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SrcBlock "Delay1"
SrcPort 1
Points [-199, 0; 0, -60]
DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n1"
DstPort 2
}
Line {
ZOrder 211
SrcBlock "euler_angles"
SrcPort 1
Points [23, 0]
Branch {
ZOrder 332
Points [0, 70]
DstBlock "3D Graphical Simulation"
DstPort 2
}
Branch {
ZOrder 293
DstBlock "Demux"
DstPort 1
}
}
Line {
ZOrder 189
SrcBlock "\n\n\n\n\n\n\n\n"
SrcPort 1
Points [16, 0]
Branch {
ZOrder 327
DstBlock "Demux1"
DstPort 1
}
Branch {
ZOrder 216
Points [0, 225]
DstBlock "Delay"
DstPort 1
}
Branch {
ZOrder 187
Points [0, -85]
DstBlock "Scope3"
DstPort 1
}
}
Line {
ZOrder 243
SrcBlock "First-Order\nHold"
SrcPort 1
Points [50, 0]
DstBlock "3D Graphical Simulation1"
DstPort 1
}
Line {
ZOrder 212
SrcBlock "E_ro"
SrcPort 1
Points [196, 0]
Branch {
ZOrder 331
Points [0, 120]
DstBlock "3D Graphical Simulation"
DstPort 1
}
Branch {
ZOrder 304
DstBlock "\n\n "
DstPort 1
}
}
Line {
ZOrder 305
SrcBlock "Demux"
SrcPort 3
Points [23, 0; 0, -55]
DstBlock "\n\n "
DstPort 2
}
Line {
ZOrder 290
SrcBlock "First-Order\nHold1"
SrcPort 1
Points [30, 0; 0, -30]
DstBlock "3D Graphical Simulation1"
DstPort 2
}
Line {
ZOrder 333
SrcBlock "Demux1"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
ZOrder 334
SrcBlock "Demux1"
SrcPort 2
DstBlock "Mux"
DstPort 2
}
Line {
ZOrder 335
SrcBlock "\n\n "
SrcPort 2
Points [195, 0; 0, -345]
DstBlock "Mux"
DstPort 3
}
Line {
ZOrder 336
SrcBlock "Mux"
SrcPort 1
Points [21, 0]
Branch {
ZOrder 339
Points [0, 150]
DstBlock "First-Order\nHold"
DstPort 1
}
Branch {
ZOrder 338
DstBlock "euler_angles_filtered"
DstPort 1
}
}
Line {
ZOrder 306
SrcBlock "\n\n "
SrcPort 1
Points [70, 0]
Branch {
ZOrder 341
Points [0, -80]
DstBlock "First-Order\nHold1"
DstPort 1
}
Branch {
ZOrder 340
DstBlock "current_position"
DstPort 1
}
}
}
}
Block {
BlockType SubSystem
Name " \n"
SID "583"
Ports [4, 4]
Position [895, 478, 1075, 712]
ZOrder 65
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
$ObjectID 42
$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, 'Rotor 1 Duty Cycle', 'texmode', 'on');\nport_label('output', 2, 'Rotor 2 Duty C"
"ycle', 'texmode', 'on');\nport_label('output', 3, 'Rotor 3 Duty Cycle', 'texmode', 'on');\nport_label('output', 4, 'R"
"otor 4 Duty Cycle', 'texmode', 'on');\ndisp('Control System', 'texmode', 'on');"
}
System {
Name " \n"
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 "125"
Block {
BlockType Inport
Name "setpoints"
SID "585"
Position [110, 348, 140, 362]
ZOrder 2
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "euler_angles_filtered"
SID "591"
Position [110, 403, 140, 417]
ZOrder 9
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "euler_rates"
SID "592"
Position [110, 448, 140, 462]
ZOrder 11
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "current_position"
SID "584"
Position [110, 493, 140, 507]
ZOrder -1
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Rotor 0 Duty Cycle"
SID "597"
Position [480, 348, 510, 362]
ZOrder -2
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Rotor 1 Duty Cycle"
SID "598"
Position [480, 403, 510, 417]
ZOrder 6
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Rotor 2 Duty Cycle"
SID "599"
Position [480, 448, 510, 462]
ZOrder 7
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Rotor 3 Duty Cycle"
SID "600"
Position [480, 493, 510, 507]
ZOrder 8
Port "4"
IconDisplay "Port number"
}
}
}
Block {
BlockType SubSystem
Name "Communication System"
SID "574"
Ports [0, 1]
Position [760, 482, 815, 528]
ZOrder 66
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
$ObjectID 43
$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 "300"
Block {
BlockType Step
Name "Step"
SID "929"
Position [925, 390, 955, 420]
ZOrder 32
Before "zeros(4,1)"
After "[0; 0; 0; 0]"
SampleTime "0"
}
Block {
BlockType Outport
Name "setpoints"
SID "577"
Position [1050, 398, 1080, 412]
ZOrder 6
IconDisplay "Port number"
}
Line {
ZOrder 8
SrcBlock "Step"
SrcPort 1
DstBlock "setpoints"
DstPort 1
}
}
}
Line {
ZOrder 172
SrcBlock " \n"
SrcPort 1
DstBlock "\n\n\n\n\n\n"
DstPort 1
}
Line {
ZOrder 260
SrcBlock " "
SrcPort 2
Points [23, 0; 0, 147; -843, 0; 0, -117]
DstBlock " \n"
DstPort 3
}
Line {
ZOrder 233
SrcBlock " "
SrcPort 1
Points [40, 0; 0, 246; -885, 0; 0, -196]
DstBlock " \n"
DstPort 2
}
Line {
ZOrder 180
SrcBlock "Communication System"
SrcPort 1
DstBlock " \n"
DstPort 1
}
Line {
ZOrder 186
SrcBlock " \n"
SrcPort 2
DstBlock "\n\n\n\n\n\n"
DstPort 2
}
Line {
ZOrder 187
SrcBlock " \n"
SrcPort 3
DstBlock "\n\n\n\n\n\n"
DstPort 3
}
Line {
ZOrder 188
SrcBlock " \n"
SrcPort 4
DstBlock "\n\n\n\n\n\n"
DstPort 4
}
Line {
ZOrder 227
SrcBlock "\n\n\n\n\n\n"
SrcPort 1
DstBlock " "
DstPort 1
}
Line {
ZOrder 229
SrcBlock "\n\n\n\n\n\n"
SrcPort 2
DstBlock " "
DstPort 2
}
Line {
ZOrder 230
SrcBlock "\n\n\n\n\n\n"
SrcPort 3
DstBlock " "
DstPort 3
}
Line {
ZOrder 228
SrcBlock "\n\n\n\n\n\n"
SrcPort 4
DstBlock " "
DstPort 4
}
Line {
ZOrder 231
SrcBlock "\n\n\n\n\n\n"
SrcPort 5
DstBlock " "
DstPort 5
}
Line {
ZOrder 232
SrcBlock "\n\n\n\n\n\n"
SrcPort 6
DstBlock " "
DstPort 6
}
Line {
ZOrder 261
SrcBlock " "
SrcPort 3
Points [9, 0; 0, 51; -804, 0; 0, -41]
DstBlock " \n"
DstPort 4
}
}
}
#Finite State Machines
#
# Stateflow 80000010
#
#
Stateflow {
machine {
id 1
name "Quadcopter_Model_R2015_A"
created "27-Oct-2016 22:17:19"
isLibrary 0
sfVersion 80000006
firstTarget 139
}
chart {
id 2
machine 1
name "\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 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 "\n\n\n\n\n\n/\n\n\n\n"
chart 2
}
chart {
id 10
machine 1
name "\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 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 "\n\n\n\n\n\n/\n\n\n\n\n\n\n"
chart 10
}
chart {
id 18
machine 1
name " /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 " /3D Graphical Simulation1/MATLAB Function"
chart 18
}
chart {
id 25
machine 1
name "\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 26 0 0]
viewObj 25
ssIdHighWaterMark 18
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 4
disableImplicitCasting 1
eml {
name "ESC"
}
firstData 27
firstTransition 36
firstJunction 35
}
state {
id 26
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 25
treeNode [25 0 0 0]
superState SUBCHART
subviewer 25
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function Vb_eff = ESC(rotor_0_duty_cycle, rotor_1_duty_cycle, rotor_2_duty_cycle, rotor_3_duty_"
"cycle, Pmin, Pmax, Vb)\n\n% Define u_Pi for each of the rotors\nu_P0 = (rotor_0_duty_cycle/100 - Pmin) / (Pmax -"
" Pmin);\nu_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\nu_P2 = (rotor_2_duty_cycle/100 - Pmin) / (Pmax"
" - Pmin);\nu_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin);\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 "rotor_0_duty_cycle"
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"
}
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 6
name "rotor_1_duty_cycle"
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 [25 28 30]
}
data {
id 30
ssIdNumber 7
name "rotor_2_duty_cycle"
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 [25 29 31]
}
data {
id 31
ssIdNumber 8
name "rotor_3_duty_cycle"
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 [25 30 32]
}
data {
id 32
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 31 33]
}
data {
id 33
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 32 34]
}
data {
id 34
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 33 0]
}
junction {
id 35
position [23.5747 49.5747 7]
chart 25
subviewer 25
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [25 0 0]
}
transition {
id 36
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 35
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 37
machine 1
name "\n\n\n\n\n\n/\n\n"
chart 25
}
chart {
id 38
machine 1
name "\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 39 0 0]
viewObj 38
ssIdHighWaterMark 14
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 5
disableImplicitCasting 1
eml {
name "motor"
}
firstData 40
firstTransition 50
firstJunction 49
}
state {
id 39
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 38
treeNode [38 0 0 0]
superState SUBCHART
subviewer 38
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function angular_acceleration = motor(Vb_eff, angular_velocity, Rm, Kv, Kq, Kd, If, Jreq)\n\n% D"
"efine each motors effective battery 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% Determine the angular velocity of each rotor from feedback\nw_0 = angular_velocity("
"1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% Determine angular a"
"cceleration 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/Jreq) * w_2^2;\nw_3_do"
"t = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_3^2;\n\nangular_acceler"
"ation = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 40
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 [38 0 41]
}
data {
id 41
ssIdNumber 8
name "angular_velocity"
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 [38 40 42]
}
data {
id 42
ssIdNumber 7
name "angular_acceleration"
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 [38 41 43]
}
data {
id 43
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 [38 42 44]
}
data {
id 44
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 [38 43 45]
}
data {
id 45
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 [38 44 46]
}
data {
id 46
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 [38 45 47]
}
data {
id 47
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 [38 46 48]
}
data {
id 48
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 [38 47 0]
}
junction {
id 49
position [23.5747 49.5747 7]
chart 38
subviewer 38
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [38 0 0]
}
transition {
id 50
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 49
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 38
dataLimits [21.175 25.975 14.625 42.575]
subviewer 38
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [38 0 0]
}
instance {
id 51
machine 1
name "\n\n\n\n\n\n/\n"
chart 38
}
chart {
id 52
machine 1
name "\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 53 0 0]
viewObj 52
ssIdHighWaterMark 30
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 6
disableImplicitCasting 1
eml {
name "rotor"
}
firstData 54
firstTransition 72
firstJunction 71
}
state {
id 53
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 52
treeNode [52 0 0 0]
superState SUBCHART
subviewer 52
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
"vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\nB_vo_dot = zeros(3,1);\nB_omega_dot = zeros(3,1);\n\n% Cre"
"ate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\nr"
"h_0 = [-rhx; rhy; rhz];\nrh_1 = [rhx; rhy; rhz];\nrh_2 = [-rhx; -rhy; rhz];\nrh_3 = [rhx; -rhy; rhz];\n\n% Defin"
"e vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = eye(3"
");\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use this gam"
"ma_omega vector\ngamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\n\n% Define angular vel"
"ocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 "
"= angular_velocity(4);\n\n% Define angular acceleration for each rotor\nw_0_dot = angular_acceleration(1);\nw_1_"
"dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw_3_dot = angular_acceleration(4);\n\n% Defi"
"ne the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * "
"w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor "
"forces in the z-direction from each vector to get the\n% total body force in the z-direction\nB_Fr = B_Fr_0 + B_"
"Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by each rotor\n B_Q_d0 = -1 * "
"Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * 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 total in-plane drag and indu"
"ced 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-directi"
"on\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 change in angular momentum t"
"orque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_03) + w_0_dot * gamma_ome"
"ga_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 tor"
"que produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the total rotor system torque"
" as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and change in angular momentum\n"
"% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction from each vector to get t"
"he\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body frame linear velocities\nB_v"
"o_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% Define the body frame an"
"gular 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 54
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 [52 0 55]
}
data {
id 55
ssIdNumber 10
name "angular_acceleration"
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 [52 54 56]
}
data {
id 56
ssIdNumber 11
name "angular_velocity"
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 [52 55 57]
}
data {
id 57
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 [52 56 58]
}
data {
id 58
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 [52 57 59]
}
data {
id 59
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 [52 58 60]
}
data {
id 60
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 [52 59 61]
}
data {
id 61
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 [52 60 62]
}
data {
id 62
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 [52 61 63]
}
data {
id 63
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 [52 62 64]
}
data {
id 64
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 [52 63 65]
}
data {
id 65
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 [52 64 66]
}
data {
id 66
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 [52 65 67]
}
data {
id 67
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 [52 66 68]
}
data {
id 68
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 [52 67 69]
}
data {
id 69
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 [52 68 70]
}
data {
id 70
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 [52 69 0]
}
junction {
id 71
position [23.5747 49.5747 7]
chart 52
subviewer 52
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [52 0 0]
}
transition {
id 72
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 71
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 52
dataLimits [21.175 25.975 14.625 42.575]
subviewer 52
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [52 0 0]
}
instance {
id 73
machine 1
name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n"
chart 52
}
chart {
id 74
machine 1
name "\n\n\n\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 75 0 0]
viewObj 74
ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 7
disableImplicitCasting 1
eml {
name "angular_body_earth_conversion"
}
firstData 76
firstTransition 80
firstJunction 79
}
state {
id 75
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 74
treeNode [74 0 0 0]
superState SUBCHART
subviewer 74
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\neuler_rates = zero"
"s(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta"
"); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(th"
"eta)];\n\n \neuler_rates = Aeb * B_omega;\n "
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 76
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 [74 0 77]
}
data {
id 77
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 [74 76 78]
}
data {
id 78
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 [74 77 0]
}
junction {
id 79
position [23.5747 49.5747 7]
chart 74
subviewer 74
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [74 0 0]
}
transition {
id 80
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 79
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 74
dataLimits [21.175 25.975 14.625 42.575]
subviewer 74
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [74 0 0]
}
instance {
id 81
machine 1
name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
chart 74
}
chart {
id 82
machine 1
name "\n\n\n\n\n\n/\n\n\n\n\n\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 83 0 0]
viewObj 82
ssIdHighWaterMark 13
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 8
disableImplicitCasting 1
eml {
name "linear_earth_body_conversion"
}
firstData 84
firstTransition 90
firstJunction 89
}
state {
id 83
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 82
treeNode [82 0 0 0]
superState SUBCHART
subviewer 82
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 84
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 [82 0 85]
}
data {
id 85
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 [82 84 86]
}
data {
id 86
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 [82 85 87]
}
data {
id 87
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 [82 86 88]
}
data {
id 88
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 [82 87 0]
}
junction {
id 89
position [23.5747 49.5747 7]
chart 82
subviewer 82
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [82 0 0]
}
transition {
id 90
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 89
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 82
dataLimits [21.175 25.975 14.625 42.575]
subviewer 82
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [82 0 0]
}
instance {
id 91
machine 1
name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
chart 82
}
chart {
id 92
machine 1
name " /\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 93 0 0]
viewObj 92
ssIdHighWaterMark 14
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 9
disableImplicitCasting 1
eml {
name "complimentaryFilter"
}
firstData 94
firstTransition 100
firstJunction 99
}
state {
id 93
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 92
treeNode [92 0 0 0]
superState SUBCHART
subviewer 92
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, prev"
"_euler_angles_IMU)\n\nLOOP_TIME = 6.1*10^-3;\n\nprev_phi = prev_euler_angles_IMU(1);\nprev_theta = prev_euler_an"
"gles_IMU(2);\n\nphi_dot_gyro = euler_angles_gyro(1);\ntheta_dot_gyro = euler_angles_gyro(2);\n\nphi = 0.98 * (pr"
"ev_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\ntheta = 0.98 * (prev_theta + theta_dot_gyro * LOOP_TIM"
"E) + 0.02 * accel_pitch;\n\neuler_angles_IMU = [phi; theta];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 94
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 [92 0 95]
}
data {
id 95
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 [92 94 96]
}
data {
id 96
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 [92 95 97]
}
data {
id 97
ssIdNumber 6
name "euler_angles_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 [92 96 98]
}
data {
id 98
ssIdNumber 12
name "prev_euler_angles_IMU"
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 [92 97 0]
}
junction {
id 99
position [23.5747 49.5747 7]
chart 92
subviewer 92
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [92 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 92
dataLimits [21.175 25.975 14.625 42.575]
subviewer 92
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [92 0 0]
}
instance {
id 101
machine 1
name " /\n\n\n\n\n\n\n\n"
chart 92
}
chart {
id 102
machine 1
name " /\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 [0 103 0 0]
viewObj 102
ssIdHighWaterMark 15
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 10
disableImplicitCasting 1
eml {
name "idealIMU"
}
firstData 104
firstTransition 113
firstJunction 112
}
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 [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
"\na = B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccelReading = (a - B_g)/g ; % acceleromete"
"r reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 104
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 [102 0 105]
}
data {
id 105
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 [102 104 106]
}
data {
id 106
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 [102 105 107]
}
data {
id 107
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 [102 106 108]
}
data {
id 108
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 [102 107 109]
}
data {
id 109
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 [102 108 110]
}
data {
id 110
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 [102 109 111]
}
data {
id 111
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 [102 110 0]
}
junction {
id 112
position [23.5747 49.5747 7]
chart 102
subviewer 102
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [102 0 0]
}
transition {
id 113
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 112
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 114
machine 1
name " /\n\n\n\n\n\n\n\n\n\n/\n\n\n\n\n\n\n"
chart 102
}
chart {
id 115
machine 1
name " /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 [0 116 0 0]
viewObj 115
ssIdHighWaterMark 5
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 11
disableImplicitCasting 1
eml {
name "eigenaxis_ucart"
}
firstData 117
firstTransition 120
firstJunction 119
}
state {
id 116
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 115
treeNode [115 0 0 0]
superState SUBCHART
subviewer 115
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 117
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 [115 0 118]
}
data {
id 118
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 [115 117 0]
}
junction {
id 119
position [23.5747 49.5747 7]
chart 115
subviewer 115
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [115 0 0]
}
transition {
id 120
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 119
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 115
dataLimits [21.175 25.975 14.625 42.575]
subviewer 115
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [115 0 0]
}
instance {
id 121
machine 1
name " /3D Graphical Simulation/MATLAB Function"
chart 115
}
chart {
id 122
machine 1
name " /\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 [0 123 0 0]
viewObj 122
ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 12
disableImplicitCasting 1
eml {
name "angular_body_earth_conversion"
}
firstData 124
firstTransition 128
firstJunction 127
}
state {
id 123
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 122
treeNode [122 0 0 0]
superState SUBCHART
subviewer 122
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_IMU)\n\nphi ="
" euler_angles_IMU(1);\ntheta = euler_angles_IMU(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n"
" 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n"
"\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 124
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 [122 0 125]
}
data {
id 125
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 [122 124 126]
}
data {
id 126
ssIdNumber 6
name "euler_angles_IMU"
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 [122 125 0]
}
junction {
id 127
position [23.5747 49.5747 7]
chart 122
subviewer 122
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [122 0 0]
}
transition {
id 128
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 127
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 122
dataLimits [21.175 25.975 14.625 42.575]
subviewer 122
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [122 0 0]
}
instance {
id 129
machine 1
name " /\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
chart 122
}
chart {
id 130
machine 1
name " /\n\n\n\n\n\n\n\n\n\n\n\n1"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 131 0 0]
viewObj 130
ssIdHighWaterMark 10
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 13
disableImplicitCasting 1
eml {
name "getPitchAndRoll"
}
firstData 132
firstTransition 137
firstJunction 136
}
state {
id 131
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
chart 130
treeNode [130 0 0 0]
superState SUBCHART
subviewer 130
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
"m(accel_reading);\n\nx_accel = accel_reading(1)/mag;\ny_accel = accel_reading(2)/mag;\nz_accel = accel_reading(3"
")/mag;\n\naccel_pitch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n%unwrapped_pitch = unwrap([accel_pitch_prev "
"accel_pitch]);\n%accel_pitch = unwrapped_pitch(2);\n\naccel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
"2 + (1/100)*x_accel^2)) );\nunwrapped_roll = unwrap([accel_roll_prev accel_roll]);\naccel_roll = unwrapped_roll("
"2); \n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
id 132
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 [130 0 133]
}
data {
id 133
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 [130 132 134]
}
data {
id 134
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 [130 133 135]
}
data {
id 135
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 [130 134 0]
}
junction {
id 136
position [23.5747 49.5747 7]
chart 130
subviewer 130
ssIdNumber 3
type CONNECTIVE_JUNCTION
linkNode [130 0 0]
}
transition {
id 137
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 136
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
chart 130
dataLimits [21.175 25.975 14.625 42.575]
subviewer 130
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
linkNode [130 0 0]
}
instance {
id 138
machine 1
name " /\n\n\n\n\n\n\n\n\n\n\n\n1"
chart 130
}
target {
id 139
machine 1
name "sfun"
description "Default Simulink S-Function Target."
linkNode [1 0 0]
}
}