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1910 lines
50 KiB
1910 lines
50 KiB
Model {
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Name "sl_quadrotor"
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Version 8.0
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MdlSubVersion 0
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GraphicalInterface {
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NumRootInports 0
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NumRootOutports 0
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ParameterArgumentNames ""
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ComputedModelVersion "1.23"
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NumModelReferences 0
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NumTestPointedSignals 0
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}
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SavedCharacterEncoding "ISO-8859-1"
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SaveDefaultBlockParams on
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ScopeRefreshTime 0.035000
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OverrideScopeRefreshTime on
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DisableAllScopes off
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DataTypeOverride "UseLocalSettings"
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DataTypeOverrideAppliesTo "AllNumericTypes"
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MinMaxOverflowLogging "UseLocalSettings"
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MinMaxOverflowArchiveMode "Overwrite"
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FPTRunName "Run 1"
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MaxMDLFileLineLength 120
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InitFcn "% load parameters of the default quadrotor\ndisp('Quadrotor parameters loaded by InitFcn')\nmdl_quadcopt"
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"er"
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Object {
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$PropName "BdWindowsInfo"
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$ObjectID 1
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$ClassName "Simulink.BDWindowsInfo"
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Object {
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$PropName "WindowsInfo"
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$ObjectID 2
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$ClassName "Simulink.WindowInfo"
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IsActive [1]
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Location [363.0, 44.0, 1013.0, 745.0]
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Object {
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$PropName "ModelBrowserInfo"
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$ObjectID 3
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$ClassName "Simulink.ModelBrowserInfo"
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Visible [0]
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DockPosition "Left"
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Width [50]
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Height [50]
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Filter [8]
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}
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Object {
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$PropName "ExplorerBarInfo"
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$ObjectID 4
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$ClassName "Simulink.ExplorerBarInfo"
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$PropName "EditorsInfo"
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$ClassName "Simulink.EditorInfo"
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IsActive [1]
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LoadSaveID "0"
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Extents [979.0, 571.0]
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ZoomFactor [1.0]
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Offset [0.0, 0.0]
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}
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}
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}
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Created "Sat Mar 20 12:13:00 2010"
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Creator "corkep"
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UpdateHistory "UpdateHistoryNever"
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ModifiedByFormat "%<Auto>"
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LastModifiedBy "corkep"
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ModifiedDateFormat "%<Auto>"
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LastModifiedDate "Sat Jan 12 13:37:18 2013"
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RTWModifiedTimeStamp 270302600
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ModelVersionFormat "1.%<AutoIncrement:23>"
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ConfigurationManager "None"
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SampleTimeColors off
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SampleTimeAnnotations off
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LibraryLinkDisplay "user"
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WideLines on
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ShowLineDimensions on
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ShowPortDataTypes off
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ShowDesignRanges off
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ShowLoopsOnError on
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IgnoreBidirectionalLines off
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ShowStorageClass off
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ShowTestPointIcons on
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ShowSignalResolutionIcons on
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ShowViewerIcons on
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SortedOrder off
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ExecutionContextIcon off
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ShowLinearizationAnnotations on
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BlockNameDataTip off
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BlockParametersDataTip off
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BlockDescriptionStringDataTip off
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ToolBar on
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StatusBar on
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SimulationMode "normal"
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LinearizationMsg "none"
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Profile off
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ParamWorkspaceSource "MATLABWorkspace"
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AccelSystemTargetFile "accel.tlc"
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$PropName "DataLoggingOverride"
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$ObjectID 6
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$ClassName "Simulink.SimulationData.ModelLoggingInfo"
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model_ "sl_quadrotor"
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Array {
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Type "Cell"
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Dimension 1
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Cell "sl_quadrotor"
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PropName "logAsSpecifiedByModels_"
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}
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Array {
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Type "Cell"
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Dimension 1
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Cell ""
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PropName "logAsSpecifiedByModelsSSIDs_"
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}
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}
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CovPath "/"
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CovSaveName "covdata"
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CovMetricSettings "dw"
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CovNameIncrementing off
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CovHtmlReporting on
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CovForceBlockReductionOff on
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covSaveCumulativeToWorkspaceVar on
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CovSaveSingleToWorkspaceVar on
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CovCumulativeVarName "covCumulativeData"
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CovCumulativeReport off
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CovReportOnPause on
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CovModelRefEnable "Off"
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CovExternalEMLEnable off
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ExtModeBatchMode off
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ExtModeEnableFloating on
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ExtModeTrigType "manual"
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ExtModeTrigMode "normal"
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ExtModeTrigPort "1"
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ExtModeTrigElement "any"
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ExtModeTrigDuration 1000
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ExtModeTrigDurationFloating "auto"
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ExtModeTrigHoldOff 0
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ExtModeTrigDelay 0
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ExtModeTrigDirection "rising"
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ExtModeTrigLevel 0
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ExtModeArchiveMode "off"
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ExtModeAutoIncOneShot off
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ExtModeIncDirWhenArm off
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ExtModeAddSuffixToVar off
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ExtModeWriteAllDataToWs off
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ExtModeArmWhenConnect on
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ExtModeSkipDownloadWhenConnect off
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ExtModeLogAll on
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ExtModeAutoUpdateStatusClock on
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BufferReuse on
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ShowModelReferenceBlockVersion off
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ShowModelReferenceBlockIO off
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Array {
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Type "Handle"
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Simulink.ConfigSet {
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Simulink.SolverCC {
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Version "1.12.1"
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StartTime "0.0"
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StopTime "20"
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AbsTol "auto"
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InitialStep "auto"
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MaxNumMinSteps "-1"
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MaxOrder 5
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ZcThreshold "auto"
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ConsecutiveZCsStepRelTol "10*128*eps"
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MaxConsecutiveZCs "1000"
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ExtrapolationOrder 4
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NumberNewtonIterations 1
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MaxStep "0.1"
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MinStep "auto"
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MaxConsecutiveMinStep "1"
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RelTol "1e-3"
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SolverMode "Auto"
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EnableConcurrentExecution off
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ConcurrentTasks off
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Solver "ode45"
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SolverName "ode45"
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SolverJacobianMethodControl "auto"
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ShapePreserveControl "DisableAll"
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ZeroCrossControl "UseLocalSettings"
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ZeroCrossAlgorithm "Nonadaptive"
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AlgebraicLoopSolver "TrustRegion"
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SolverResetMethod "Fast"
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PositivePriorityOrder off
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AutoInsertRateTranBlk off
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SampleTimeConstraint "Unconstrained"
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InsertRTBMode "Whenever possible"
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}
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Simulink.DataIOCC {
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$ObjectID 9
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Decimation "1"
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ExternalInput "[t, u]"
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FinalStateName "xFinal"
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InitialState "xInitial"
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LimitDataPoints on
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MaxDataPoints "1000"
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LoadExternalInput off
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LoadInitialState off
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SaveFinalState off
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SaveCompleteFinalSimState off
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SaveFormat "Array"
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SignalLoggingSaveFormat "ModelDataLogs"
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SaveOutput on
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SaveState off
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SignalLogging on
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DSMLogging on
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InspectSignalLogs off
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SaveTime on
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ReturnWorkspaceOutputs off
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StateSaveName "xout"
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TimeSaveName "tout"
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OutputSaveName "yout"
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SignalLoggingName "logsout"
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DSMLoggingName "dsmout"
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OutputOption "RefineOutputTimes"
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OutputTimes "[]"
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ReturnWorkspaceOutputsName "out"
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Refine "1"
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}
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Simulink.OptimizationCC {
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$ObjectID 10
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Version "1.12.1"
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Array {
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Dimension 7
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Cell "BooleansAsBitfields"
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Cell "PassReuseOutputArgsAs"
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Cell "PassReuseOutputArgsThreshold"
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Cell "ZeroExternalMemoryAtStartup"
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Cell "ZeroInternalMemoryAtStartup"
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Cell "OptimizeModelRefInitCode"
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Cell "NoFixptDivByZeroProtection"
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PropName "DisabledProps"
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BlockReduction on
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InlineInvariantSignals off
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OptimizeBlockIOStorage on
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BufferReuse on
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EnhancedBackFolding off
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StrengthReduction off
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ExpressionFolding on
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BitfieldContainerType "uint_T"
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EnableMemcpy on
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ExpressionDepthLimit 2147483647
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LocalBlockOutputs on
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RollThreshold 5
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SystemCodeInlineAuto off
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StateBitsets off
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DataBitsets off
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EfficientFloat2IntCast off
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LifeSpan "inf"
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MaxStackSize "Inherit from target"
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SimCompilerOptimization "Off"
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AccelVerboseBuild off
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Simulink.DebuggingCC {
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RTPrefix "error"
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|
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]
|
|
}
|
|
}
|
|
}
|