles"
SID "472"
Position [1845, 373, 1875, 387]
ZOrder 91
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "B_vo"
SID "473"
Position [1845, 473, 1875, 487]
ZOrder 58
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "E_ro"
SID "474"
Position [1845, 598, 1875, 612]
ZOrder 88
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "B_vo_dot"
SID "475"
Position [1845, 718, 1875, 732]
ZOrder 103
Port "5"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "B_g"
SID "476"
Position [1845, 778, 1875, 792]
ZOrder 104
Port "6"
IconDisplay "Port number"
}
Line {
ZOrder 1
SrcBlock "ESC System"
SrcPort 1
Points [23, 0; 0, -60]
Branch {
ZOrder 2
Points [0, -45]
DstBlock "Scope"
DstPort 1
}
Branch {
ZOrder 3
DstBlock "Motor System"
DstPort 1
}
}
Line {
ZOrder 4
SrcBlock "Motor System"
SrcPort 1
Points [40, 0; 0, -45]
Branch {
ZOrder 5
DstBlock "Integrator"
DstPort 1
}
Branch {
ZOrder 6
Points [0, -45]
Branch {
ZOrder 101
DstBlock "Rotor System\n\n\n\n\n\n\n\n"
DstPort 1
}
Branch {
ZOrder 7
Points [0, -65]
DstBlock "Scope1"
DstPort 1
}
}
}
Line {
ZOrder 103
SrcBlock "Rotor System\n\n\n\n\n\n\n\n"
SrcPort 1
Points [39, 0]
Branch {
ZOrder 15
Points [0, -95]
DstBlock "Scope9"
DstPort 1
}
Branch {
ZOrder 16
DstBlock "Integrator2"
DstPort 1
}
}
Line {
ZOrder 22
SrcBlock "Integrator2"
SrcPort 1
Points [55, 0]
Branch {
ZOrder 105
Points [0, 252; -416, 0; 0, -147]
DstBlock "Rotor System\n\n\n\n\n\n\n\n"
DstPort 4
}
Branch {
ZOrder 23
Points [0, -95; 454, 0]
Branch {
ZOrder 24
DstBlock "B_omega"
DstPort 1
}
Branch {
ZOrder 25
Points [0, -60]
DstBlock "Demux4"
DstPort 1
}
}
Branch {
ZOrder 27
DstBlock "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
DstPort 1
}
}
Line {
ZOrder 28
SrcBlock "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
SrcPort 1
DstBlock "Integrator4"
DstPort 1
}
Line {
ZOrder 32
SrcBlock "Lbe\n\n\n\n\n\n"
SrcPort 1
DstBlock "Integrator3"
DstPort 1
}
Line {
ZOrder 33
SrcBlock "Integrator3"
SrcPort 1
Points [64, 0]
Branch {
ZOrder 34
Points [0, -55]
DstBlock "Demux1"
DstPort 1
}
Branch {
ZOrder 35
DstBlock "E_ro"
DstPort 1
}
}
Line {
ZOrder 36
SrcBlock "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
SrcPort 1
Points [24, 0]
Branch {
ZOrder 368
Points [0, -80]
DstBlock "Scope8"
DstPort 1
}
Branch {
ZOrder 107
Points [82, 0; 0, -325]
DstBlock "Rotor System\n\n\n\n\n\n\n\n"
DstPort 3
}
}
Line {
ZOrder 39
SrcBlock "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
SrcPort 2
DstBlock "B_g"
DstPort 1
}
Line {
Name "y position"
ZOrder 45
Labels [0, 0]
SrcBlock "Demux1"
SrcPort 2
DstBlock "Scope6"
DstPort 2
}
Line {
Name "x position"
ZOrder 46
Labels [0, 0]
SrcBlock "Demux1"
SrcPort 1
DstBlock "Scope6"
DstPort 1
}
Line {
Name "z position"
ZOrder 47
Labels [0, 0]
SrcBlock "Demux1"
SrcPort 3
DstBlock "Scope6"
DstPort 3
}
Line {
Name "Pitch"
ZOrder 57
Labels [0, 0]
SrcBlock "Demux2"
SrcPort 2
DstBlock "Scope10"
DstPort 2
}
Line {
Name "Roll"
ZOrder 58
Labels [0, 0]
SrcBlock "Demux2"
SrcPort 1
DstBlock "Scope10"
DstPort 1
}
Line {
Name "Yaw"
ZOrder 59
Labels [0, 0]
SrcBlock "Demux2"
SrcPort 3
DstBlock "Scope10"
DstPort 3
}
Line {
Name "Body pitch velocity"
ZOrder 60
Labels [0, 0]
SrcBlock "Demux4"
SrcPort 2
DstBlock "Scope11"
DstPort 2
}
Line {
Name "Body roll velocity"
ZOrder 61
Labels [0, 0]
SrcBlock "Demux4"
SrcPort 1
DstBlock "Scope11"
DstPort 1
}
Line {
Name "Body yaw velocity"
ZOrder 62
Labels [0, 0]
SrcBlock "Demux4"
SrcPort 3
DstBlock "Scope11"
DstPort 3
}
Line {
Name "Body y velocity"
ZOrder 63
Labels [0, 0]
SrcBlock "Demux3"
SrcPort 2
DstBlock "Scope3"
DstPort 2
}
Line {
Name "Body x velocity"
ZOrder 64
Labels [0, 0]
SrcBlock "Demux3"
SrcPort 1
DstBlock "Scope3"
DstPort 1
}
Line {
Name "Body z velocity"
ZOrder 65
Labels [0, 0]
SrcBlock "Demux3"
SrcPort 3
DstBlock "Scope3"
DstPort 3
}
Line {
Name "Body y acceleration"
ZOrder 66
Labels [0, 0]
SrcBlock "Demux5"
SrcPort 2
DstBlock "Scope4"
DstPort 2
}
Line {
Name "Body x acceleration"
ZOrder 67
Labels [0, 0]
SrcBlock "Demux5"
SrcPort 1
DstBlock "Scope4"
DstPort 1
}
Line {
Name "Body z acceleration"
ZOrder 68
Labels [0, 0]
SrcBlock "Demux5"
SrcPort 3
DstBlock "Scope4"
DstPort 3
}
Line {
ZOrder 69
SrcBlock "Integrator1"
SrcPort 1
Points [34, 0]
Branch {
ZOrder 414
Points [0, -80]
DstBlock "Scope5"
DstPort 1
}
Branch {
ZOrder 413
Points [0, 90]
Branch {
ZOrder 104
Points [-370, 0; 0, -60]
DstBlock "Rotor System\n\n\n\n\n\n\n\n"
DstPort 5
}
Branch {
ZOrder 71
Points [76, 0]
Branch {
ZOrder 72
DstBlock "Lbe\n\n\n\n\n\n"
DstPort 1
}
Branch {
ZOrder 73
Points [0, -70; 401, 0]
Branch {
ZOrder 367
Points [0, -50]
DstBlock "Demux3"
DstPort 1
}
Branch {
ZOrder 75
DstBlock "B_vo"
DstPort 1
}
}
}
}
}
Line {
ZOrder 102
SrcBlock "Rotor System\n\n\n\n\n\n\n\n"
SrcPort 2
Points [27, 0]
Branch {
ZOrder 205
Points [0, 265; 607, 0]
Branch {
ZOrder 201
Points [0, -60]
DstBlock "Demux5"
DstPort 1
}
Branch {
ZOrder 200
DstBlock "B_vo_dot"
DstPort 1
}
}
Branch {
ZOrder 198
DstBlock "Integrator1"
DstPort 1
}
}
Line {
ZOrder 48
SrcBlock "Integrator4"
SrcPort 1
Points [20, 0]
Branch {
ZOrder 277
Points [60, 0]
Branch {
ZOrder 361
DstBlock "euler_angles"
DstPort 1
}
Branch {
ZOrder 360
Points [0, -55]
DstBlock "Demux2"
DstPort 1
}
}
Branch {
ZOrder 52
Points [0, 502; -385, 0]
Branch {
ZOrder 352
Points [0, -227]
Branch {
ZOrder 54
DstBlock "Lbe\n\n\n\n\n\n"
DstPort 2
}
Branch {
ZOrder 55
Points [0, -240]
DstBlock "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
DstPort 2
}
}
Branch {
ZOrder 56
Points [-787, 0; 0, -97]
DstBlock "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
DstPort 2
}
}
}
Line {
ZOrder 286
SrcBlock "P"
SrcPort 1
DstBlock "ESC System"
DstPort 1
}
Line {
ZOrder 416
SrcBlock "Gravity\n\n"
SrcPort 1
Points [86, 0]
Branch {
ZOrder 410
Points [0, -70]
DstBlock "Scope7"
DstPort 1
}
Branch {
ZOrder 409
DstBlock "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
DstPort 1
}
}
Line {
ZOrder 415
SrcBlock "Integrator"
SrcPort 1
Points [58, 0]
Branch {
ZOrder 290
Points [0, 210; -473, 0; 0, -105]
DstBlock "Motor System"
DstPort 2
}
Branch {
ZOrder 292
DstBlock "Rotor System\n\n\n\n\n\n\n\n"
DstPort 2
}
Branch {
ZOrder 291
Points [0, -110]
DstBlock "Scope2"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name "Communication System"
SID "582"
Ports [0, 1]
Position [515, 432, 570, 478]
ZOrder 70
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
$ObjectID 50
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
System {
Name "Communication System"
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 "175"
Block {
BlockType Step
Name "Step"
SID "583"
Position [925, 390, 955, 420]
ZOrder 32
Before "[0; 0; 0; 0]"
After "[0; 0; 0; 0]"
SampleTime "Tq"
}
Block {
BlockType Outport
Name "setpoints"
SID "584"
Position [1050, 398, 1080, 412]
ZOrder 6
IconDisplay "Port number"
}
Line {
ZOrder 1
SrcBlock "Step"
SrcPort 1
DstBlock "setpoints"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Control System"
SID "573"
Ports [4, 1]
Position [645, 423, 900, 652]
ZOrder 69
ShowName off
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
$ObjectID 51
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Setpoints', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{filtered}', 'texmo"
"de', 'on');\nport_label('input', 3, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmo"
"de', 'on');\nport_label('output', 1, 'P', 'texmode', 'on');\ndisp('Control System', 'texmode', 'on');"
}
System {
Name "Control System"
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 "80"
Block {
BlockType Inport
Name "setpoints"
SID "574"
Position [215, 363, 245, 377]
ZOrder 2
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "euler_angles_filtered"
SID "575"
Position [215, 523, 245, 537]
ZOrder 9
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "euler_rates"
SID "576"
Position [215, 598, 245, 612]
ZOrder 11
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "current_position"
SID "577"
Position [215, 448, 245, 462]
ZOrder -1
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Constant
Name "Constant"
SID "919"
Position [275, 1020, 305, 1050]
ZOrder 66
Value "Tc"
SampleTime "Tc"
}
Block {
BlockType SubSystem
Name "Controller"
SID "604"
Ports [13, 4]
Position [395, 315, 530, 645]
ZOrder 31
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
$ObjectID 52
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{E}r_{x,setpoint}', 'texmode', 'on');\nport_label('input', 2, '^{E}r_{y,se"
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"4, '\\psi_{setpoint}', 'texmode', 'on');\nport_label('input', 5, '^{E}r_x', 'texmode', 'on');\nport_label('input'"
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}
System {
Name "Controller"
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 "300"
Block {
BlockType Inport
Name "x_setpoint"
SID "605"
Position [475, -217, 505, -203]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "y_setpoint"
SID "607"
Position [475, -477, 505, -463]
ZOrder 45
ForegroundColor "gray"
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "z_setpoint"
SID "608"
Position [475, -717, 505, -703]
ZOrder 46
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "yaw_setpoint"
SID "632"
Position [475, 53, 505, 67]
ZOrder 103
ForegroundColor "gray"
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "x_position"
SID "622"
Position [545, -172, 575, -158]
ZOrder 60
Port "5"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "y_position"
SID "623"
Position [540, -432, 570, -418]
ZOrder 61
Port "6"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "z_position"
SID "624"
Position [555, -662, 585, -648]
ZOrder 62
Port "7"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "roll"
SID "630"
Position [835, -432, 865, -418]
ZOrder 68
Port "8"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "pitch"
SID "631"
Position [840, -172, 870, -158]
ZOrder 69
Port "9"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "yaw"
SID "649"
Position [560, 98, 590, 112]
ZOrder 105
Port "10"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "roll_rate"
SID "633"
Position [1095, -432, 1125, -418]
ZOrder 71
Port "11"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "pitch_rate"
SID "634"
Position [1090, -172, 1120, -158]
ZOrder 72
Port "12"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "yaw_rate"
SID "635"
Position [820, 118, 850, 132]
ZOrder 73
Port "13"
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Altitude Controller Input"
SID "1177"
Ports [1, 1]
Position [685, -727, 750, -693]
ZOrder 292
ForegroundColor "magenta"
ShowName off
RequestExecContextInheritance off
Variant on
Object {
$PropName "MaskObject"
$ObjectID 53
$ClassName "Simulink.Mask"
Display "disp('^Ez_{y,error}', 'texmode', 'on');"
}
System {
Name "Altitude Controller Input"
Location [-7, -7, 1288, 688]
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 "200"
Block {
BlockType Inport
Name "z_error_model"
SID "1250"
Position [85, 123, 115, 137]
ZOrder 290
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Feedback"
SID "1251"
Ports [1, 1]
Position [215, 151, 285, 189]
ZOrder 289
ShowName off
RequestExecContextInheritance off
Variant off
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SumI2AccumDataTypeStr "Inherit: Inherit via internal rule"
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SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
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}
Block {
BlockType Reference
Name "PID Controller17"
SID "1352"
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Position [790, -728, 830, -692]
ZOrder 310
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
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Controller "PID"
TimeDomain "Discrete-time"
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IParamMin "[]"
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}
Block {
BlockType Reference
Name "PID Controller2"
SID "1424"
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Position [1045, -488, 1085, -452]
ZOrder 326
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
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TimeDomain "Discrete-time"
SampleTime "Tq"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
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IgnoreLimit off
ZeroCross on
LimitOutput off
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LinearizeAsGain on
AntiWindupMode "none"
Kb "1"
TrackingMode off
Kt "1"
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LockScale off
PParamMin "[]"
PParamMax "[]"
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IParamMin "[]"
IParamMax "[]"
IParamDataTypeStr "Inherit: Inherit via internal rule"
DParamMin "[]"
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NParamMin "[]"
NParamMax "[]"
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IntegratorOutDataTypeStr "Inherit: Inherit via internal rule"
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SumI3OutMax "[]"
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SumDOutMax "[]"
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SumI3AccumDataTypeStr "Inherit: Inherit via internal rule"
SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
SaturationOutMin "[]"
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DifferentiatorICPrevScaledInput "0"
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}
Block {
BlockType Reference
Name "PID Controller3"
SID "1423"
Ports [1, 1]
Position [1295, -488, 1335, -452]
ZOrder 325
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PD"
TimeDomain "Discrete-time"
SampleTime "Tq"
IntegratorMethod "Forward Euler"
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UseFilter off
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IgnoreLimit off
ZeroCross on
LimitOutput off
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LinearizeAsGain on
AntiWindupMode "none"
Kb "1"
TrackingMode off
Kt "1"
RndMeth "Floor"
SaturateOnIntegerOverflow off
LockScale off
PParamMin "[]"
PParamMax "[]"
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IParamMin "[]"
IParamMax "[]"
IParamDataTypeStr "Inherit: Inherit via internal rule"
DParamMin "[]"
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DParamDataTypeStr "Inherit: Inherit via internal rule"
NParamMin "[]"
NParamMax "[]"
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IOutMax "[]"
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SumI3AccumDataTypeStr "Inherit: Inherit via internal rule"
SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
SaturationOutMin "[]"
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}
Block {
BlockType Reference
Name "PID Controller4"
SID "1354"
Ports [1, 1]
Position [790, 42, 830, 78]
ZOrder 312
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
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TimeDomain "Discrete-time"
SampleTime "Tc"
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LimitOutput off
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PParamMin "[]"
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}
Block {
BlockType Reference
Name "PID Controller5"
SID "1368"
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Position [1045, -228, 1085, -192]
ZOrder 319
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
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SampleTime "Tq"
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Kb "1"
TrackingMode off
Kt "1"
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PParamMin "[]"
PParamMax "[]"
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IParamMin "[]"
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Block {
BlockType Reference
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SID "1365"
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Position [790, -488, 830, -452]
ZOrder 316
LibraryVersion "1.388"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
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TimeDomain "Discrete-time"
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IParamMin "[]"
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Block {
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Block {
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Block {
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Block {
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ShowName off
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Block {
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ShowName off
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Name "z_command_model"
SID "1279"
Position [85, 118, 115, 132]
ZOrder 288
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Feedback"
SID "1280"
Ports [1, 1]
Position [185, 153, 345, 187]
ZOrder 287
ShowName off
RequestExecContextInheritance off
Variant off
VariantControl "logAnalysisToggle==0"
Object {
$PropName "MaskObject"
$ObjectID 86
$ClassName "Simulink.Mask"
Display "disp('Throttle Command from Model', 'texmode', 'on');"
}
System {
Name "Feedback"
Location [-7, -7, 1288, 688]
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 "z_command_model"
SID "1281"
Position [105, 103, 135, 117]
ZOrder 2
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "z_command"
SID "1282"
Position [360, 103, 390, 117]
ZOrder -2
IconDisplay "Port number"
}
Line {
ZOrder 1
SrcBlock "z_command_model"
SrcPort 1
DstBlock "z_command"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Throttle Command"
SID "1283"
Ports [0, 1]
Position [210, 75, 320, 105]
ZOrder 279
ShowName off
RequestExecContextInheritance off
Variant off
VariantControl "logAnalysisToggle==1"
Object {
$PropName "MaskObject"
$ObjectID 87
$ClassName "Simulink.Mask"
Display "disp('Throttle Command', 'texmode', 'on');"
}
System {
Name "Throttle Command"
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 "175"
Block {
BlockType FromWorkspace
Name "From\nWorkspace5"
SID "1284"
Position [-35, 17, 80, 43]
ZOrder 210
VariableName "throttle_command"
SampleTime "Tq"
ZeroCross on
}
Block {
BlockType Outport
Name "z_command"
SID "1285"
Position [145, 23, 175, 37]
ZOrder 172
IconDisplay "Port number"
}
Line {
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"
}
Annotation {
SID "1287"
Name "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">"
"\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap"
"; }\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"
"nt:0px; line-height:100%;\"><span style=\" font-family:'Helvetica'; font-size:10px;\">1) Add </span><a href=\"m"
"atlab://addvsschoiceddg_cb(gcs,'SubSystem')\"><span style=\" font-family:'Helvetica'; font-size:10px; text-deco"
"ration: underline; color:#0000ff;\">Subsystem</span></a><span style=\" font-family:'Helvetica'; font-size:10px;"
"\"> or </span><a href=\"matlab://addvsschoiceddg_cb(gcs,'ModelReference')\"><span style=\" font-family:'Helveti"
"ca'; font-size:10px; text-decoration: underline; color:#0000ff;\">Model</span></a><span style=\" font-family:'H"
"elvetica'; font-size:10px;\"> blocks as valid variant choices.</span></p>\n<p style=\" margin-top:0px; margin-b"
"ottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span st"
"yle=\" font-family:'Helvetica'; font-size:10px;\">2) You cannot connect blocks at this level. At simulation, co"
"nnectivity is automatically </span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin"
"-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>"
Tag "VSSAddChoiceText"
Position [71, 28, 448, 69]
InternalMargins [0, 0, 0, 0]
FixedHeight off
FixedWidth off
HorizontalAlignment "left"
Interpreter "rich"
ZOrder -1
}
}
}
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"
}
Line {
ZOrder 1
SrcBlock "setpoints"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
ZOrder 30
SrcBlock "euler_angles_filtered"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
ZOrder 3
SrcBlock "current_position"
SrcPort 1
DstBlock "Demux2"
DstPort 1
}
Line {
ZOrder 34
SrcBlock "euler_rates"
SrcPort 1
DstBlock "Demux4"
DstPort 1
}
Line {
ZOrder 27
SrcBlock "Demux"
SrcPort 1
DstBlock "Controller"
DstPort 1
}
Line {
ZOrder 28
SrcBlock "Demux"
SrcPort 2
DstBlock "Controller"
DstPort 2
}
Line {
ZOrder 29
SrcBlock "Demux"
SrcPort 3
DstBlock "Controller"
DstPort 3
}
Line {
ZOrder 40
SrcBlock "Demux2"
SrcPort 1
DstBlock "Controller"
DstPort 5
}
Line {
ZOrder 41
SrcBlock "Demux2"
SrcPort 2
DstBlock "Controller"
DstPort 6
}
Line {
ZOrder 42
SrcBlock "Demux2"
SrcPort 3
DstBlock "Controller"
DstPort 7
}
Line {
ZOrder 68
SrcBlock "Controller"
SrcPort 2
DstBlock "Sum1"
DstPort 1
}
Line {
ZOrder 72
SrcBlock "Controller"
SrcPort 4
DstBlock "Sum3"
DstPort 1
}
Line {
ZOrder 77
SrcBlock "y_controlled_o"
SrcPort 1
Points [25, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
ZOrder 78
SrcBlock "x_controlled_o"
SrcPort 1
Points [25, 0]
DstBlock "Sum2"
DstPort 2
}
Line {
ZOrder 79
SrcBlock "yaw_controlled_o"
SrcPort 1
Points [25, 0]
DstBlock "Sum3"
DstPort 2
}
Line {
ZOrder 80
SrcBlock "Signal Mixer"
SrcPort 1
DstBlock "Saturation"
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 205
SrcBlock "Counter\nFree-Running"
SrcPort 1
DstBlock "MATLAB Function1"
DstPort 14
}
Line {
ZOrder 235
SrcBlock "Constant"
SrcPort 1
Points [43, 0; 0, -45]
DstBlock "MATLAB Function1"
DstPort 15
}
Line {
ZOrder 501
SrcBlock "Sum1"
SrcPort 1
DstBlock "Signal Mixer"
DstPort 2
}
Line {
ZOrder 500
SrcBlock "Sum2"
SrcPort 1
DstBlock "Signal Mixer"
DstPort 3
}
Line {
ZOrder 499
SrcBlock "Sum3"
SrcPort 1
DstBlock "Signal Mixer"
DstPort 4
}
Line {
ZOrder 495
SrcBlock "Throttle Command Input"
SrcPort 1
DstBlock "Signal Mixer"
DstPort 1
}
Line {
ZOrder 519
SrcBlock "Controller"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
ZOrder 520
SrcBlock "height_controlled_o"
SrcPort 1
Points [25, 0]
DstBlock "Sum"
DstPort 2
}
Line {
ZOrder 521
SrcBlock "Motor Commands"
SrcPort 1
Points [42, 0]
Branch {
ZOrder 540
Points [0, 50]
DstBlock "Demux3"
DstPort 1
}
Branch {
ZOrder 539
DstBlock "P"
DstPort 1
}
}
Line {
ZOrder 535
SrcBlock "Demux3"
SrcPort 1
DstBlock "Scope"
DstPort 1
}
Line {
ZOrder 536
SrcBlock "Demux3"
SrcPort 2
DstBlock "Scope"
DstPort 2
}
Line {
ZOrder 537
SrcBlock "Demux3"
SrcPort 3
DstBlock "Scope"
DstPort 3
}
Line {
ZOrder 538
SrcBlock "Demux3"
SrcPort 4
DstBlock "Scope"
DstPort 4
}
Line {
ZOrder 543
SrcBlock "Sum"
SrcPort 1
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"
SrcPort 1
DstBlock "Control System"
DstPort 1
}
Line {
ZOrder 189
SrcBlock "Actuation"
SrcPort 1
DstBlock " Sensors "
DstPort 1
}
Line {
ZOrder 190
SrcBlock "Actuation"
SrcPort 2
DstBlock " Sensors "
DstPort 2
}
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 222
SrcBlock " Sensors "
SrcPort 3
Points [15, 0; 0, 56; -909, 0; 0, -56]
DstBlock "Control System"
DstPort 4
}
Line {
ZOrder 223
SrcBlock " Sensors "
SrcPort 2
Points [33, 0; 0, 154; -941, 0; 0, -129]
DstBlock "Control System"
DstPort 3
}
Line {
ZOrder 224
SrcBlock " Sensors "
SrcPort 1
Points [47, 0; 0, 247; -965, 0; 0, -197]
DstBlock "Control System"
DstPort 2
}
}
}
#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]
}
}