mirror of
https://bitbucket.org/librepilot/librepilot.git
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1305 lines
36 KiB
Plaintext
1305 lines
36 KiB
Plaintext
|
Model {
|
||
|
Name "altitude_plant"
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|
Version 7.8
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MdlSubVersion 0
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GraphicalInterface {
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NumRootInports 1
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Inport {
|
||
|
BusObject ""
|
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|
Name "Altitude Setpoint"
|
||
|
}
|
||
|
NumRootOutports 3
|
||
|
Outport {
|
||
|
BusObject ""
|
||
|
BusOutputAsStruct "off"
|
||
|
Name "Altitude"
|
||
|
}
|
||
|
Outport {
|
||
|
BusObject ""
|
||
|
BusOutputAsStruct "off"
|
||
|
Name "Measured Altitude"
|
||
|
}
|
||
|
Outport {
|
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|
BusObject ""
|
||
|
BusOutputAsStruct "off"
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|
Name "Measured Accel"
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|
}
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ParameterArgumentNames ""
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ComputedModelVersion "1.11"
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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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|
Created "Sun Jan 01 10:58:12 2012"
|
||
|
Creator "jcotton81"
|
||
|
UpdateHistory "UpdateHistoryNever"
|
||
|
ModifiedByFormat "%<Auto>"
|
||
|
LastModifiedBy "jcotton81"
|
||
|
ModifiedDateFormat "%<Auto>"
|
||
|
LastModifiedDate "Mon Jan 02 14:46:15 2012"
|
||
|
RTWModifiedTimeStamp 247320281
|
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|
ModelVersionFormat "1.%<AutoIncrement:11>"
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|
ConfigurationManager "None"
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SampleTimeColors off
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SampleTimeAnnotations off
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LibraryLinkDisplay "disabled"
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WideLines off
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ShowLineDimensions off
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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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||
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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
|
||
|
BrowserShowLibraryLinks off
|
||
|
BrowserLookUnderMasks off
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||
|
SimulationMode "normal"
|
||
|
LinearizationMsg "none"
|
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|
Profile off
|
||
|
ParamWorkspaceSource "MATLABWorkspace"
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AccelSystemTargetFile "accel.tlc"
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AccelTemplateMakefile "accel_default_tmf"
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AccelMakeCommand "make_rtw"
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|
TryForcingSFcnDF off
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Object {
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$PropName "DataLoggingOverride"
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$ObjectID 1
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$ClassName "Simulink.SimulationData.ModelLoggingInfo"
|
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|
model_ "altitude_plant"
|
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|
overrideMode_ [0.0]
|
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|
Array {
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Type "Cell"
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|
Dimension 1
|
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|
Cell "altitude_plant"
|
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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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|
RecordCoverage off
|
||
|
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
|
||
|
CovReportOnPause on
|
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|
CovModelRefEnable "Off"
|
||
|
CovExternalEMLEnable off
|
||
|
ExtModeBatchMode off
|
||
|
ExtModeEnableFloating on
|
||
|
ExtModeTrigType "manual"
|
||
|
ExtModeTrigMode "normal"
|
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|
ExtModeTrigPort "1"
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||
|
ExtModeTrigElement "any"
|
||
|
ExtModeTrigDuration 1000
|
||
|
ExtModeTrigDurationFloating "auto"
|
||
|
ExtModeTrigHoldOff 0
|
||
|
ExtModeTrigDelay 0
|
||
|
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
|
||
|
ExtModeAddSuffixToVar off
|
||
|
ExtModeWriteAllDataToWs off
|
||
|
ExtModeArmWhenConnect on
|
||
|
ExtModeSkipDownloadWhenConnect off
|
||
|
ExtModeLogAll on
|
||
|
ExtModeAutoUpdateStatusClock on
|
||
|
BufferReuse on
|
||
|
ShowModelReferenceBlockVersion off
|
||
|
ShowModelReferenceBlockIO off
|
||
|
Array {
|
||
|
Type "Handle"
|
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|
Dimension 1
|
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|
Simulink.ConfigSet {
|
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|
$ObjectID 2
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|
Version "1.11.1"
|
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|
Array {
|
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|
Type "Handle"
|
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|
Dimension 8
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Simulink.SolverCC {
|
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$ObjectID 3
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|
Version "1.11.1"
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|
StartTime "0.0"
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||
|
StopTime "200.0"
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|
AbsTol "auto"
|
||
|
FixedStep "auto"
|
||
|
InitialStep "auto"
|
||
|
MaxNumMinSteps "-1"
|
||
|
MaxOrder 5
|
||
|
ZcThreshold "auto"
|
||
|
ConsecutiveZCsStepRelTol "10*128*eps"
|
||
|
MaxConsecutiveZCs "1000"
|
||
|
ExtrapolationOrder 4
|
||
|
NumberNewtonIterations 1
|
||
|
MaxStep "auto"
|
||
|
MinStep "auto"
|
||
|
MaxConsecutiveMinStep "1"
|
||
|
RelTol "1e-3"
|
||
|
SolverMode "Auto"
|
||
|
ConcurrentTasks off
|
||
|
Solver "ode45"
|
||
|
SolverName "ode45"
|
||
|
SolverJacobianMethodControl "auto"
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|
ShapePreserveControl "DisableAll"
|
||
|
ZeroCrossControl "UseLocalSettings"
|
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|
ZeroCrossAlgorithm "Nonadaptive"
|
||
|
AlgebraicLoopSolver "TrustRegion"
|
||
|
SolverResetMethod "Fast"
|
||
|
PositivePriorityOrder off
|
||
|
AutoInsertRateTranBlk off
|
||
|
SampleTimeConstraint "Unconstrained"
|
||
|
InsertRTBMode "Whenever possible"
|
||
|
}
|
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|
Simulink.DataIOCC {
|
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|
$ObjectID 4
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Version "1.11.1"
|
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|
Decimation "1"
|
||
|
ExternalInput "[t, u]"
|
||
|
FinalStateName "xFinal"
|
||
|
InitialState "xInitial"
|
||
|
LimitDataPoints on
|
||
|
MaxDataPoints "1000"
|
||
|
LoadExternalInput on
|
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|
LoadInitialState off
|
||
|
SaveFinalState off
|
||
|
SaveCompleteFinalSimState off
|
||
|
SaveFormat "Array"
|
||
|
SignalLoggingSaveFormat "ModelDataLogs"
|
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|
SaveOutput on
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|
SaveState off
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|
SignalLogging on
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|
DSMLogging on
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|
InspectSignalLogs off
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|
SaveTime on
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ReturnWorkspaceOutputs off
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StateSaveName "xout"
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TimeSaveName "tout"
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OutputSaveName "yout"
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SignalLoggingName "logsout"
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DSMLoggingName "dsmout"
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OutputOption "RefineOutputTimes"
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|
OutputTimes "[]"
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ReturnWorkspaceOutputsName "out"
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Refine "1"
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}
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Simulink.OptimizationCC {
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$ObjectID 5
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Version "1.11.1"
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Array {
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Type "Cell"
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Dimension 8
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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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Cell "UseSpecifiedMinMax"
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PropName "DisabledProps"
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}
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BlockReduction on
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BooleanDataType on
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ConditionallyExecuteInputs on
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InlineParams off
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UseIntDivNetSlope off
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UseFloatMulNetSlope off
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UseSpecifiedMinMax off
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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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BooleansAsBitfields off
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BitfieldContainerType "uint_T"
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EnableMemcpy on
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MemcpyThreshold 64
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PassReuseOutputArgsAs "Structure reference"
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ExpressionDepthLimit 2147483647
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FoldNonRolledExpr on
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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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UseTempVars off
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|
ZeroExternalMemoryAtStartup on
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ZeroInternalMemoryAtStartup on
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InitFltsAndDblsToZero off
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NoFixptDivByZeroProtection off
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|
EfficientFloat2IntCast off
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||
|
EfficientMapNaN2IntZero on
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|
OptimizeModelRefInitCode off
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LifeSpan "inf"
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MaxStackSize "Inherit from target"
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BufferReusableBoundary on
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SimCompilerOptimization "Off"
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AccelVerboseBuild off
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AccelParallelForEachSubsystem on
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}
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Simulink.DebuggingCC {
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$ObjectID 6
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Version "1.11.1"
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RTPrefix "error"
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ConsistencyChecking "none"
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ArrayBoundsChecking "none"
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SignalInfNanChecking "none"
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SignalRangeChecking "none"
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ReadBeforeWriteMsg "UseLocalSettings"
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WriteAfterWriteMsg "UseLocalSettings"
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WriteAfterReadMsg "UseLocalSettings"
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AlgebraicLoopMsg "warning"
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ArtificialAlgebraicLoopMsg "warning"
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SaveWithDisabledLinksMsg "warning"
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SaveWithParameterizedLinksMsg "warning"
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CheckSSInitialOutputMsg on
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UnderspecifiedInitializationDetection "Classic"
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MergeDetectMultiDrivingBlocksExec "none"
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CheckExecutionContextPreStartOutputMsg off
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CheckExecutionContextRuntimeOutputMsg off
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SignalResolutionControl "UseLocalSettings"
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BlockPriorityViolationMsg "warning"
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MinStepSizeMsg "warning"
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TimeAdjustmentMsg "none"
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MaxConsecutiveZCsMsg "error"
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MaskedZcDiagnostic "warning"
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IgnoredZcDiagnostic "warning"
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SolverPrmCheckMsg "warning"
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InheritedTsInSrcMsg "warning"
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DiscreteInheritContinuousMsg "warning"
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MultiTaskDSMMsg "error"
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MultiTaskCondExecSysMsg "error"
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MultiTaskRateTransMsg "error"
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SingleTaskRateTransMsg "none"
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TasksWithSamePriorityMsg "warning"
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SigSpecEnsureSampleTimeMsg "warning"
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CheckMatrixSingularityMsg "none"
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IntegerOverflowMsg "warning"
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Int32ToFloatConvMsg "warning"
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|
ParameterDowncastMsg "error"
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|
ParameterOverflowMsg "error"
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|
ParameterUnderflowMsg "none"
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|
ParameterPrecisionLossMsg "warning"
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|
ParameterTunabilityLossMsg "warning"
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||
|
FixptConstUnderflowMsg "none"
|
||
|
FixptConstOverflowMsg "none"
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FixptConstPrecisionLossMsg "none"
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UnderSpecifiedDataTypeMsg "none"
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UnnecessaryDatatypeConvMsg "none"
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VectorMatrixConversionMsg "none"
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InvalidFcnCallConnMsg "error"
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FcnCallInpInsideContextMsg "Enable All"
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SignalLabelMismatchMsg "none"
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UnconnectedInputMsg "warning"
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UnconnectedOutputMsg "warning"
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UnconnectedLineMsg "warning"
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SFcnCompatibilityMsg "none"
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FrameProcessingCompatibilityMsg "warning"
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UniqueDataStoreMsg "none"
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BusObjectLabelMismatch "warning"
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RootOutportRequireBusObject "warning"
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AssertControl "UseLocalSettings"
|
||
|
EnableOverflowDetection off
|
||
|
ModelReferenceIOMsg "none"
|
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|
ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
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|
ModelReferenceVersionMismatchMessage "none"
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|
ModelReferenceIOMismatchMessage "none"
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|
ModelReferenceCSMismatchMessage "none"
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|
UnknownTsInhSupMsg "warning"
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ModelReferenceDataLoggingMessage "warning"
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ModelReferenceSymbolNameMessage "warning"
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ModelReferenceExtraNoncontSigs "error"
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StateNameClashWarn "warning"
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SimStateInterfaceChecksumMismatchMsg "warning"
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SimStateOlderReleaseMsg "error"
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InitInArrayFormatMsg "warning"
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StrictBusMsg "ErrorLevel1"
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BusNameAdapt "WarnAndRepair"
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NonBusSignalsTreatedAsBus "none"
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LoggingUnavailableSignals "error"
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|
BlockIODiagnostic "none"
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SFUnusedDataAndEventsDiag "warning"
|
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SFUnexpectedBacktrackingDiag "warning"
|
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|
SFInvalidInputDataAccessInChartInitDiag "warning"
|
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SFNoUnconditionalDefaultTransitionDiag "warning"
|
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|
SFTransitionOutsideNaturalParentDiag "warning"
|
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|
SFUnconditionalTransitionShadowingDiag "warning"
|
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|
}
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Simulink.HardwareCC {
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$ObjectID 7
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Version "1.11.1"
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ProdBitPerChar 8
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ProdBitPerShort 16
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ProdBitPerInt 32
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ProdBitPerLong 32
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ProdBitPerFloat 32
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ProdBitPerDouble 64
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ProdBitPerPointer 32
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ProdLargestAtomicInteger "Char"
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ProdLargestAtomicFloat "None"
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ProdIntDivRoundTo "Undefined"
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ProdEndianess "Unspecified"
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ProdWordSize 32
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ProdShiftRightIntArith on
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ProdHWDeviceType "32-bit Generic"
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TargetBitPerChar 8
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TargetBitPerShort 16
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TargetBitPerInt 32
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TargetBitPerLong 32
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TargetBitPerFloat 32
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TargetBitPerDouble 64
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TargetBitPerPointer 32
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TargetLargestAtomicInteger "Char"
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TargetLargestAtomicFloat "None"
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TargetShiftRightIntArith on
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TargetIntDivRoundTo "Undefined"
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TargetEndianess "Unspecified"
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TargetWordSize 32
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TargetTypeEmulationWarnSuppressLevel 0
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TargetPreprocMaxBitsSint 32
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TargetPreprocMaxBitsUint 32
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TargetHWDeviceType "Specified"
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TargetUnknown off
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ProdEqTarget on
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}
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Simulink.ModelReferenceCC {
|
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$ObjectID 8
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Version "1.11.1"
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UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
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CheckModelReferenceTargetMessage "error"
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EnableParallelModelReferenceBuilds off
|
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ParallelModelReferenceErrorOnInvalidPool on
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|
ParallelModelReferenceMATLABWorkerInit "None"
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ModelReferenceNumInstancesAllowed "Multi"
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PropagateVarSize "Infer from blocks in model"
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ModelReferencePassRootInputsByReference on
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ModelReferenceMinAlgLoopOccurrences off
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PropagateSignalLabelsOutOfModel off
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SupportModelReferenceSimTargetCustomCode off
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}
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Simulink.SFSimCC {
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$ObjectID 9
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Version "1.11.1"
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SFSimEnableDebug on
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SFSimOverflowDetection on
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SFSimEcho on
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SimBlas on
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SimCtrlC on
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SimExtrinsic on
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SimIntegrity on
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SimUseLocalCustomCode off
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SimParseCustomCode on
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SimBuildMode "sf_incremental_build"
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}
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Simulink.RTWCC {
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$BackupClass "Simulink.RTWCC"
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$ObjectID 10
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Version "1.11.1"
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Array {
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Type "Cell"
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Dimension 8
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Cell "IncludeHyperlinkInReport"
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Cell "GenerateTraceInfo"
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Cell "GenerateTraceReport"
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Cell "GenerateTraceReportSl"
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Cell "GenerateTraceReportSf"
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Cell "GenerateTraceReportEml"
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Cell "GenerateSLWebview"
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Cell "GenerateCodeMetricsReport"
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PropName "DisabledProps"
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}
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SystemTargetFile "grt.tlc"
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GenCodeOnly off
|
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MakeCommand "make_rtw"
|
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GenerateMakefile on
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TemplateMakefile "grt_default_tmf"
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|
GenerateReport off
|
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SaveLog off
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RTWVerbose on
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RetainRTWFile off
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ProfileTLC off
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TLCDebug off
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|
TLCCoverage off
|
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TLCAssert off
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ProcessScriptMode "Default"
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|
||
|
IntegratorOutDataTypeStr "Inherit: Inherit via internal rule"
|
||
|
FilterOutMin "[]"
|
||
|
FilterOutMax "[]"
|
||
|
FilterOutDataTypeStr "Inherit: Inherit via internal rule"
|
||
|
SumOutMin "[]"
|
||
|
SumOutMax "[]"
|
||
|
SumOutDataTypeStr "Inherit: Inherit via internal rule"
|
||
|
Sum1OutMin "[]"
|
||
|
Sum1OutMax "[]"
|
||
|
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
|
||
|
}
|
||
|
}
|
||
|
}
|