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1305 lines
36 KiB
Plaintext
1305 lines
36 KiB
Plaintext
Model {
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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 {
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BusObject ""
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Name "Altitude Setpoint"
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}
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NumRootOutports 3
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Outport {
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BusObject ""
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BusOutputAsStruct "off"
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Name "Altitude"
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}
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Outport {
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BusObject ""
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BusOutputAsStruct "off"
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Name "Measured Altitude"
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}
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Outport {
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BusObject ""
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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"
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Creator "jcotton81"
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UpdateHistory "UpdateHistoryNever"
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ModifiedByFormat "%<Auto>"
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LastModifiedBy "jcotton81"
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ModifiedDateFormat "%<Auto>"
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LastModifiedDate "Mon Jan 02 14:46:15 2012"
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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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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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BrowserShowLibraryLinks off
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BrowserLookUnderMasks off
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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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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
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CovPath "/"
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CovMetricSettings "dw"
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CovNameIncrementing off
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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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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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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"
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FixedStep "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 "auto"
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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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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 4
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Version "1.11.1"
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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 on
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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 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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BitfieldContainerType "uint_T"
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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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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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SignalRangeChecking "none"
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ReadBeforeWriteMsg "UseLocalSettings"
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WriteAfterWriteMsg "UseLocalSettings"
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AlgebraicLoopMsg "warning"
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ArtificialAlgebraicLoopMsg "warning"
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SaveWithDisabledLinksMsg "warning"
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CheckSSInitialOutputMsg on
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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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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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SigSpecEnsureSampleTimeMsg "warning"
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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
|
|
}
|
|
}
|
|
}
|