Model { Name "Aerosonde_FinalEE392m" Version 6.1 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.563" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ibm-5348_P100-1997" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Mon Jul 01 17:09:14 2002" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "dgorinev" ModifiedDateFormat "%" LastModifiedDate "Fri May 13 18:55:41 2005" ModelVersionFormat "1.%" ConfigurationManager "none" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on StrictBusMsg "None" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.0.4" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.0.4" StartTime "0.0" StopTime "300" AbsTol "auto" FixedStep "0.05" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" RelTol "1e-3" SolverMode "Auto" Solver "ode4" SolverName "ode4" ZeroCrossControl "UseLocalSettings" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.0.4" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput off SaveState off SignalLogging on SaveTime off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.0.4" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on ConditionalExecOptimization "on_for_testing" InlineParams off InlineInvariantSignals on OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off OptimizeModelRefInitCode off LifeSpan "inf" } Simulink.DebuggingCC { $ObjectID 5 Version "1.0.4" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "none" UnconnectedOutputMsg "none" UnconnectedLineMsg "none" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.0.4" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.0.4" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Version "1.0.4" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Version "1.0.4" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Version "1.0.4" TargetFcnLib "ansi_tfl_tmw.mat" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant off IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Abs SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType DataTypeConversion OutDataTypeMode "Inherit via back propagation" OutDataType "sfix(16)" OutScaling "2^0" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Derivative LinearizePole "inf" } Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Inport BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on } Block { BlockType Logic Operator "AND" Inputs "2" AllPortsSameDT on OutDataTypeMode "Logical (see Configuration Parameters: Optimiza" "tion)" LogicDataType "uint(8)" SampleTime "-1" } Block { BlockType Lookup InputValues "[-4:5]" OutputValues " rand(1,10)-0.5" LookUpMeth "Interpolation-Extrapolation" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" LUTDesignTableMode "Redesign Table" LUTDesignDataSource "Block Dialog" LUTDesignFunctionName "sqrt(x)" LUTDesignUseExistingBP on LUTDesignRelError "0.01" LUTDesignAbsError "1e-6" } Block { BlockType Lookup2D RowIndex "[0 1]" ColumnIndex "[0 1]" OutputValues "[0 0;0 0]" LookUpMeth "Interpolation-Extrapolation" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" LUTDesignTableMode "Redesign Table" LUTDesignDataSource "Block Dialog" LUTDesignFunctionName "sqrt(x)" LUTDesignUseExistingBP on LUTDesignRelError "0.01" LUTDesignAbsError "1e-6" } Block { BlockType Math Operator "exp" OutputSignalType "auto" SampleTime "-1" OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Mux Inputs "4" DisplayOption "none" BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType RandomNumber Mean "0" Variance "1" Seed "0" SampleTime "-1" VectorParams1D on } Block { BlockType RelationalOperator Operator ">=" InputSameDT on LogicOutDataTypeMode "Logical (see Configuration Parameters: Optimiza" "tion)" LogicDataType "uint(8)" ZeroCross on SampleTime "-1" } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" } Block { BlockType Scope Floating off ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Selector InputType "Vector" IndexMode "One-based" ElementSrc "Internal" Elements "1" RowSrc "Internal" Rows "1" ColumnSrc "Internal" Columns "1" InputPortWidth "-1" IndexIsStartValue off OutputPortSize "1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType Signum ZeroCross on SampleTime "-1" } Block { BlockType Stop } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutDataTypeMode "Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType ZeroOrderHold SampleTime "1" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "Aerosonde_FinalEE392m" Location [204, 154, 1222, 924] Open on ModelBrowserVisibility off ModelBrowserWidth 282 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Display Name "AOA" Ports [1] Position [590, 166, 675, 194] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Reference Name "Aerosonde UAV\n(Geodetic-frame EOM)" Ports [3, 15] Position [230, 57, 345, 353] BackgroundColor "lightBlue" DropShadow on SourceBlock "aerosimlib/Complete Aircraft/6-DOF Aircraft Mod" "el\n(Geodetic-frame EOM)" SourceType "6-DOF Aircraft Model" ShowPortLabels on aircraftcfg "'aerosondecfg.mat'" PositionIni "[0 0 900]'" VelocitiesIni "[22 0 0]'" QuaternionsIni "[1.02 0.03 0 0]'" RatesIni "[0 0 0]'" FuelIni "2" OmegaIni "370" GndAlt "20" wmmfile "'C:\\Program Files\\AeroSim\\wmm.cof'" dmy "[05 10 2005]" tsamp "0.05" } Block { BlockType Display Name "Aircraft states" Ports [1] Position [805, 50, 890, 340] Orientation "left" BackgroundColor "cyan" DropShadow on Decimation "1" } Block { BlockType Display Name "Airspeed" Ports [1] Position [590, 76, 675, 104] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Scope Name "Airspeed1" Ports [1] Position [495, 90, 525, 120] BackgroundColor "orange" DropShadow on Location [705, 746, 1068, 969] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "10" YMax "40" SaveName "ScopeData13" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Scope Name "Altitude" Ports [1] Position [820, 415, 850, 445] Orientation "left" BackgroundColor "orange" DropShadow on Location [986, 276, 1349, 499] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "860" YMax "900" SaveName "ScopeData8" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Constant Name "Altitude Setpoint" Position [275, 585, 320, 605] Orientation "left" BackgroundColor "magenta" DropShadow on Value "900" } Block { BlockType SubSystem Name "Autopilot" Ports [5, 3] Position [100, 461, 240, 729] Orientation "left" BackgroundColor "orange" DropShadow on FontName "Arial" FontWeight "bold" TreatAsAtomicUnit on MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Autopilot" Location [104, 92, 705, 988] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Pitch \nAngle (deg)" Position [495, 158, 525, 172] Orientation "left" Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Altitude (m)" Position [490, 328, 520, 342] Orientation "left" Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Altitude\nSetpoint" Position [490, 373, 520, 387] Orientation "left" Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Yaw Rate (Rad/s)" Position [500, 678, 530, 692] Orientation "left" Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Yaw Rate\nCommand\n(rad/s)" Position [505, 618, 535, 632] Orientation "left" Port "5" IconDisplay "Port number" LatchInput off } Block { BlockType Constant Name "2" Position [440, 78, 455, 102] Orientation "left" ShowName off Value "0" } Block { BlockType Constant Name "3" Position [380, 628, 395, 652] Orientation "left" ShowName off Value "0" } Block { BlockType Abs Name "Abs2" Position [190, 59, 210, 81] ShowName off SaturateOnIntegerOverflow off } Block { BlockType Abs Name "Abs3" Position [75, 635, 100, 655] Orientation "left" ShowName off SaturateOnIntegerOverflow off } Block { BlockType Abs Name "Abs6" Position [75, 660, 100, 680] Orientation "left" ShowName off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Anti-windup\nSwitch2" Position [385, 81, 420, 139] Orientation "left" Criteria "u2 > Threshold" Threshold "0.00000001" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Anti-windup\nSwitch3" Position [330, 631, 365, 689] Orientation "left" Criteria "u2 > Threshold" Threshold "0.00000001" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Constant Name "Pitch Angle Setpoint (deg)" Position [280, 325, 325, 345] Orientation "left" BackgroundColor "magenta" DropShadow on Value "3" } Block { BlockType Derivative Name "Pitch error\nDerivative" Position [330, 205, 360, 235] Orientation "left" BackgroundColor "green" DropShadow on LinearizePole "1" } Block { BlockType Integrator Name "Pitch error\nIntegrator" Ports [1, 1] Position [330, 95, 360, 125] Orientation "left" BackgroundColor "green" DropShadow on IgnoreLimit off } Block { BlockType Gain Name "Pitch to Elevator P" Position [275, 150, 305, 180] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "0.25" } Block { BlockType Gain Name "Pitch-to-Elevator D" Position [255, 205, 285, 235] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "0.01" } Block { BlockType Gain Name "Pitch-to-Elevator I" Position [260, 95, 290, 125] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "0.025" } Block { BlockType Gain Name "Rad/deg" Position [425, 560, 455, 590] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "pi/180" } Block { BlockType Saturate Name "Saturation2" Position [120, 150, 150, 180] Orientation "left" UpperLimit "1" LowerLimit "-1" } Block { BlockType Saturate Name "Saturation3" Position [100, 725, 130, 755] Orientation "left" UpperLimit "2" LowerLimit "-2" } Block { BlockType Saturate Name "Saturation4" Position [100, 560, 130, 590] Orientation "left" UpperLimit "2" LowerLimit "-2" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [160, 730, 180, 750] Orientation "left" BackgroundColor "green" DropShadow on ShowName off IconShape "round" Inputs "++|" } Block { BlockType Sum Name "Sum10" Ports [2, 1] Position [445, 325, 465, 345] Orientation "left" BackgroundColor "green" DropShadow on ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum11" Ports [2, 1] Position [120, 110, 140, 130] Orientation "up" BackgroundColor "green" DropShadow on NamePlacement "alternate" ShowName off IconShape "round" Inputs "+|-" } Block { BlockType Sum Name "Sum12" Ports [2, 1] Position [160, 565, 180, 585] Orientation "left" BackgroundColor "green" DropShadow on ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum13" Ports [2, 1] Position [110, 605, 130, 625] Orientation "down" BackgroundColor "green" DropShadow on NamePlacement "alternate" ShowName off IconShape "round" Inputs "+|-" } Block { BlockType Sum Name "Sum15" Ports [2, 1] Position [105, 700, 125, 720] Orientation "up" BackgroundColor "green" DropShadow on NamePlacement "alternate" ShowName off IconShape "round" Inputs "+|-" } Block { BlockType Sum Name "Sum16" Ports [2, 1] Position [40, 635, 60, 655] Orientation "left" BackgroundColor "green" DropShadow on ShowName off IconShape "round" Inputs "|++" } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [460, 615, 480, 635] Orientation "up" BackgroundColor "green" DropShadow on NamePlacement "alternate" ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum6" Ports [2, 1] Position [455, 155, 475, 175] Orientation "left" BackgroundColor "green" DropShadow on ShowName off IconShape "round" Inputs "|+-" } Block { BlockType Sum Name "Sum8" Ports [3, 1] Position [190, 140, 215, 190] Orientation "left" BackgroundColor "green" DropShadow on ShowName off Inputs "+++" } Block { BlockType Terminator Name "Terminator" Position [295, 445, 315, 465] Orientation "left" } Block { BlockType Integrator Name "Yaw\nIntegrator" Ports [1, 1] Position [270, 645, 300, 675] Orientation "left" BackgroundColor "green" DropShadow on IgnoreLimit off } Block { BlockType Gain Name "YawRate-to-Aileron I" Position [185, 675, 215, 705] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "1.1307" } Block { BlockType Gain Name "YawRate-to-Aileron P" Position [255, 725, 285, 755] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "0.15" } Block { BlockType Gain Name "YawRate-to-Rudder I" Position [190, 605, 220, 635] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "0.0089" } Block { BlockType Gain Name "YawRate-to-Rudder P" Position [265, 560, 295, 590] Orientation "left" BackgroundColor "yellow" DropShadow on Gain "45" } Block { BlockType Outport Name "Rudder" Position [40, 568, 70, 582] Orientation "left" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "Ailerons" Position [40, 733, 70, 747] Orientation "left" Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "Elevator" Position [50, 158, 80, 172] Orientation "left" Port "3" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Rad/deg" SrcPort 1 Points [0, 0] Branch { DstBlock "YawRate-to-Rudder P" DstPort 1 } Branch { Points [0, 100; 0, 5] Branch { Points [0, -5; 0, 65] DstBlock "YawRate-to-Aileron P" DstPort 1 } Branch { DstBlock "Anti-windup\nSwitch3" DstPort 3 } } } Line { SrcBlock "Yaw Rate (Rad/s)" SrcPort 1 Points [-25, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum6" SrcPort 1 Points [0, 0; -10, 0] Branch { Points [-45, 0; -5, 0] Branch { Points [-5, 0] DstBlock "Pitch to Elevator P" DstPort 1 } Branch { Points [-5, 0; 0, 55] DstBlock "Pitch error\nDerivative" DstPort 1 } } Branch { Points [0, -35] DstBlock "Anti-windup\nSwitch2" DstPort 3 } } Line { SrcBlock "Pitch error\nIntegrator" SrcPort 1 DstBlock "Pitch-to-Elevator I" DstPort 1 } Line { SrcBlock "Pitch \nAngle (deg)" SrcPort 1 DstBlock "Sum6" DstPort 1 } Line { SrcBlock "Pitch-to-Elevator D" SrcPort 1 Points [-20, 0] DstBlock "Sum8" DstPort 3 } Line { SrcBlock "Pitch error\nDerivative" SrcPort 1 DstBlock "Pitch-to-Elevator D" DstPort 1 } Line { SrcBlock "Altitude\nSetpoint" SrcPort 1 Points [-30, 0] DstBlock "Sum10" DstPort 2 } Line { SrcBlock "Altitude (m)" SrcPort 1 DstBlock "Sum10" DstPort 1 } Line { SrcBlock "YawRate-to-Aileron I" SrcPort 1 Points [-10, 0] DstBlock "Sum" DstPort 1 } Line { SrcBlock "YawRate-to-Aileron P" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { SrcBlock "Pitch to Elevator P" SrcPort 1 DstBlock "Sum8" DstPort 2 } Line { SrcBlock "Pitch-to-Elevator I" SrcPort 1 Points [-25, 0] DstBlock "Sum8" DstPort 1 } Line { SrcBlock "2" SrcPort 1 DstBlock "Anti-windup\nSwitch2" DstPort 1 } Line { SrcBlock "Saturation2" SrcPort 1 Points [-5, 0; -5, 0] Branch { DstBlock "Sum11" DstPort 1 } Branch { DstBlock "Elevator" DstPort 1 } } Line { SrcBlock "Sum8" SrcPort 1 Points [0, 0; -15, 0] Branch { DstBlock "Saturation2" DstPort 1 } Branch { Points [0, -45] DstBlock "Sum11" DstPort 2 } } Line { SrcBlock "Sum11" SrcPort 1 Points [0, -35] DstBlock "Abs2" DstPort 1 } Line { SrcBlock "Abs2" SrcPort 1 Points [255, 0; 0, 40] DstBlock "Anti-windup\nSwitch2" DstPort 2 } Line { SrcBlock "Anti-windup\nSwitch2" SrcPort 1 DstBlock "Pitch error\nIntegrator" DstPort 1 } Line { SrcBlock "YawRate-to-Rudder I" SrcPort 1 Points [-15, 0] DstBlock "Sum12" DstPort 2 } Line { SrcBlock "YawRate-to-Rudder P" SrcPort 1 DstBlock "Sum12" DstPort 1 } Line { SrcBlock "3" SrcPort 1 DstBlock "Anti-windup\nSwitch3" DstPort 1 } Line { SrcBlock "Anti-windup\nSwitch3" SrcPort 1 DstBlock "Yaw\nIntegrator" DstPort 1 } Line { SrcBlock "Saturation3" SrcPort 1 Points [0, 0; -10, 0] Branch { DstBlock "Ailerons" DstPort 1 } Branch { Points [0, -30] DstBlock "Sum15" DstPort 1 } } Line { SrcBlock "Sum12" SrcPort 1 Points [0, 0; -10, 0] Branch { DstBlock "Saturation4" DstPort 1 } Branch { DstBlock "Sum13" DstPort 2 } } Line { SrcBlock "Saturation4" SrcPort 1 Points [0, 0; -10, 0] Branch { Points [0, 40] DstBlock "Sum13" DstPort 1 } Branch { DstBlock "Rudder" DstPort 1 } } Line { SrcBlock "Yaw Rate\nCommand\n(rad/s)" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Rad/deg" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [0, 0; -5, 0] Branch { DstBlock "Saturation3" DstPort 1 } Branch { Points [0, -30] DstBlock "Sum15" DstPort 2 } } Line { SrcBlock "Yaw\nIntegrator" SrcPort 1 Points [0, 0; -5, 0] Branch { Points [0, -40] DstBlock "YawRate-to-Rudder I" DstPort 1 } Branch { Points [0, 30] DstBlock "YawRate-to-Aileron I" DstPort 1 } } Line { SrcBlock "Sum13" SrcPort 1 Points [0, 15] DstBlock "Abs3" DstPort 1 } Line { SrcBlock "Sum15" SrcPort 1 DstBlock "Abs6" DstPort 1 } Line { SrcBlock "Abs3" SrcPort 1 DstBlock "Sum16" DstPort 1 } Line { SrcBlock "Abs6" SrcPort 1 DstBlock "Sum16" DstPort 2 } Line { SrcBlock "Sum16" SrcPort 1 Points [-5, 0; 0, -95; 380, 0; 0, 110] DstBlock "Anti-windup\nSwitch3" DstPort 2 } Line { SrcBlock "Pitch Angle Setpoint (deg)" SrcPort 1 Points [-50, 0; 0, -55; 240, 0] DstBlock "Sum6" DstPort 2 } Line { SrcBlock "Sum10" SrcPort 1 Points [-20, 0; 0, 120] DstBlock "Terminator" DstPort 1 } Annotation { Name "Yaw Rate PI control" Position [299, 535] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "Pitch to Elevator PID control" Position [329, 55] FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "Altitude Hold control goes here " " " "\n\n\n\n\n \n\n" "\n\n\n\n\n\n" Position [259, 400] BackgroundColor "yellow" FontName "Arial" FontSize 12 FontWeight "bold" } Annotation { Name "Pitch \nCommand" Position [498, 221] } Annotation { Name "Aerosonde UAV - Demo for EE392m-2005\nAutop" "ilot - Designed by DG" Position [484, 28] } } } Block { BlockType Scope Name "Bank" Ports [1] Position [495, 225, 525, 255] BackgroundColor "orange" DropShadow on Location [239, 754, 627, 989] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-60" YMax "20" SaveName "ScopeData7" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Display Name "Bank angle" Ports [1] Position [590, 211, 675, 239] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Demux Name "Demux" Ports [1, 3] Position [365, 91, 370, 159] BackgroundColor "black" ShowName off Outputs "3" } Block { BlockType Demux Name "Demux1" Ports [1, 3] Position [440, 201, 445, 339] BackgroundColor "black" ShowName off Outputs "3" } Block { BlockType Demux Name "Demux2" Ports [1, 15] Position [970, 381, 975, 719] Orientation "left" BackgroundColor "black" ShowName off Outputs "15" DisplayOption "bar" } Block { BlockType Scope Name "E pos (m)" Ports [1] Position [765, 395, 795, 425] Orientation "left" BackgroundColor "orange" DropShadow on Location [124, 96, 516, 320] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-500" YMax "1500" SaveName "ScopeData1" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Scope Name "Engine Speed" Ports [1] Position [830, 675, 860, 705] Orientation "left" BackgroundColor "orange" DropShadow on Location [686, 770, 1049, 993] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "519.5" YMax "521.75" SaveName "ScopeData14" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Constant Name "Flap" Position [80, 71, 120, 89] BackgroundColor "magenta" DropShadow on Value "0" } Block { BlockType Scope Name "Heading" Ports [1] Position [495, 315, 525, 345] BackgroundColor "orange" DropShadow on Location [245, 156, 635, 395] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "0" YMax "400" SaveName "ScopeData5" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Constant Name "Heading Cmd" Position [765, 561, 790, 579] Orientation "left" BackgroundColor "magenta" DropShadow on Value "0" } Block { BlockType Display Name "Heading angle" Ports [1] Position [590, 301, 675, 329] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Constant Name "Ignition" Position [75, 271, 115, 289] BackgroundColor "magenta" DropShadow on } Block { BlockType Scope Name "M-File Output" Ports [1] Position [375, 705, 405, 735] Orientation "left" BackgroundColor "orange" DropShadow on Location [275, 487, 706, 712] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-0.125" YMax "0.125" SaveName "ScopeData15" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType "S-Function" Name "M-file S-Function" Ports [1, 1] Position [430, 674, 535, 736] Orientation "left" BackgroundColor "red" FontName "Arial Narrow" FontSize 16 FontWeight "bold" FunctionName "GuideEE392m" } Block { BlockType Constant Name "Mixture" Position [75, 231, 115, 249] BackgroundColor "magenta" DropShadow on Value "13" } Block { BlockType Mux Name "Mux" Ports [7, 1] Position [175, 58, 180, 282] ShowName off Inputs "7" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [7, 1] Position [625, 457, 630, 643] Orientation "left" ShowName off Inputs "7" DisplayOption "bar" } Block { BlockType Scope Name "N pos (m)" Ports [1] Position [710, 375, 740, 405] Orientation "left" BackgroundColor "orange" DropShadow on Location [709, 181, 1098, 420] Open on NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "0" YMax "8000" SaveName "ScopeData2" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Scope Name "Pitch" Ports [1] Position [495, 270, 525, 300] BackgroundColor "orange" DropShadow on Location [39, 189, 428, 428] Open off NumInputPorts "1" ZoomMode "xonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMax "15" SaveName "ScopeData6" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Display Name "Pitch angle" Ports [1] Position [590, 256, 675, 284] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Scope Name "Pitch rate" Ports [1] Position [865, 580, 895, 610] Orientation "left" BackgroundColor "orange" DropShadow on Location [705, 746, 1068, 969] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-3" YMax "1" SaveName "ScopeData10" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [895, 371, 930, 404] Orientation "left" ShowName off } Block { BlockType Product Name "Product2" Ports [2, 1] Position [895, 406, 930, 439] Orientation "left" ShowName off } Block { BlockType Reference Name "Radians\nto Degrees" Ports [1, 1] Position [395, 255, 420, 285] BackgroundColor "green" DropShadow on ShowName off SourceBlock "simulink_extras/Transformations/Radians\nto Deg" "rees" SourceType "RadiansToDegrees" ShowPortLabels on } Block { BlockType Reference Name "Radians\nto Degrees1" Ports [1, 1] Position [395, 165, 420, 195] BackgroundColor "green" DropShadow on ShowName off SourceBlock "simulink_extras/Transformations/Radians\nto Deg" "rees" SourceType "RadiansToDegrees" ShowPortLabels on } Block { BlockType Reference Name "Radians\nto Degrees2" Ports [1, 1] Position [395, 120, 420, 150] BackgroundColor "green" DropShadow on ShowName off SourceBlock "simulink_extras/Transformations/Radians\nto Deg" "rees" SourceType "RadiansToDegrees" ShowPortLabels on } Block { BlockType Constant Name "Reset" Position [75, 371, 115, 389] BackgroundColor "magenta" DropShadow on Value "0" } Block { BlockType Scope Name "Roll rate" Ports [1] Position [825, 560, 855, 590] Orientation "left" BackgroundColor "orange" DropShadow on Location [654, 521, 1017, 744] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-40" YMax "40" SaveName "ScopeData11" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Saturate Name "Saturation" Position [330, 690, 360, 720] Orientation "left" UpperLimit "0.1" LowerLimit "-0.1" } Block { BlockType Display Name "Sideslip" Ports [1] Position [590, 121, 675, 149] BackgroundColor "yellow" DropShadow on Decimation "1" } Block { BlockType Stop Name "Stop Simulation\nwhen A/C on the ground" Position [385, 327, 420, 363] BackgroundColor "red" DropShadow on } Block { BlockType Constant Name "Throttle" Position [75, 191, 115, 209] BackgroundColor "magenta" DropShadow on Value "0.6" } Block { BlockType UnitDelay Name "Unit Delay" Position [275, 690, 305, 720] Orientation "left" SampleTime "-1" } Block { BlockType Scope Name "VD" Ports [1] Position [905, 530, 935, 560] Orientation "left" BackgroundColor "orange" DropShadow on Location [705, 746, 1068, 969] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-2" YMax "4" SaveName "ScopeData4" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Scope Name "VE" Ports [1] Position [865, 510, 895, 540] Orientation "left" BackgroundColor "orange" DropShadow on Location [586, 343, 949, 566] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-0.75" YMax "0.75" SaveName "ScopeData9" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Scope Name "VN" Ports [1] Position [825, 490, 855, 520] Orientation "left" BackgroundColor "orange" DropShadow on Location [15, 735, 378, 958] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-20" YMax "40" SaveName "ScopeData3" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType Constant Name "Winds" Position [75, 316, 130, 334] BackgroundColor "magenta" DropShadow on Value "[0 0 0]" } Block { BlockType Scope Name "Yaw rate" Ports [1] Position [905, 600, 935, 630] Orientation "left" BackgroundColor "orange" DropShadow on Location [509, 675, 872, 898] Open off NumInputPorts "1" ZoomMode "yonly" List { ListType AxesTitles axes1 "%" } TimeRange "300" YMin "-0.2" YMax "0.2" SaveName "ScopeData12" DataFormat "StructureWithTime" LimitDataPoints off } Block { BlockType ZeroOrderHold Name "Zero-Order\nHold" Position [570, 531, 605, 569] Orientation "left" SampleTime "[2, 0]" } Block { BlockType Constant Name "waypt E" Position [675, 615, 735, 635] Orientation "left" BackgroundColor "magenta" DropShadow on Value "500" } Block { BlockType Constant Name "waypt N" Position [675, 574, 735, 596] Orientation "left" BackgroundColor "magenta" DropShadow on Value "10000" } Block { BlockType Scope Name "Floating\nScope" Ports [] Position [185, 14, 215, 46] IOType "viewer" Floating on Location [376, 294, 700, 533] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" } Block { BlockType Scope Name "Floating\nScope1" Ports [] Position [185, 14, 215, 46] IOType "viewer" Floating on Location [376, 294, 700, 533] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" } Block { BlockType Scope Name "Floating\nScope2" Ports [] Position [185, 14, 215, 46] IOType "viewer" Floating on Location [376, 294, 700, 533] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" } Block { BlockType Scope Name "Floating\nScope3" Ports [] Position [185, 14, 215, 46] IOType "viewer" Floating on Location [376, 294, 700, 533] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } DataFormat "StructureWithTime" } Line { SrcBlock "Reset" SrcPort 1 Points [95, 0] DstBlock "Aerosonde UAV\n(Geodetic-frame EOM)" DstPort 3 } Line { SrcBlock "Winds" SrcPort 1 Points [65, 0; 0, -120] DstBlock "Aerosonde UAV\n(Geodetic-frame EOM)" DstPort 2 } Line { SrcBlock "Aerosonde UAV\n(Geodetic-frame EOM)" SrcPort 1 Points [415, 0; 0, -25; 225, 0; 0, 160; -5, 0] Branch { Points [-80, 0] DstBlock "Aircraft states" DstPort 1 } Branch { Points [5, 0] DstBlock "Demux2" DstPort 1 } } Line { SrcBlock "Aerosonde UAV\n(Geodetic-frame EOM)" SrcPort 6 Points [15, 0; 0, 105] DstBlock "Radians\nto Degrees" DstPort 1 } Line { SrcBlock "Aerosonde UAV\n(Geodetic-frame EOM)" SrcPort 3 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [5, 0] DstBlock "Radians\nto Degrees1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [5, 0] DstBlock "Radians\nto Degrees2" DstPort 1 } Line { SrcBlock "Radians\nto Degrees2" SrcPort 1 DstBlock "Sideslip" DstPort 1 } Line { SrcBlock "Radians\nto Degrees1" SrcPort 1 DstBlock "AOA" DstPort 1 } Line { SrcBlock "Aerosonde UAV\n(Geodetic-frame EOM)" SrcPort 15 DstBlock "Stop Simulation\nwhen A/C on the ground" DstPort 1 } Line { SrcBlock "Radians\nto Degrees" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 3 Points [25, 0] Branch { Points [0, 15] DstBlock "Heading" DstPort 1 } Branch { Labels [1, 0] Points [90, 0] Branch { DstBlock "Heading angle" DstPort 1 } Branch { Points [0, 70; 130, 0; 0, 115] DstBlock "Mux1" DstPort 2 } } } Line { SrcBlock "Flap" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mixture" SrcPort 1 Points [0, -10] DstBlock "Mux" DstPort 6 } Line { SrcBlock "Ignition" SrcPort 1 Points [0, -20] DstBlock "Mux" DstPort 7 } Line { SrcBlock "Mux" SrcPort 1 Points [10, 0; 0, -65] DstBlock "Aerosonde UAV\n(Geodetic-frame EOM)" DstPort 1 } Line { SrcBlock "Autopilot" SrcPort 1 Points [-30, 0; 0, -335] DstBlock "Mux" DstPort 4 } Line { SrcBlock "Autopilot" SrcPort 2 Points [-40, 0; 0, -455] DstBlock "Mux" DstPort 3 } Line { SrcBlock "Autopilot" SrcPort 3 Points [-50, 0; 0, -575] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Altitude Setpoint" SrcPort 1 DstBlock "Autopilot" DstPort 3 } Line { SrcBlock "Demux2" SrcPort 4 Points [-80, 0; 0, 35] DstBlock "VN" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 6 Points [-15, 0] DstBlock "VD" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 11 Points [0, -35] DstBlock "Roll rate" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 12 Points [-5, 0; 0, -35] DstBlock "Pitch rate" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 15 DstBlock "Engine Speed" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 5 Points [-55, 0] DstBlock "VE" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 3 Points [-95, 0] Branch { Points [-370, 0; 0, 90] DstBlock "Autopilot" DstPort 2 } Branch { Points [0, -20] DstBlock "Altitude" DstPort 1 } } Line { SrcBlock "Throttle" SrcPort 1 DstBlock "Mux" DstPort 5 } Line { SrcBlock "Demux2" SrcPort 1 Points [0, -15] DstBlock "Product1" DstPort 2 } Line { SrcBlock "Demux2" SrcPort 13 Points [-370, 0] Branch { DstBlock "Autopilot" DstPort 4 } Branch { Points [360, 0; 0, -35] DstBlock "Yaw rate" DstPort 1 } } Line { SrcBlock "waypt E" SrcPort 1 DstBlock "Mux1" DstPort 7 } Line { SrcBlock "waypt N" SrcPort 1 Points [0, 15] DstBlock "Mux1" DstPort 6 } Line { SrcBlock "Heading Cmd" SrcPort 1 Points [-105, 0; 0, 5] DstBlock "Mux1" DstPort 5 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Zero-Order\nHold" DstPort 1 } Line { SrcBlock "Zero-Order\nHold" SrcPort 1 Points [-10, 0; 0, 155] DstBlock "M-file S-Function" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "Product2" DstPort 2 } Line { SrcBlock "Product1" SrcPort 1 Points [-135, 0] Branch { DstBlock "N pos (m)" DstPort 1 } Branch { Points [0, 135] DstBlock "Mux1" DstPort 3 } } Line { SrcBlock "Product2" SrcPort 1 Points [-5, 0; 0, -15; -75, 0] Branch { DstBlock "E pos (m)" DstPort 1 } Branch { Points [0, 140] DstBlock "Mux1" DstPort 4 } } Line { SrcBlock "Aerosonde UAV\n(Geodetic-frame EOM)" SrcPort 14 Points [80, 0; 0, 40; 515, 0; 0, 15] Branch { DstBlock "Product1" DstPort 1 } Branch { DstBlock "Product2" DstPort 1 } } Line { SrcBlock "Unit Delay" SrcPort 1 DstBlock "Autopilot" DstPort 5 } Line { SrcBlock "Saturation" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 Points [100, 0; 0, -15] Branch { Points [0, 15] DstBlock "Airspeed1" DstPort 1 } Branch { Points [75, 0] Branch { DstBlock "Airspeed" DstPort 1 } Branch { Points [0, 315; 115, 0; 0, 70] DstBlock "Mux1" DstPort 1 } } } Line { SrcBlock "Demux1" SrcPort 2 Points [15, 0] Branch { Points [10, 0] Branch { DstBlock "Pitch angle" DstPort 1 } Branch { Points [0, 15] DstBlock "Pitch" DstPort 1 } } Branch { Points [0, 215] DstBlock "Autopilot" DstPort 1 } } Line { SrcBlock "M-file S-Function" SrcPort 1 Points [0, 0; -5, 0] Branch { DstBlock "Saturation" DstPort 1 } Branch { DstBlock "M-File Output" DstPort 1 } } Line { SrcBlock "Demux1" SrcPort 1 Points [25, 0] Branch { DstBlock "Bank angle" DstPort 1 } Branch { Points [0, 15] DstBlock "Bank" DstPort 1 } } Annotation { Name "Velocity North" Position [942, 113] } Annotation { Name "Velocity East" Position [942, 133] } Annotation { Name "Velocity Down" Position [942, 153] } Annotation { Name "Roll rate p" Position [932, 253] } Annotation { Name "Pitch rate q" Position [937, 273] } Annotation { Name "Yaw rate r" Position [932, 293] } Annotation { Name "Quaternion e0" Position [942, 173] } Annotation { Name "Quaternion ex" Position [942, 193] } Annotation { Name "Quaternion ey" Position [942, 213] } Annotation { Name "Quaternion ez" Position [942, 233] } Annotation { Name "Latitude" Position [927, 53] } Annotation { Name "Longitude" Position [932, 73] } Annotation { Name "Altitude" Position [927, 93] } Annotation { Name "Fuel mass" Position [932, 313] } Annotation { Name "Engine speed" Position [942, 333] } Annotation { Name "Aerosonde UAV - Demo for EE392m-2005\nSimulatio" "n sample time: 50 ms\nSimulation time: 10 min.\nAircraft control: Autopilot" Position [914, 758] } Annotation { Name "Elevator" Position [143, 115] } Annotation { Name "Ailerons" Position [143, 148] } Annotation { Name "Rudder" Position [143, 177] } Annotation { Name "Throttle" Position [144, 205] } Annotation { Position [686, 33] } } }