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LibrePilot/matlab/revo/altitude_plant.mdl

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Small fix to revo sensor log processing. Also check in allan analysis.
2012-01-27 06:30:10 +01:00
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Sum1OutDataTypeStr "Inherit: Inherit via internal rule"
Sum2OutMin "[]"
Sum2OutMax "[]"
Sum2OutDataTypeStr "Inherit: Inherit via internal rule"
Sum3OutMin "[]"
Sum3OutMax "[]"
Sum3OutDataTypeStr "Inherit: Inherit via internal rule"
SumI1OutMin "[]"
SumI1OutMax "[]"
SumI1OutDataTypeStr "Inherit: Inherit via internal rule"
SumI2OutMin "[]"
SumI2OutMax "[]"
SumI2OutDataTypeStr "Inherit: Inherit via internal rule"
SumI3OutMin "[]"
SumI3OutMax "[]"
SumI3OutDataTypeStr "Inherit: Inherit via internal rule"
SumDOutMin "[]"
SumDOutMax "[]"
SumDOutDataTypeStr "Inherit: Inherit via internal rule"
SumAccumDataTypeStr "Inherit: Inherit via internal rule"
Sum1AccumDataTypeStr "Inherit: Inherit via internal rule"
Sum2AccumDataTypeStr "Inherit: Inherit via internal rule"
Sum3AccumDataTypeStr "Inherit: Inherit via internal rule"
SumI1AccumDataTypeStr "Inherit: Inherit via internal rule"
SumI2AccumDataTypeStr "Inherit: Inherit via internal rule"
SumI3AccumDataTypeStr "Inherit: Inherit via internal rule"
SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
SaturationOutMin "[]"
SaturationOutMax "[]"
SaturationOutDataTypeStr "Inherit: Same as input"
IntegratorContinuousStateAttributes "''"
IntegratorStateMustResolveToSignalObject off
IntegratorRTWStateStorageClass "Auto"
FilterContinuousStateAttributes "''"
FilterStateMustResolveToSignalObject off
FilterRTWStateStorageClass "Auto"
}
Block {
BlockType SubSystem
Name "Subsystem"
SID "57"
Ports [1, 3]
Position [300, 120, 440, 180]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Subsystem"
Location [700, 127, 1473, 405]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "Throttle"
SID "58"
Position [25, 33, 55, 47]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType RandomNumber
Name "Accel Noise"
SID "24"
Position [195, 125, 225, 155]
ZOrder -15
SampleTime "0.1"
}
Block {
BlockType Sum
Name "Add"
SID "25"
Ports [2, 1]
Position [195, 32, 225, 63]
ZOrder -2
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "Acceleration"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Add1"
SID "26"
Ports [2, 1]
Position [260, 117, 290, 148]
ZOrder -2
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Add2"
SID "27"
Ports [2, 1]
Position [480, 87, 510, 118]
ZOrder -2
InputSameDT off
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType RandomNumber
Name "Altitude Noise"
SID "28"
Position [420, 95, 450, 125]
ZOrder -15
SampleTime "0.1"
}
Block {
BlockType Gain
Name "Gain"
SID "29"
Position [115, 25, 145, 55]
ZOrder -11
Gain "9.81"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "Thrust"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Constant
Name "Gravity"
SID "30"
Position [115, 80, 145, 110]
ZOrder -5
Value "-9.81"
}
Block {
BlockType Integrator
Name "Integrator"
SID "31"
Ports [1, 1]
Position [305, 35, 335, 65]
ZOrder -2
Port {
PortNumber 1
Name "Velocity"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Integrator
Name "Integrator1"
SID "32"
Ports [1, 1]
Position [420, 35, 450, 65]
ZOrder -2
}
Block {
BlockType Outport
Name "Altitude"
SID "59"
Position [520, 43, 550, 57]
ZOrder -9
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Measured Altitude"
SID "60"
Position [570, 98, 600, 112]
ZOrder -9
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Measured Accel"
SID "61"
Position [335, 128, 365, 142]
ZOrder -9
Port "3"
IconDisplay "Port number"
}
Line {
SrcBlock "Add1"
SrcPort 1
DstBlock "Measured Accel"
DstPort 1
}
Line {
SrcBlock "Altitude Noise"
SrcPort 1
DstBlock "Add2"
DstPort 2
}
Line {
SrcBlock "Accel Noise"
SrcPort 1
DstBlock "Add1"
DstPort 2
}
Line {
SrcBlock "Integrator1"
SrcPort 1
Points [15, 0]
Branch {
Points [-5, 0]
DstBlock "Add2"
DstPort 1
}
Branch {
DstBlock "Altitude"
DstPort 1
}
}
Line {
Name "Velocity"
Labels [1, 0]
SrcBlock "Integrator"
SrcPort 1
DstBlock "Integrator1"
DstPort 1
}
Line {
Name "Acceleration"
SrcBlock "Add"
SrcPort 1
Points [15, 0]
Branch {
DstBlock "Add1"
DstPort 1
}
Branch {
Labels [1, 0]
DstBlock "Integrator"
DstPort 1
}
}
Line {
SrcBlock "Gravity"
SrcPort 1
Points [15, 0; 0, -40]
DstBlock "Add"
DstPort 2
}
Line {
Name "Thrust"
Labels [1, 0]
SrcBlock "Gain"
SrcPort 1
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Add2"
SrcPort 1
DstBlock "Measured Altitude"
DstPort 1
}
Line {
SrcBlock "Throttle"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
}
}
Block {
BlockType Outport
Name "Altitude"
SID "37"
Position [620, 123, 650, 137]
ZOrder -9
NamePlacement "alternate"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Measured Altitude"
SID "38"
Position [685, 143, 715, 157]
ZOrder -9
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Outport
Name "Measured Accel"
SID "39"
Position [485, 163, 515, 177]
ZOrder -9
Port "3"
IconDisplay "Port number"
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "Altitude"
DstPort 1
}
Line {
SrcBlock "Subsystem"
SrcPort 2
Points [105, 0]
Branch {
DstBlock "Measured Altitude"
DstPort 1
}
Branch {
Points [0, 55; -455, 0; 0, -45]
DstBlock "PID Controller (2DOF)"
DstPort 2
}
}
Line {
SrcBlock "Subsystem"
SrcPort 3
DstBlock "Measured Accel"
DstPort 1
}
Line {
SrcBlock "Altitude Setpoint"
SrcPort 1
DstBlock "PID Controller (2DOF)"
DstPort 1
}
Line {
SrcBlock "PID Controller (2DOF)"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Add"
SrcPort 1
Points [10, 0; 0, 5]
DstBlock "Subsystem"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [35, 0]
DstBlock "Add"
DstPort 1
}
}
}
Reference in New Issue Copy Permalink