Model { Name "sl_quadrotor" Version 8.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.23" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ISO-8859-1" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 InitFcn "% load parameters of the default quadrotor\ndisp('Quadrotor parameters loaded by InitFcn')\nmdl_quadcopt" "er" Object { $PropName "BdWindowsInfo" $ObjectID 1 $ClassName "Simulink.BDWindowsInfo" Object { $PropName "WindowsInfo" $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] Location [363.0, 44.0, 1013.0, 745.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 $ClassName "Simulink.ModelBrowserInfo" Visible [0] DockPosition "Left" Width [50] Height [50] Filter [8] } Object { $PropName "ExplorerBarInfo" $ObjectID 4 $ClassName "Simulink.ExplorerBarInfo" Visible [1] } Object { $PropName "EditorsInfo" $ObjectID 5 $ClassName "Simulink.EditorInfo" IsActive [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" Extents [979.0, 571.0] ZoomFactor [1.0] Offset [0.0, 0.0] } } } Created "Sat Mar 20 12:13:00 2010" Creator "corkep" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "corkep" ModifiedDateFormat "%" LastModifiedDate "Sat Jan 12 13:37:18 2013" RTWModifiedTimeStamp 270302600 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "user" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" $ObjectID 6 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "sl_quadrotor" Array { Type "Cell" Dimension 1 Cell "sl_quadrotor" PropName "logAsSpecifiedByModels_" } Array { Type "Cell" Dimension 1 Cell "" PropName "logAsSpecifiedByModelsSSIDs_" } } RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable 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 ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 7 Version "1.12.1" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 8 Version "1.12.1" StartTime "0.0" StopTime "20" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "0.1" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "ode45" SolverName "ode45" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 9 Version "1.12.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime on 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reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero off NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 11 Version "1.12.1" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "warning" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" 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SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "Warning" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" SFUndirectedBroadcastEventsDiag "warning" SFTransitionActionBeforeConditionDiag "warning" } Simulink.HardwareCC { $ObjectID 12 Version "1.12.1" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 13 Version "1.12.1" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 14 Version "1.12.1" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 15 Version "1.12.1" Array { Type "Cell" Dimension 6 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" PropName "DisabledProps" } SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on PackageGeneratedCodeAndArtifacts off 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 RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off PortableWordSizes off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" CodeProfilingInstrumentation off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 16 Version "1.12.1" Array { Type "Cell" Dimension 19 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrFcnArg" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off OperatorAnnotations off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InternalIdentifier "Classic" InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 17 Version "1.12.1" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 1496, 110, 2376, 740 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 7 } Object { $PropName "DataTransfer" $ObjectID 18 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" DefaultExtrapolationMethodBetweenContTasks "None" AutoInsertRateTranBlk [0] } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } MaskDefaults { SelfModifiable "off" IconFrame "on" IconOpaque "on" RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" } MaskParameterDefaults { Evaluate "on" Tunable "on" NeverSave "off" Internal "off" ReadOnly "off" Enabled "on" Visible "on" ToolTip "on" } BlockParameterDefaults { Block { BlockType BusSelector OutputSignals "signal1,signal2,signal3" OutputAsBus off } Block { BlockType Clock DisplayTime off Decimation "10" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" DataFormat "Array" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" SaveFormat "Array" FixptAsFi off NumInputs "1" } } System { Name "sl_quadrotor" Location [363, 44, 1376, 789] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "105" Block { BlockType BusSelector Name "Bus\nSelector1" SID "1" Ports [1, 1] Position [125, 71, 130, 109] ZOrder -1 ForegroundColor "orange" ShowName off OutputSignals "X,Y" OutputAsBus on Port { PortNumber 1 Name "xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType BusSelector Name "Bus\nSelector2" SID "2" Ports [1, 1] Position [125, 121, 130, 159] ZOrder -2 ForegroundColor "orange" ShowName off OutputSignals "dx,dy" OutputAsBus on Port { PortNumber 1 Name "xy rates" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType BusSelector Name "Bus\nSelector3" SID "3" Ports [1, 1] Position [435, 156, 440, 194] ZOrder -3 ForegroundColor "blue" ShowName off OutputSignals "pitch,roll" OutputAsBus on Port { PortNumber 1 Name "pitch/roll" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType BusSelector Name "Bus\nSelector4" SID "4" Ports [1, 1] Position [435, 206, 440, 244] ZOrder -4 ForegroundColor "blue" ShowName off OutputSignals "dpitch,droll" OutputAsBus on Port { PortNumber 1 Name "pitch/roll rates" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType BusSelector Name "Bus\nSelector5" SID "5" Ports [1, 2] Position [125, 308, 130, 377] ZOrder -5 ShowName off OutputSignals "yaw,dyaw" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType BusSelector Name "Bus\nSelector6" SID "6" Ports [1, 2] Position [130, 438, 135, 507] ZOrder -6 ForegroundColor "red" ShowName off OutputSignals "Z,dz" Port { PortNumber 1 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Clock Name "Clock" SID "70" Position [700, 409, 745, 431] ZOrder -7 BackgroundColor "yellow" ShowName off DisplayTime on } Block { BlockType Reference Name "Control Mixer" SID "93" Ports [4, 5] Position [700, 45, 760, 355] ZOrder -8 DropShadow on LibraryVersion "1.55" SourceBlock "roblocks/Dynamics/Control Mixer" SourceType "" } Block { BlockType Gain Name "D_pr" SID "28" Position [515, 210, 545, 240] ZOrder -9 ForegroundColor "blue" Gain ".1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "D_xy" SID "29" Position [185, 125, 215, 155] ZOrder -10 ForegroundColor "orange" Gain "2" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "D_yaw" SID "30" Position [220, 345, 250, 375] ZOrder -11 ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "D_z" SID "31" Position [220, 475, 250, 505] ZOrder -12 ForegroundColor "red" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux" SID "32" Ports [1, 2] Position [665, 61, 670, 99] ZOrder -13 ForegroundColor "blue" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux" SID "71" Ports [3, 1] Position [840, 410, 845, 470] ZOrder -14 ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "35" Ports [2, 1] Position [100, 21, 105, 59] ZOrder -15 ShowName off Inputs "2" DisplayOption "bar" Port { PortNumber 1 Name "xy*" PropagatedSignals ", " RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "P_pr" SID "36" Position [605, 65, 635, 95] ZOrder -16 ForegroundColor "blue" Gain "-400" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "P_xy" SID "37" Position [390, 65, 420, 95] ZOrder -17 ForegroundColor "orange" Gain "0.1*[-1, 1]" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "pitch/roll\ndmd" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "P_yaw" SID "38" Position [340, 310, 370, 340] ZOrder -18 Gain "-100" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "P_z" SID "39" Position [340, 440, 370, 470] ZOrder -19 ForegroundColor "red" Gain "-40" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product" SID "89" Ports [2, 1] Position [275, 54, 305, 101] ZOrder -20 ForegroundColor "green" ShowName off Multiplication "Matrix(*)" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Reference Name "Quadrotor" SID "85" Ports [4, 1] Position [810, 47, 870, 293] ZOrder -21 DropShadow on LibraryVersion "1.55" SourceBlock "roblocks/Dynamics/Quadrotor" SourceType "" quad "quad" } Block { BlockType Reference Name "Quadrotor plot" SID "91" Ports [1] Position [650, 422, 680, 468] ZOrder -22 DropShadow on LibraryVersion "1.55" SourceBlock "roblocks/Robot Graphics/Quadrotor plot" SourceType "" x "0" } Block { BlockType MATLABFcn Name "RZ^T" SID "78" Ports [1, 1] Position [160, 235, 220, 265] ZOrder -23 MATLABFcn "inv([cos(u) -sin(u); sin(u) cos(u)])" OutputDimensions "[2 2]" Output1D off } Block { BlockType Scope Name "Scope" SID "79" Ports [1] Position [285, 379, 315, 411] ZOrder -24 Floating off Location [73, 568, 397, 807] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } List { ListType ScopeGraphics FigureColor "[0.5 0.5 0.5]" AxesColor "[0 0 0]" AxesTickColor "[1 1 1]" LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" LineStyles "-|-|-|-|-|-" LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" MarkerStyles "none|none|none|none|none|none" } ShowLegends off YMin "-0.04" YMax "0.045" DataFormat "StructureWithTime" SampleTime "0" } Block { BlockType Sum Name "Sum1" SID "54" Ports [2, 1] Position [220, 315, 240, 335] ZOrder -25 ShowName off IconShape "round" Inputs "+-|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum15" SID "55" Ports [2, 1] Position [275, 445, 295, 465] ZOrder -26 ForegroundColor "red" ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum16" SID "56" Ports [2, 1] Position [560, 70, 580, 90] ZOrder -27 ForegroundColor "blue" ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum17" SID "57" Ports [2, 1] Position [185, 80, 205, 100] ZOrder -28 ForegroundColor "orange" ShowName off IconShape "round" Inputs "+-|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "xy error" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum18" SID "58" Ports [2, 1] Position [345, 70, 365, 90] ZOrder -29 ForegroundColor "orange" ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum19" SID "59" Ports [2, 1] Position [485, 70, 505, 90] ZOrder -30 ForegroundColor "blue" ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off Port { PortNumber 1 Name "pitch/roll\nerror" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Sum Name "Sum2" SID "60" Ports [2, 1] Position [265, 315, 285, 335] ZOrder -31 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "61" Ports [2, 1] Position [220, 445, 240, 465] ZOrder -32 ForegroundColor "red" ShowName off IconShape "round" Inputs "+-|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "62" Ports [2, 1] Position [415, 445, 435, 465] ZOrder -33 ForegroundColor "red" DropShadow on ShowName off IconShape "round" Inputs "++|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType ToWorkspace Name "To Workspace" SID "69" Ports [1] Position [870, 425, 920, 455] ZOrder -34 ShowName off VariableName "result" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "72" Ports [1] Position [535, 465, 595, 495] ZOrder -35 ShowName off VariableName "T" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType Constant Name "w0" SID "63" Position [380, 380, 410, 410] ZOrder -36 ForegroundColor "red" DropShadow on Value "sqrt(quad.M*quad.g/4/quad.b)" SampleTime "0" } Block { BlockType Sin Name "x*" SID "64" Ports [0, 1] Position [25, 15, 55, 45] ZOrder -37 Frequency "2*pi*.125" Phase "-pi/2" SampleTime "0" } Block { BlockType Sin Name "y*" SID "65" Ports [0, 1] Position [25, 65, 55, 95] ZOrder -38 Frequency "2*pi*.125" SampleTime "0" } Block { BlockType Reference Name "yaw*" SID "84" Ports [0, 1] Position [25, 280, 55, 310] ZOrder -39 LibraryVersion "1.281" SourceBlock "simulink/Sources/Ramp" SourceType "Ramp" slope "0.2" start "2" X0 "0" VectorParams1D on } Block { BlockType Constant Name "z*" SID "68" Position [25, 405, 55, 435] ZOrder -40 Value "-4" SampleTime "0" } Line { SrcBlock "Control Mixer" SrcPort 1 DstBlock "Quadrotor" DstPort 1 } Line { SrcBlock "Control Mixer" SrcPort 4 DstBlock "Quadrotor" DstPort 4 } Line { SrcBlock "w0" SrcPort 1 Points [10, 0] DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum15" SrcPort 1 DstBlock "P_z" DstPort 1 } Line { SrcBlock "P_z" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Quadrotor" SrcPort 1 Points [55, 0; 0, 365; -130, 0] Branch { Points [-180, 0] Branch { Points [-530, 0; 0, -60] Branch { DstBlock "Bus\nSelector6" DstPort 1 } Branch { Points [0, -130] Branch { Points [0, -120] Branch { DstBlock "Bus\nSelector4" DstPort 1 } Branch { Points [0, -50] Branch { DstBlock "Bus\nSelector3" DstPort 1 } Branch { Points [0, -35] Branch { Points [0, -50] DstBlock "Bus\nSelector1" DstPort 1 } Branch { DstBlock "Bus\nSelector2" DstPort 1 } } } } Branch { DstBlock "Bus\nSelector5" DstPort 1 } } } Branch { Points [0, -90] DstBlock "Quadrotor plot" DstPort 1 } } Branch { Points [0, -95] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "x*" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "y*" SrcPort 1 Points [5, 0; 0, -30] DstBlock "Mux1" DstPort 2 } Line { Name "xy" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 1 DstBlock "Sum17" DstPort 2 } Line { Name "xy*" Labels [0, 0] SrcBlock "Mux1" SrcPort 1 Points [85, 0] DstBlock "Sum17" DstPort 1 } Line { Name "xy rates" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 1 DstBlock "D_xy" DstPort 1 } Line { SrcBlock "D_xy" SrcPort 1 Points [135, 0] DstBlock "Sum18" DstPort 2 } Line { Name "pitch/roll\ndmd" Labels [0, 0] SrcBlock "P_xy" SrcPort 1 DstBlock "Sum19" DstPort 1 } Line { Name "pitch/roll" Labels [0, 0] SrcBlock "Bus\nSelector3" SrcPort 1 Points [50, 0] DstBlock "Sum19" DstPort 2 } Line { Name "pitch/roll rates" Labels [0, 0] SrcBlock "Bus\nSelector4" SrcPort 1 DstBlock "D_pr" DstPort 1 } Line { Name "pitch/roll\nerror" Labels [0, 0] SrcBlock "Sum19" SrcPort 1 DstBlock "Sum16" DstPort 1 } Line { SrcBlock "Sum16" SrcPort 1 DstBlock "P_pr" DstPort 1 } Line { SrcBlock "P_pr" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "P_yaw" SrcPort 1 Points [270, 0; 0, -85] DstBlock "Control Mixer" DstPort 3 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector5" SrcPort 1 Points [10, 0] Branch { DstBlock "RZ^T" DstPort 1 } Branch { Points [15, 0] Branch { DstBlock "Sum1" DstPort 2 } Branch { Points [0, 70] DstBlock "Scope" DstPort 1 } } } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "P_yaw" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector6" SrcPort 1 DstBlock "Sum3" DstPort 2 } Line { SrcBlock "z*" SrcPort 1 Points [170, 0] DstBlock "Sum3" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector5" SrcPort 2 DstBlock "D_yaw" DstPort 1 } Line { SrcBlock "Sum3" SrcPort 1 DstBlock "Sum15" DstPort 1 } Line { Name "" Labels [0, 0] SrcBlock "Bus\nSelector6" SrcPort 2 DstBlock "D_z" DstPort 1 } Line { SrcBlock "D_z" SrcPort 1 Points [30, 0] DstBlock "Sum15" DstPort 2 } Line { SrcBlock "D_pr" SrcPort 1 Points [20, 0] DstBlock "Sum16" DstPort 2 } Line { SrcBlock "Demux" SrcPort 2 Points [0, 75] DstBlock "Control Mixer" DstPort 2 } Line { SrcBlock "D_yaw" SrcPort 1 Points [20, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 Points [75, 0] Branch { Points [0, 25] DstBlock "To Workspace1" DstPort 1 } Branch { Labels [3, 0] Points [65, 0; 0, -110; 90, 0; 0, -30] DstBlock "Control Mixer" DstPort 4 } } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "To Workspace" DstPort 1 } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { Labels [2, 0] SrcBlock "Control Mixer" SrcPort 5 Points [20, 0; 0, 140] DstBlock "Mux" DstPort 3 } Line { SrcBlock "Sum18" SrcPort 1 DstBlock "P_xy" DstPort 1 } Line { SrcBlock "yaw*" SrcPort 1 Points [170, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Sum18" DstPort 1 } Line { Name "xy error" Labels [0, 0] SrcBlock "Sum17" SrcPort 1 DstBlock "Product" DstPort 2 } Line { SrcBlock "RZ^T" SrcPort 1 Points [25, 0; 0, -185] DstBlock "Product" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 Points [5, 0; 0, 20] DstBlock "Control Mixer" DstPort 1 } Line { SrcBlock "Control Mixer" SrcPort 3 DstBlock "Quadrotor" DstPort 3 } Line { SrcBlock "Control Mixer" SrcPort 2 DstBlock "Quadrotor" DstPort 2 } Annotation { SID "94" Name " " Position [470, 40] } Annotation { SID "95" Name "state vector" Position [446, 523] } Annotation { SID "96" Name "gravity feedforward" Position [442, 475] } Annotation { SID "97" Name "attitude rate\nloop" Position [582, 135] HorizontalAlignment "left" } Annotation { SID "98" Name "attitude\nloop" Position [504, 135] HorizontalAlignment "left" } Annotation { SID "99" Name "position rate\nloop" Position [367, 130] HorizontalAlignment "left" } Annotation { SID "100" Name "position\nloop" Position [242, 50] HorizontalAlignment "left" } Annotation { SID "101" Name "yaw rate\nloop" Position [287, 365] HorizontalAlignment "left" } Annotation { SID "102" Name "yaw angle\nloop" Position [242, 300] HorizontalAlignment "left" } Annotation { SID "103" Name "height rate\nloop" Position [292, 470] HorizontalAlignment "left" } Annotation { SID "104" Name "height \nloop" Position [242, 430] HorizontalAlignment "left" } Annotation { SID "105" Name "state" Position [938, 140] } } }