Dragon
Matlab code for quadcopter
Dependents: combination combination
LAAP.cpp@0:25d32fc1c12e, 2019-11-25 (annotated)
- Committer:
- Glaxys_finest1
- Date:
- Mon Nov 25 10:51:06 2019 +0000
- Revision:
- 0:25d32fc1c12e
hello1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Glaxys_finest1 | 0:25d32fc1c12e | 1 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 2 | // File: LAAP.cpp |
| Glaxys_finest1 | 0:25d32fc1c12e | 3 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 4 | // Code generated for Simulink model 'LAAP'. |
| Glaxys_finest1 | 0:25d32fc1c12e | 5 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 6 | // Model version : 1.2 |
| Glaxys_finest1 | 0:25d32fc1c12e | 7 | // Simulink Coder version : 9.1 (R2019a) 23-Nov-2018 |
| Glaxys_finest1 | 0:25d32fc1c12e | 8 | // C/C++ source code generated on : Mon Nov 18 17:57:49 2019 |
| Glaxys_finest1 | 0:25d32fc1c12e | 9 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 10 | // Target selection: ert.tlc |
| Glaxys_finest1 | 0:25d32fc1c12e | 11 | // Embedded hardware selection: ARM Compatible->ARM Cortex |
| Glaxys_finest1 | 0:25d32fc1c12e | 12 | // Code generation objectives: |
| Glaxys_finest1 | 0:25d32fc1c12e | 13 | // 1. Execution efficiency |
| Glaxys_finest1 | 0:25d32fc1c12e | 14 | // 2. RAM efficiency |
| Glaxys_finest1 | 0:25d32fc1c12e | 15 | // Validation result: Not run |
| Glaxys_finest1 | 0:25d32fc1c12e | 16 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 17 | #include "LAAP.h" |
| Glaxys_finest1 | 0:25d32fc1c12e | 18 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 19 | // Model step function |
| Glaxys_finest1 | 0:25d32fc1c12e | 20 | void LAAPModelClass::step() |
| Glaxys_finest1 | 0:25d32fc1c12e | 21 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 22 | static const int8_T b[3] = { 0, 1, 0 }; |
| Glaxys_finest1 | 0:25d32fc1c12e | 23 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 24 | static const real_T b_0[12] = { 0.0028, 0.003, 3.1623, 0.0012, 0.0012, 3.68, |
| Glaxys_finest1 | 0:25d32fc1c12e | 25 | 1.6056, 1.6056, 1.0, 0.153, 0.153, 0.1 }; |
| Glaxys_finest1 | 0:25d32fc1c12e | 26 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 27 | static const int8_T c[3] = { 0, 1, 0 }; |
| Glaxys_finest1 | 0:25d32fc1c12e | 28 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 29 | static const real_T a[16] = { 0.25, 0.25, 0.25, 0.25, 0.0, 2.193, 0.0, -2.193, |
| Glaxys_finest1 | 0:25d32fc1c12e | 30 | -2.193, 0.0, 2.193, 0.0, 4.2591, -4.2591, 4.2591, -4.2591 }; |
| Glaxys_finest1 | 0:25d32fc1c12e | 31 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 32 | int32_T r1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 33 | int32_T i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 34 | real_T Fdes_idx_2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 35 | real_T Fdes_idx_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 36 | real_T Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 37 | real_T rtb_TmpSignalConversionAtSFun_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 38 | real_T rtb_TmpSignalConversionAtSFun_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 39 | int32_T R_tmp; |
| Glaxys_finest1 | 0:25d32fc1c12e | 40 | int32_T b_I_tmp; |
| Glaxys_finest1 | 0:25d32fc1c12e | 41 | int32_T b_I_tmp_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 42 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 43 | // Outputs for Atomic SubSystem: '<Root>/Adaptive large angle controller' |
| Glaxys_finest1 | 0:25d32fc1c12e | 44 | // Delay: '<S1>/Delay1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 45 | memcpy(&rtDW.Delay1[0], &rtDW.psy[0], 12U * sizeof(real_T)); |
| Glaxys_finest1 | 0:25d32fc1c12e | 46 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 47 | // Outputs for Atomic SubSystem: '<S1>/quadcopter_dynamics_prediction' |
| Glaxys_finest1 | 0:25d32fc1c12e | 48 | // MATLAB Function: '<S3>/Euler equations of motion1 ' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 49 | // Constant: '<S1>/mass ' |
| Glaxys_finest1 | 0:25d32fc1c12e | 50 | // Delay: '<S1>/Delay' |
| Glaxys_finest1 | 0:25d32fc1c12e | 51 | // Delay: '<S3>/Delay' |
| Glaxys_finest1 | 0:25d32fc1c12e | 52 | // Delay: '<S3>/Delay1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 53 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 54 | rtDW.b_I[0] = 0.01023564759; |
| Glaxys_finest1 | 0:25d32fc1c12e | 55 | rtDW.b_I[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 56 | rtDW.b_I[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 57 | rtDW.b_I[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 58 | rtDW.b_I[4] = 0.01023564759; |
| Glaxys_finest1 | 0:25d32fc1c12e | 59 | rtDW.b_I[7] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 60 | rtDW.b_I[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 61 | rtDW.b_I[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 62 | rtDW.b_I[8] = 0.02047129518; |
| Glaxys_finest1 | 0:25d32fc1c12e | 63 | rtDW.maxval = std::cos(rtDW.Delay1_DSTATE_l[2]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 64 | rtDW.b_I_k[0] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 65 | rtDW.Add1_k = std::sin(rtDW.Delay1_DSTATE_l[2]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 66 | rtDW.b_I_k[3] = -rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 67 | rtDW.b_I_k[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 68 | rtDW.b_I_k[1] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 69 | rtDW.b_I_k[4] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 70 | rtDW.b_I_k[7] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 71 | rtDW.b_I_k[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 72 | rtDW.d[0] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 73 | rtDW.b_I_k[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 74 | rtDW.d[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 75 | rtDW.b_I_k[8] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 76 | rtDW.d[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 77 | rtDW.d[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 78 | Fdes_idx_0 = std::cos(rtDW.Delay1_DSTATE_l[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 79 | rtDW.d[4] = Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 80 | Fdes_idx_1 = std::sin(rtDW.Delay1_DSTATE_l[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 81 | rtDW.d[7] = -Fdes_idx_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 82 | rtDW.d[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 83 | rtDW.d[5] = Fdes_idx_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 84 | rtDW.d[8] = Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 85 | rtDW.maxval = std::cos(rtDW.Delay1_DSTATE_l[1]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 86 | rtDW.dv0[0] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 87 | rtDW.dv0[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 88 | rtDW.Add1_k = std::sin(rtDW.Delay1_DSTATE_l[1]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 89 | rtDW.dv0[6] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 90 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 91 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 92 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 93 | rtDW.R_c[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 94 | rtDW.R_c[R_tmp] += rtDW.d[3 * i] * rtDW.b_I_k[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 95 | rtDW.R_c[R_tmp] += rtDW.d[3 * i + 1] * rtDW.b_I_k[r1 + 3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 96 | rtDW.R_c[R_tmp] += rtDW.d[3 * i + 2] * rtDW.b_I_k[r1 + 6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 97 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 98 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 99 | rtDW.dv0[1 + 3 * r1] = b[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 100 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 101 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 102 | rtDW.dv0[2] = -rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 103 | rtDW.dv0[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 104 | rtDW.dv0[8] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 105 | rtDW.w_dot[0] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 106 | rtDW.w_dot[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 107 | rtDW.w_dot[2] = rtDW.Delay_DSTATE[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 108 | rtDW.dv2[0] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 109 | rtDW.dv2[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 110 | rtDW.dv2[2] = -7.3575; |
| Glaxys_finest1 | 0:25d32fc1c12e | 111 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 112 | rtDW.wb[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 113 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 114 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 115 | rtDW.b_I_k[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 116 | rtDW.b_I_k[R_tmp] += rtDW.dv0[3 * i] * rtDW.R_c[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 117 | rtDW.b_I_k[R_tmp] += rtDW.dv0[3 * i + 1] * rtDW.R_c[r1 + 3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 118 | rtDW.b_I_k[R_tmp] += rtDW.dv0[3 * i + 2] * rtDW.R_c[r1 + 6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 119 | rtDW.wb[r1] += rtDW.b_I_k[R_tmp] * rtDW.w_dot[i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 120 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 121 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 122 | rtDW.a_dotdot[r1] = (rtDW.dv2[r1] + rtDW.wb[r1]) * 1.3333333333333333; |
| Glaxys_finest1 | 0:25d32fc1c12e | 123 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 124 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 125 | rtDW.b_I_k[0] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 126 | rtDW.b_I_k[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 127 | rtDW.b_I_k[6] = -Fdes_idx_0 * rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 128 | rtDW.b_I_k[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 129 | rtDW.b_I_k[4] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 130 | rtDW.b_I_k[7] = Fdes_idx_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 131 | rtDW.b_I_k[2] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 132 | rtDW.b_I_k[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 133 | rtDW.b_I_k[8] = Fdes_idx_0 * rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 134 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 135 | rtDW.wb[r1] = rtDW.b_I_k[r1 + 6] * rtDW.Delay_DSTATE_h[2] + (rtDW.b_I_k[r1 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 136 | 3] * rtDW.Delay_DSTATE_h[1] + rtDW.b_I_k[r1] * rtDW.Delay_DSTATE_h[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 137 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 138 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 139 | rtDW.b_I_k[0] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 140 | rtDW.b_I_k[3] = -rtDW.wb[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 141 | rtDW.b_I_k[6] = rtDW.wb[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 142 | rtDW.b_I_k[1] = rtDW.wb[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 143 | rtDW.b_I_k[4] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 144 | rtDW.b_I_k[7] = -rtDW.wb[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 145 | rtDW.b_I_k[2] = -rtDW.wb[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 146 | rtDW.b_I_k[5] = rtDW.wb[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 147 | rtDW.b_I_k[8] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 148 | rtDW.w_dot[0] = rtDW.Delay_DSTATE[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 149 | rtDW.w_dot[1] = rtDW.Delay_DSTATE[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 150 | rtDW.w_dot[2] = rtDW.Delay_DSTATE[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 151 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 152 | rtDW.dv2[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 153 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 154 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 155 | rtDW.R_c[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 156 | rtDW.R_c[R_tmp] += rtDW.b_I[3 * i] * rtDW.b_I_k[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 157 | rtDW.R_c[R_tmp] += rtDW.b_I[3 * i + 1] * rtDW.b_I_k[r1 + 3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 158 | rtDW.R_c[R_tmp] += rtDW.b_I[3 * i + 2] * rtDW.b_I_k[r1 + 6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 159 | rtDW.dv2[r1] += rtDW.R_c[R_tmp] * rtDW.wb[i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 160 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 161 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 162 | rtDW.Iw_dot[r1] = rtDW.w_dot[r1] - rtDW.dv2[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 163 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 164 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 165 | rtDW.w_dot[1] = rtDW.Iw_dot[1] - rtDW.Iw_dot[0] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 166 | rtDW.w_dot[2] = (rtDW.Iw_dot[2] - rtDW.Iw_dot[0] * 0.0) - rtDW.w_dot[1] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 167 | rtDW.w_dot[2] /= 0.02047129518; |
| Glaxys_finest1 | 0:25d32fc1c12e | 168 | rtDW.w_dot[0] = rtDW.Iw_dot[0] - rtDW.w_dot[2] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 169 | rtDW.w_dot[1] -= rtDW.w_dot[2] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 170 | rtDW.w_dot[1] /= 0.01023564759; |
| Glaxys_finest1 | 0:25d32fc1c12e | 171 | rtDW.w_dot[0] -= rtDW.w_dot[1] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 172 | rtDW.w_dot[0] /= 0.01023564759; |
| Glaxys_finest1 | 0:25d32fc1c12e | 173 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 174 | // DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 175 | for (r1 = 0; r1 < 6; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 176 | if (rtDW.Integrator_PrevResetState != 0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 177 | rtDW.Integrator_DSTATE_ep[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 178 | if (rtDW.Integrator_DSTATE_ep[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 179 | rtDW.Integrator_DSTATE_ep[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 180 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 181 | if (rtDW.Integrator_DSTATE_ep[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 182 | rtDW.Integrator_DSTATE_ep[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 183 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 184 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 185 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 186 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 187 | if (rtDW.Integrator_DSTATE_ep[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 188 | rtDW.Integrator_DSTATE_ep[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 189 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 190 | if (rtDW.Integrator_DSTATE_ep[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 191 | rtDW.Integrator_DSTATE_ep[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 192 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 193 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 194 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 195 | rtDW.Integrator[r1] = rtDW.Integrator_DSTATE_ep[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 196 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 197 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 198 | // DiscreteIntegrator: '<S14>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 199 | // Inport: '<Root>/phi' |
| Glaxys_finest1 | 0:25d32fc1c12e | 200 | // Inport: '<Root>/psi' |
| Glaxys_finest1 | 0:25d32fc1c12e | 201 | // Inport: '<Root>/theta' |
| Glaxys_finest1 | 0:25d32fc1c12e | 202 | // Inport: '<Root>/x' |
| Glaxys_finest1 | 0:25d32fc1c12e | 203 | // Inport: '<Root>/y' |
| Glaxys_finest1 | 0:25d32fc1c12e | 204 | // Inport: '<Root>/z' |
| Glaxys_finest1 | 0:25d32fc1c12e | 205 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 206 | if (rtDW.Integrator_IC_LOADING != 0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 207 | rtDW.Integrator_DSTATE_k[0] = rtU.x; |
| Glaxys_finest1 | 0:25d32fc1c12e | 208 | rtDW.Integrator_DSTATE_k[1] = rtU.y; |
| Glaxys_finest1 | 0:25d32fc1c12e | 209 | rtDW.Integrator_DSTATE_k[2] = rtU.z; |
| Glaxys_finest1 | 0:25d32fc1c12e | 210 | rtDW.Integrator_DSTATE_k[3] = rtU.phi; |
| Glaxys_finest1 | 0:25d32fc1c12e | 211 | rtDW.Integrator_DSTATE_k[4] = rtU.theta; |
| Glaxys_finest1 | 0:25d32fc1c12e | 212 | rtDW.Integrator_DSTATE_k[5] = rtU.psi; |
| Glaxys_finest1 | 0:25d32fc1c12e | 213 | for (r1 = 0; r1 < 6; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 214 | if (rtDW.Integrator_DSTATE_k[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 215 | rtDW.Integrator_DSTATE_k[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 216 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 217 | if (rtDW.Integrator_DSTATE_k[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 218 | rtDW.Integrator_DSTATE_k[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 219 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 220 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 221 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 222 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 223 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 224 | if (rtDW.Integrator_PrevResetState_n != 0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 225 | rtDW.Integrator_DSTATE_k[0] = rtU.x; |
| Glaxys_finest1 | 0:25d32fc1c12e | 226 | rtDW.Integrator_DSTATE_k[1] = rtU.y; |
| Glaxys_finest1 | 0:25d32fc1c12e | 227 | rtDW.Integrator_DSTATE_k[2] = rtU.z; |
| Glaxys_finest1 | 0:25d32fc1c12e | 228 | rtDW.Integrator_DSTATE_k[3] = rtU.phi; |
| Glaxys_finest1 | 0:25d32fc1c12e | 229 | rtDW.Integrator_DSTATE_k[4] = rtU.theta; |
| Glaxys_finest1 | 0:25d32fc1c12e | 230 | rtDW.Integrator_DSTATE_k[5] = rtU.psi; |
| Glaxys_finest1 | 0:25d32fc1c12e | 231 | for (r1 = 0; r1 < 6; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 232 | if (rtDW.Integrator_DSTATE_k[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 233 | rtDW.Integrator_DSTATE_k[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 234 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 235 | if (rtDW.Integrator_DSTATE_k[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 236 | rtDW.Integrator_DSTATE_k[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 237 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 238 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 239 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 240 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 241 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 242 | for (r1 = 0; r1 < 6; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 243 | if (rtDW.Integrator_DSTATE_k[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 244 | rtDW.Integrator_DSTATE_k[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 245 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 246 | if (rtDW.Integrator_DSTATE_k[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 247 | rtDW.Integrator_DSTATE_k[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 248 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 249 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 250 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 251 | rtDW.Integrator_p[r1] = rtDW.Integrator_DSTATE_k[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 252 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 253 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 254 | // Update for Delay: '<S3>/Delay' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 255 | // DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 256 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 257 | rtDW.Delay_DSTATE_h[0] = rtDW.Integrator_DSTATE_ep[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 258 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 259 | // Update for Delay: '<S3>/Delay1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 260 | // DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 261 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 262 | rtDW.Delay1_DSTATE_l[0] = rtDW.Integrator_DSTATE_k[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 263 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 264 | // Update for Delay: '<S3>/Delay' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 265 | // DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 266 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 267 | rtDW.Delay_DSTATE_h[1] = rtDW.Integrator_DSTATE_ep[4]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 268 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 269 | // Update for Delay: '<S3>/Delay1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 270 | // DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 271 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 272 | rtDW.Delay1_DSTATE_l[1] = rtDW.Integrator_DSTATE_k[4]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 273 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 274 | // Update for Delay: '<S3>/Delay' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 275 | // DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 276 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 277 | rtDW.Delay_DSTATE_h[2] = rtDW.Integrator_DSTATE_ep[5]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 278 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 279 | // Update for Delay: '<S3>/Delay1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 280 | // DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 281 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 282 | rtDW.Delay1_DSTATE_l[2] = rtDW.Integrator_DSTATE_k[5]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 283 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 284 | // Update for DiscreteIntegrator: '<S13>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 285 | // MATLAB Function: '<S3>/Euler equations of motion1 ' |
| Glaxys_finest1 | 0:25d32fc1c12e | 286 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 287 | rtDW.dv1[0] = 0.0001 * rtDW.a_dotdot[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 288 | rtDW.dv1[1] = 0.0001 * rtDW.a_dotdot[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 289 | rtDW.dv1[2] = 0.0001 * rtDW.a_dotdot[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 290 | rtDW.dv1[3] = 0.0001 * rtDW.w_dot[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 291 | rtDW.dv1[4] = 0.0001 * rtDW.w_dot[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 292 | rtDW.dv1[5] = 0.0001 * rtDW.w_dot[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 293 | rtDW.Integrator_PrevResetState = 0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 294 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 295 | // Update for DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 296 | rtDW.Integrator_IC_LOADING = 0U; |
| Glaxys_finest1 | 0:25d32fc1c12e | 297 | for (r1 = 0; r1 < 6; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 298 | // Update for DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 299 | rtDW.Integrator_DSTATE_ep[r1] += rtDW.dv1[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 300 | if (rtDW.Integrator_DSTATE_ep[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 301 | rtDW.Integrator_DSTATE_ep[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 302 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 303 | if (rtDW.Integrator_DSTATE_ep[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 304 | rtDW.Integrator_DSTATE_ep[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 305 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 306 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 307 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 308 | // Update for DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 309 | rtDW.Integrator_DSTATE_k[r1] += 0.0001 * rtDW.Integrator[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 310 | if (rtDW.Integrator_DSTATE_k[r1] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 311 | rtDW.Integrator_DSTATE_k[r1] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 312 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 313 | if (rtDW.Integrator_DSTATE_k[r1] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 314 | rtDW.Integrator_DSTATE_k[r1] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 315 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 316 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 317 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 318 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 319 | // Update for DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 320 | rtDW.Integrator_PrevResetState_n = 0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 321 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 322 | // End of Outputs for SubSystem: '<S1>/quadcopter_dynamics_prediction' |
| Glaxys_finest1 | 0:25d32fc1c12e | 323 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 324 | // Outputs for Atomic SubSystem: '<S1>/largepaa' |
| Glaxys_finest1 | 0:25d32fc1c12e | 325 | // Outputs for Enabled SubSystem: '<S2>/large_controller' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 326 | // EnablePort: '<S5>/Enable' |
| Glaxys_finest1 | 0:25d32fc1c12e | 327 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 328 | // MATLAB Function: '<S5>/MATLAB Function3' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 329 | // Constant: '<S2>/mass 1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 330 | // Delay: '<S2>/Delay' |
| Glaxys_finest1 | 0:25d32fc1c12e | 331 | // Inport: '<Root>/angles' |
| Glaxys_finest1 | 0:25d32fc1c12e | 332 | // Inport: '<Root>/r' |
| Glaxys_finest1 | 0:25d32fc1c12e | 333 | // Inport: '<Root>/rdot' |
| Glaxys_finest1 | 0:25d32fc1c12e | 334 | // Inport: '<Root>/wb' |
| Glaxys_finest1 | 0:25d32fc1c12e | 335 | // Inport: '<Root>/x' |
| Glaxys_finest1 | 0:25d32fc1c12e | 336 | // Inport: '<Root>/y' |
| Glaxys_finest1 | 0:25d32fc1c12e | 337 | // Inport: '<Root>/z' |
| Glaxys_finest1 | 0:25d32fc1c12e | 338 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 339 | rtDW.a_dotdot[0] = rtU.r[0] - rtU.x; |
| Glaxys_finest1 | 0:25d32fc1c12e | 340 | rtDW.a_dotdot[1] = rtU.r[1] - rtU.y; |
| Glaxys_finest1 | 0:25d32fc1c12e | 341 | rtDW.a_dotdot[2] = rtU.r[2] - rtU.z; |
| Glaxys_finest1 | 0:25d32fc1c12e | 342 | Fdes_idx_0 = -rtDW.Delay_DSTATE_hf[0] * rtDW.a_dotdot[0] - |
| Glaxys_finest1 | 0:25d32fc1c12e | 343 | rtDW.Delay_DSTATE_hf[3] * rtU.rdot[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 344 | rtDW.Iw_dot[0] = rtU.rdot[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 345 | rtDW.w_dot[0] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 346 | Fdes_idx_1 = -rtDW.Delay_DSTATE_hf[1] * rtDW.a_dotdot[1] - |
| Glaxys_finest1 | 0:25d32fc1c12e | 347 | rtDW.Delay_DSTATE_hf[4] * rtU.rdot[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 348 | rtDW.Iw_dot[1] = rtU.rdot[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 349 | rtDW.w_dot[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 350 | Fdes_idx_2 = ((-rtDW.Delay_DSTATE_hf[2] * rtDW.a_dotdot[2] - |
| Glaxys_finest1 | 0:25d32fc1c12e | 351 | rtDW.Delay_DSTATE_hf[5] * rtU.rdot[2]) - 7.3575) + 7.3575; |
| Glaxys_finest1 | 0:25d32fc1c12e | 352 | rtDW.Iw_dot[2] = rtU.rdot[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 353 | rtDW.w_dot[2] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 354 | rtDW.maxval = std::sqrt((Fdes_idx_0 * Fdes_idx_0 + Fdes_idx_1 * Fdes_idx_1) + |
| Glaxys_finest1 | 0:25d32fc1c12e | 355 | Fdes_idx_2 * Fdes_idx_2); |
| Glaxys_finest1 | 0:25d32fc1c12e | 356 | if (rtDW.maxval == 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 357 | rtDW.maxval = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 358 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 359 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 360 | rtDW.maxval = 1.0 / rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 361 | rtDW.Zbdes[0] = rtDW.maxval * Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 362 | rtDW.Zbdes[1] = rtDW.maxval * Fdes_idx_1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 363 | rtDW.Zbdes[2] = rtDW.maxval * Fdes_idx_2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 364 | rtDW.crossZX[0] = rtDW.Zbdes[1] * 0.0 - rtDW.Zbdes[2] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 365 | rtDW.crossZX[1] = rtDW.Zbdes[2] - rtDW.Zbdes[0] * 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 366 | rtDW.crossZX[2] = rtDW.Zbdes[0] * 0.0 - rtDW.Zbdes[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 367 | rtDW.maxval = std::sqrt((rtDW.crossZX[0] * rtDW.crossZX[0] + rtDW.crossZX[1] * |
| Glaxys_finest1 | 0:25d32fc1c12e | 368 | rtDW.crossZX[1]) + rtDW.crossZX[2] * rtDW.crossZX[2]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 369 | if (rtDW.maxval == 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 370 | rtDW.maxval = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 371 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 372 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 373 | rtDW.maxval = 1.0 / rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 374 | rtDW.Add1_k = rtDW.maxval * rtDW.crossZX[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 375 | rtDW.b_I[3] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 376 | rtDW.b_I[6] = rtDW.Zbdes[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 377 | rtDW.crossZX[0] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 378 | rtDW.Add1_k = rtDW.maxval * rtDW.crossZX[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 379 | rtDW.b_I[4] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 380 | rtDW.b_I[7] = rtDW.Zbdes[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 381 | rtDW.crossZX[1] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 382 | rtDW.Add1_k = rtDW.maxval * rtDW.crossZX[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 383 | rtDW.b_I[5] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 384 | rtDW.b_I[8] = rtDW.Zbdes[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 385 | rtDW.b_I[0] = rtDW.crossZX[1] * rtDW.Zbdes[2] - rtDW.Add1_k * rtDW.Zbdes[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 386 | rtDW.b_I[1] = rtDW.Add1_k * rtDW.Zbdes[0] - rtDW.crossZX[0] * rtDW.Zbdes[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 387 | rtDW.b_I[2] = rtDW.crossZX[0] * rtDW.Zbdes[1] - rtDW.crossZX[1] * rtDW.Zbdes[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 388 | rtDW.maxval = std::cos(rtU.angles[2]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 389 | rtDW.b_I_k[0] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 390 | rtDW.Add1_k = std::sin(rtU.angles[2]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 391 | rtDW.b_I_k[3] = -rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 392 | rtDW.b_I_k[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 393 | rtDW.b_I_k[1] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 394 | rtDW.b_I_k[4] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 395 | rtDW.b_I_k[7] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 396 | rtDW.b_I_k[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 397 | rtDW.d[0] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 398 | rtDW.b_I_k[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 399 | rtDW.d[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 400 | rtDW.b_I_k[8] = 1.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 401 | rtDW.d[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 402 | rtDW.d[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 403 | rtDW.maxval = std::cos(rtU.angles[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 404 | rtDW.d[4] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 405 | rtDW.Add1_k = std::sin(rtU.angles[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 406 | rtDW.d[7] = -rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 407 | rtDW.d[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 408 | rtDW.d[5] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 409 | rtDW.d[8] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 410 | rtDW.maxval = std::cos(rtU.angles[1]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 411 | rtDW.dv0[0] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 412 | rtDW.dv0[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 413 | rtDW.Add1_k = std::sin(rtU.angles[1]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 414 | rtDW.dv0[6] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 415 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 416 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 417 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 418 | rtDW.R_c[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 419 | rtDW.R_c[R_tmp] += rtDW.d[3 * i] * rtDW.b_I_k[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 420 | rtDW.R_c[R_tmp] += rtDW.d[3 * i + 1] * rtDW.b_I_k[r1 + 3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 421 | rtDW.R_c[R_tmp] += rtDW.d[3 * i + 2] * rtDW.b_I_k[r1 + 6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 422 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 423 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 424 | rtDW.dv0[1 + 3 * r1] = c[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 425 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 426 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 427 | rtDW.dv0[2] = -rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 428 | rtDW.dv0[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 429 | rtDW.dv0[8] = rtDW.maxval; |
| Glaxys_finest1 | 0:25d32fc1c12e | 430 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 431 | rtDW.Zbdes[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 432 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 433 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 434 | rtDW.R[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 435 | rtDW.R[R_tmp] += rtDW.dv0[3 * i] * rtDW.R_c[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 436 | rtDW.R[R_tmp] += rtDW.dv0[3 * i + 1] * rtDW.R_c[r1 + 3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 437 | rtDW.R[R_tmp] += rtDW.dv0[3 * i + 2] * rtDW.R_c[r1 + 6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 438 | rtDW.Zbdes[r1] += rtDW.R[R_tmp] * rtDW.w_dot[i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 439 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 440 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 441 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 442 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 443 | for (i = 0; i < 3; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 444 | R_tmp = r1 + 3 * i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 445 | rtDW.b_I_k[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 446 | rtDW.R_c[R_tmp] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 447 | rtDW.b_I_k[R_tmp] += rtDW.b_I[3 * r1] * rtDW.R[3 * i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 448 | rtDW.R_c[R_tmp] += rtDW.R[3 * r1] * rtDW.b_I[3 * i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 449 | b_I_tmp = 3 * r1 + 1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 450 | b_I_tmp_0 = 3 * i + 1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 451 | rtDW.b_I_k[R_tmp] += rtDW.b_I[b_I_tmp] * rtDW.R[b_I_tmp_0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 452 | rtDW.R_c[R_tmp] += rtDW.R[b_I_tmp] * rtDW.b_I[b_I_tmp_0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 453 | b_I_tmp = 3 * r1 + 2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 454 | b_I_tmp_0 = 3 * i + 2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 455 | rtDW.b_I_k[R_tmp] += rtDW.b_I[b_I_tmp] * rtDW.R[b_I_tmp_0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 456 | rtDW.R_c[R_tmp] += rtDW.R[b_I_tmp] * rtDW.b_I[b_I_tmp_0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 457 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 458 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 459 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 460 | for (r1 = 0; r1 < 9; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 461 | rtDW.b_I[r1] = (rtDW.b_I_k[r1] - rtDW.R_c[r1]) * 0.5; |
| Glaxys_finest1 | 0:25d32fc1c12e | 462 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 463 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 464 | rtDW.Xc[0] = rtDW.b_I[5]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 465 | rtDW.Xc[1] = rtDW.b_I[6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 466 | rtDW.Xc[2] = rtDW.b_I[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 467 | rtDW.b_I_k[0] = -rtDW.Delay_DSTATE_hf[6]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 468 | rtDW.b_I_k[3] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 469 | rtDW.b_I_k[6] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 470 | rtDW.b_I_k[1] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 471 | rtDW.b_I_k[4] = -rtDW.Delay_DSTATE_hf[7]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 472 | rtDW.b_I_k[7] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 473 | rtDW.b_I_k[2] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 474 | rtDW.b_I_k[5] = -0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 475 | rtDW.b_I_k[8] = -rtDW.Delay_DSTATE_hf[8]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 476 | rtDW.R_c[0] = rtDW.Delay_DSTATE_hf[9]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 477 | rtDW.R_c[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 478 | rtDW.R_c[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 479 | rtDW.R_c[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 480 | rtDW.R_c[4] = rtDW.Delay_DSTATE_hf[10]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 481 | rtDW.R_c[7] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 482 | rtDW.R_c[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 483 | rtDW.R_c[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 484 | rtDW.R_c[8] = rtDW.Delay_DSTATE_hf[11]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 485 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 486 | rtDW.psy[r1] = rtDW.a_dotdot[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 487 | rtDW.psy[r1 + 3] = rtDW.Iw_dot[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 488 | rtDW.psy[r1 + 6] = rtDW.Xc[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 489 | rtDW.psy[r1 + 9] = rtU.wb[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 490 | rtDW.crossZX[r1] = rtU.wb[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 491 | rtDW.w_dot[r1] = rtDW.b_I_k[r1 + 6] * rtDW.Xc[2] + (rtDW.b_I_k[r1 + 3] * |
| Glaxys_finest1 | 0:25d32fc1c12e | 492 | rtDW.Xc[1] + rtDW.b_I_k[r1] * rtDW.Xc[0]); |
| Glaxys_finest1 | 0:25d32fc1c12e | 493 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 494 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 495 | rtDW.A[0] = ((Fdes_idx_0 * rtDW.Zbdes[0] + Fdes_idx_1 * rtDW.Zbdes[1]) + |
| Glaxys_finest1 | 0:25d32fc1c12e | 496 | Fdes_idx_2 * rtDW.Zbdes[2]) + 7.3575; |
| Glaxys_finest1 | 0:25d32fc1c12e | 497 | for (r1 = 0; r1 < 3; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 498 | rtDW.A[r1 + 1] = rtDW.w_dot[r1] - (rtDW.R_c[r1 + 6] * rtDW.crossZX[2] + |
| Glaxys_finest1 | 0:25d32fc1c12e | 499 | (rtDW.R_c[r1 + 3] * rtDW.crossZX[1] + rtDW.R_c[r1] * rtDW.crossZX[0])); |
| Glaxys_finest1 | 0:25d32fc1c12e | 500 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 501 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 502 | // End of MATLAB Function: '<S5>/MATLAB Function3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 503 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 504 | // Saturate: '<S5>/Saturation' |
| Glaxys_finest1 | 0:25d32fc1c12e | 505 | if (rtDW.A[0] > 27.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 506 | rtDW.maxval = 27.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 507 | } else if (rtDW.A[0] < 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 508 | rtDW.maxval = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 509 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 510 | rtDW.maxval = rtDW.A[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 511 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 512 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 513 | if (rtDW.A[1] > 1.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 514 | Fdes_idx_0 = 1.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 515 | } else if (rtDW.A[1] < -1.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 516 | Fdes_idx_0 = -1.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 517 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 518 | Fdes_idx_0 = rtDW.A[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 519 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 520 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 521 | if (rtDW.A[2] > 1.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 522 | Fdes_idx_1 = 1.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 523 | } else if (rtDW.A[2] < -1.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 524 | Fdes_idx_1 = -1.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 525 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 526 | Fdes_idx_1 = rtDW.A[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 527 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 528 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 529 | if (rtDW.A[3] > 0.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 530 | Fdes_idx_2 = 0.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 531 | } else if (rtDW.A[3] < -0.6) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 532 | Fdes_idx_2 = -0.6; |
| Glaxys_finest1 | 0:25d32fc1c12e | 533 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 534 | Fdes_idx_2 = rtDW.A[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 535 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 536 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 537 | // End of Saturate: '<S5>/Saturation' |
| Glaxys_finest1 | 0:25d32fc1c12e | 538 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 539 | // MATLAB Function: '<S5>/MATLAB Function1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 540 | for (r1 = 0; r1 < 4; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 541 | rtDW.Add1_k = a[r1 + 12] * Fdes_idx_2 + (a[r1 + 8] * Fdes_idx_1 + (a[r1 + 4] |
| Glaxys_finest1 | 0:25d32fc1c12e | 542 | * Fdes_idx_0 + a[r1] * rtDW.maxval)); |
| Glaxys_finest1 | 0:25d32fc1c12e | 543 | rtDW.A[r1] = rtDW.Add1_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 544 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 545 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 546 | if (rtDW.A[0] < 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 547 | rtDW.A[0] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 548 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 549 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 550 | if (rtDW.A[1] < 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 551 | rtDW.A[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 552 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 553 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 554 | if (rtDW.A[2] < 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 555 | rtDW.A[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 556 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 557 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 558 | if (rtDW.A[3] < 0.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 559 | rtDW.A[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 560 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 561 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 562 | rtDW.duty[0] = (3485.3574033876184 * std::sqrt(rtDW.A[0]) * 0.1865 + 768.0) / |
| Glaxys_finest1 | 0:25d32fc1c12e | 563 | 20000.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 564 | rtDW.duty[1] = (3485.3574033876184 * std::sqrt(rtDW.A[1]) * 0.1865 + 768.0) / |
| Glaxys_finest1 | 0:25d32fc1c12e | 565 | 20000.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 566 | rtDW.duty[2] = (3485.3574033876184 * std::sqrt(rtDW.A[2]) * 0.1865 + 768.0) / |
| Glaxys_finest1 | 0:25d32fc1c12e | 567 | 20000.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 568 | rtDW.duty[3] = (3485.3574033876184 * std::sqrt(rtDW.A[3]) * 0.1865 + 768.0) / |
| Glaxys_finest1 | 0:25d32fc1c12e | 569 | 20000.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 570 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 571 | // End of MATLAB Function: '<S5>/MATLAB Function1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 572 | // End of Outputs for SubSystem: '<S2>/large_controller' |
| Glaxys_finest1 | 0:25d32fc1c12e | 573 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 574 | // MATLAB Function: '<S6>/MATLAB Function3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 575 | rtDW.F[0] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 576 | rtDW.F[12] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 577 | rtDW.F[24] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 578 | rtDW.F[36] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 579 | rtDW.F[48] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 580 | rtDW.F[60] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 581 | rtDW.F[72] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 582 | rtDW.F[84] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 583 | rtDW.F[96] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 584 | rtDW.F[108] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 585 | rtDW.F[120] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 586 | rtDW.F[132] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 587 | rtDW.F[1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 588 | rtDW.F[13] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 589 | rtDW.F[25] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 590 | rtDW.F[37] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 591 | rtDW.F[49] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 592 | rtDW.F[61] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 593 | rtDW.F[73] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 594 | rtDW.F[85] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 595 | rtDW.F[97] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 596 | rtDW.F[109] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 597 | rtDW.F[121] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 598 | rtDW.F[133] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 599 | rtDW.F[2] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 600 | rtDW.F[14] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 601 | rtDW.F[26] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 602 | rtDW.F[38] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 603 | rtDW.F[50] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 604 | rtDW.F[62] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 605 | rtDW.F[74] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 606 | rtDW.F[86] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 607 | rtDW.F[98] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 608 | rtDW.F[110] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 609 | rtDW.F[122] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 610 | rtDW.F[134] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 611 | rtDW.F[3] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 612 | rtDW.F[15] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 613 | rtDW.F[27] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 614 | rtDW.F[39] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 615 | rtDW.F[51] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 616 | rtDW.F[63] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 617 | rtDW.F[75] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 618 | rtDW.F[87] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 619 | rtDW.F[99] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 620 | rtDW.F[111] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 621 | rtDW.F[123] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 622 | rtDW.F[135] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 623 | rtDW.F[4] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 624 | rtDW.F[16] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 625 | rtDW.F[28] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 626 | rtDW.F[40] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 627 | rtDW.F[52] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 628 | rtDW.F[64] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 629 | rtDW.F[76] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 630 | rtDW.F[88] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 631 | rtDW.F[100] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 632 | rtDW.F[112] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 633 | rtDW.F[124] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 634 | rtDW.F[136] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 635 | rtDW.F[5] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 636 | rtDW.F[17] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 637 | rtDW.F[29] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 638 | rtDW.F[41] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 639 | rtDW.F[53] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 640 | rtDW.F[65] = 0.001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 641 | rtDW.F[77] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 642 | rtDW.F[89] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 643 | rtDW.F[101] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 644 | rtDW.F[113] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 645 | rtDW.F[125] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 646 | rtDW.F[137] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 647 | rtDW.F[6] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 648 | rtDW.F[18] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 649 | rtDW.F[30] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 650 | rtDW.F[42] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 651 | rtDW.F[54] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 652 | rtDW.F[66] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 653 | rtDW.F[78] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 654 | rtDW.F[90] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 655 | rtDW.F[102] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 656 | rtDW.F[114] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 657 | rtDW.F[126] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 658 | rtDW.F[138] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 659 | rtDW.F[7] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 660 | rtDW.F[19] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 661 | rtDW.F[31] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 662 | rtDW.F[43] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 663 | rtDW.F[55] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 664 | rtDW.F[67] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 665 | rtDW.F[79] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 666 | rtDW.F[91] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 667 | rtDW.F[103] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 668 | rtDW.F[115] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 669 | rtDW.F[127] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 670 | rtDW.F[139] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 671 | rtDW.F[8] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 672 | rtDW.F[20] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 673 | rtDW.F[32] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 674 | rtDW.F[44] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 675 | rtDW.F[56] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 676 | rtDW.F[68] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 677 | rtDW.F[80] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 678 | rtDW.F[92] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 679 | rtDW.F[104] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 680 | rtDW.F[116] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 681 | rtDW.F[128] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 682 | rtDW.F[140] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 683 | rtDW.F[9] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 684 | rtDW.F[21] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 685 | rtDW.F[33] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 686 | rtDW.F[45] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 687 | rtDW.F[57] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 688 | rtDW.F[69] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 689 | rtDW.F[81] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 690 | rtDW.F[93] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 691 | rtDW.F[105] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 692 | rtDW.F[117] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 693 | rtDW.F[129] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 694 | rtDW.F[141] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 695 | rtDW.F[10] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 696 | rtDW.F[22] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 697 | rtDW.F[34] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 698 | rtDW.F[46] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 699 | rtDW.F[58] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 700 | rtDW.F[70] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 701 | rtDW.F[82] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 702 | rtDW.F[94] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 703 | rtDW.F[106] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 704 | rtDW.F[118] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 705 | rtDW.F[130] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 706 | rtDW.F[142] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 707 | rtDW.F[11] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 708 | rtDW.F[23] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 709 | rtDW.F[35] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 710 | rtDW.F[47] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 711 | rtDW.F[59] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 712 | rtDW.F[71] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 713 | rtDW.F[83] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 714 | rtDW.F[95] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 715 | rtDW.F[107] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 716 | rtDW.F[119] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 717 | rtDW.F[131] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 718 | rtDW.F[143] = 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 719 | rtDW.maxval = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 720 | for (r1 = 0; r1 < 12; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 721 | rtDW.rtb_Delay1_m[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 722 | for (i = 0; i < 12; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 723 | rtDW.rtb_Delay1_m[r1] += rtDW.F[12 * r1 + i] * rtDW.Delay1[i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 724 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 725 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 726 | rtDW.maxval += rtDW.rtb_Delay1_m[r1] * rtDW.Delay1[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 727 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 728 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 729 | // SignalConversion: '<S9>/TmpSignal ConversionAt SFunction Inport2' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 730 | // Inport: '<Root>/angles' |
| Glaxys_finest1 | 0:25d32fc1c12e | 731 | // Inport: '<Root>/r' |
| Glaxys_finest1 | 0:25d32fc1c12e | 732 | // Inport: '<Root>/rdot' |
| Glaxys_finest1 | 0:25d32fc1c12e | 733 | // Inport: '<Root>/wb' |
| Glaxys_finest1 | 0:25d32fc1c12e | 734 | // MATLAB Function: '<S6>/MATLAB Function3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 735 | // Sum: '<S6>/Add1' |
| Glaxys_finest1 | 0:25d32fc1c12e | 736 | // Sum: '<S6>/Add2' |
| Glaxys_finest1 | 0:25d32fc1c12e | 737 | // Sum: '<S6>/Add3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 738 | // Sum: '<S6>/Add4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 739 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 740 | rtDW.rtb_Delay1_m[0] = rtU.r[0] - rtDW.Integrator_p[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 741 | rtDW.rtb_Delay1_m[3] = rtU.rdot[0] - rtDW.Integrator[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 742 | rtDW.rtb_Delay1_m[6] = rtU.angles[0] - rtDW.Integrator_p[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 743 | rtDW.rtb_Delay1_m[9] = rtU.wb[0] - rtDW.wb[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 744 | rtDW.rtb_Delay1_m[1] = rtU.r[1] - rtDW.Integrator_p[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 745 | rtDW.rtb_Delay1_m[4] = rtU.rdot[1] - rtDW.Integrator[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 746 | rtDW.rtb_Delay1_m[7] = rtU.angles[1] - rtDW.Integrator_p[4]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 747 | rtDW.rtb_Delay1_m[10] = rtU.wb[1] - rtDW.wb[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 748 | rtDW.rtb_Delay1_m[2] = rtU.r[2] - rtDW.Integrator_p[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 749 | rtDW.rtb_Delay1_m[5] = rtU.rdot[2] - rtDW.Integrator[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 750 | rtDW.rtb_Delay1_m[8] = rtU.angles[2] - rtDW.Integrator_p[5]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 751 | rtDW.rtb_Delay1_m[11] = rtU.wb[2] - rtDW.wb[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 752 | for (r1 = 0; r1 < 12; r1++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 753 | // MATLAB Function: '<S6>/MATLAB Function3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 754 | rtDW.F_c[r1] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 755 | for (i = 0; i < 12; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 756 | rtDW.F_c[r1] += rtDW.F[12 * i + r1] * rtDW.Delay1[i]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 757 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 758 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 759 | // Update for Delay: '<S2>/Delay' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 760 | // MATLAB Function: '<S6>/MATLAB Function3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 761 | // SignalConversion: '<S9>/TmpSignal ConversionAt SFunction Inport2' |
| Glaxys_finest1 | 0:25d32fc1c12e | 762 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 763 | rtDW.Delay_DSTATE_hf[r1] = rtDW.F_c[r1] * rtDW.rtb_Delay1_m[r1] / (1.0 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 764 | rtDW.maxval) + b_0[r1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 765 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 766 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 767 | // End of Outputs for SubSystem: '<S1>/largepaa' |
| Glaxys_finest1 | 0:25d32fc1c12e | 768 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 769 | // Outputs for Atomic SubSystem: '<S1>/small_angle_control' |
| Glaxys_finest1 | 0:25d32fc1c12e | 770 | // Sum: '<S22>/Add1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 771 | // Inport: '<Root>/x' |
| Glaxys_finest1 | 0:25d32fc1c12e | 772 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 773 | rtDW.maxval = rtU.x - rtDW.Integrator_p[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 774 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 775 | // Gain: '<S144>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 776 | // DiscreteIntegrator: '<S136>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 777 | // Gain: '<S135>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 778 | // Sum: '<S136>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 779 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 780 | Fdes_idx_0 = (1.68326013623818 * rtDW.maxval - rtDW.Filter_DSTATE) * |
| Glaxys_finest1 | 0:25d32fc1c12e | 781 | 206.264558996617; |
| Glaxys_finest1 | 0:25d32fc1c12e | 782 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 783 | // Sum: '<S22>/Add2' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 784 | // Inport: '<Root>/y' |
| Glaxys_finest1 | 0:25d32fc1c12e | 785 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 786 | Fdes_idx_1 = rtU.y - rtDW.Integrator_p[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 787 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 788 | // Gain: '<S276>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 789 | // DiscreteIntegrator: '<S268>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 790 | // Gain: '<S267>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 791 | // Sum: '<S268>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 792 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 793 | Fdes_idx_2 = (1.68326013623818 * Fdes_idx_1 - rtDW.Filter_DSTATE_k) * |
| Glaxys_finest1 | 0:25d32fc1c12e | 794 | 206.264558996617; |
| Glaxys_finest1 | 0:25d32fc1c12e | 795 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 796 | // SignalConversion: '<S21>/TmpSignal ConversionAt SFunction Inport1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 797 | // DiscreteIntegrator: '<S141>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 798 | // DiscreteIntegrator: '<S273>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 799 | // Gain: '<S146>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 800 | // Gain: '<S278>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 801 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 802 | // Sum: '<S150>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 803 | // Sum: '<S282>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 804 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 805 | rtb_TmpSignalConversionAtSFun_1 = (0.576051138105677 * rtDW.maxval + |
| Glaxys_finest1 | 0:25d32fc1c12e | 806 | rtDW.Integrator_DSTATE) + Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 807 | rtb_TmpSignalConversionAtSFun_0 = (0.576051138105677 * Fdes_idx_1 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 808 | rtDW.Integrator_DSTATE_a) + Fdes_idx_2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 809 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 810 | // Sum: '<S23>/Add1' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 811 | // Constant: '<S4>/Constant' |
| Glaxys_finest1 | 0:25d32fc1c12e | 812 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 813 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 814 | rtDW.Add1_k = (rtb_TmpSignalConversionAtSFun_1 * 0.0 - |
| Glaxys_finest1 | 0:25d32fc1c12e | 815 | rtb_TmpSignalConversionAtSFun_0) * 0.1019367991845056 - |
| Glaxys_finest1 | 0:25d32fc1c12e | 816 | rtDW.Integrator_p[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 817 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 818 | // Gain: '<S188>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 819 | // DiscreteIntegrator: '<S180>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 820 | // Gain: '<S179>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 821 | // Sum: '<S180>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 822 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 823 | rtDW.FilterCoefficient_a = (0.171115754916436 * rtDW.Add1_k - |
| Glaxys_finest1 | 0:25d32fc1c12e | 824 | rtDW.Filter_DSTATE_m) * 176.087006843524; |
| Glaxys_finest1 | 0:25d32fc1c12e | 825 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 826 | // Sum: '<S23>/Add2' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 827 | // Constant: '<S4>/Constant' |
| Glaxys_finest1 | 0:25d32fc1c12e | 828 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 829 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 830 | rtb_TmpSignalConversionAtSFun_1 = (rtb_TmpSignalConversionAtSFun_0 * 0.0 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 831 | rtb_TmpSignalConversionAtSFun_1) * 0.1019367991845056 - rtDW.Integrator_p[4]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 832 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 833 | // Gain: '<S56>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 834 | // DiscreteIntegrator: '<S48>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 835 | // Gain: '<S47>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 836 | // Sum: '<S48>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 837 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 838 | rtb_TmpSignalConversionAtSFun_0 = (0.171115754916436 * |
| Glaxys_finest1 | 0:25d32fc1c12e | 839 | rtb_TmpSignalConversionAtSFun_1 - rtDW.Filter_DSTATE_l) * 176.087006843524; |
| Glaxys_finest1 | 0:25d32fc1c12e | 840 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 841 | // Gain: '<S100>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 842 | // Constant: '<S4>/Constant' |
| Glaxys_finest1 | 0:25d32fc1c12e | 843 | // DiscreteIntegrator: '<S92>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 844 | // Gain: '<S91>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 845 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 846 | // Sum: '<S23>/Add3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 847 | // Sum: '<S92>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 848 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 849 | rtDW.FilterCoefficient_k = ((0.0 - rtDW.Integrator_p[5]) * 0.0490884878345462 |
| Glaxys_finest1 | 0:25d32fc1c12e | 850 | - rtDW.Filter_DSTATE_lo) * 270.43836739932; |
| Glaxys_finest1 | 0:25d32fc1c12e | 851 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 852 | // SignalConversion: '<S4>/ConcatBufferAtVector ConcatenateIn2' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 853 | // Constant: '<S4>/Constant' |
| Glaxys_finest1 | 0:25d32fc1c12e | 854 | // Delay: '<S1>/Delay' |
| Glaxys_finest1 | 0:25d32fc1c12e | 855 | // DiscreteIntegrator: '<S185>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 856 | // DiscreteIntegrator: '<S53>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 857 | // DiscreteIntegrator: '<S97>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 858 | // Gain: '<S102>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 859 | // Gain: '<S190>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 860 | // Gain: '<S58>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 861 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 862 | // Sum: '<S106>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 863 | // Sum: '<S194>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 864 | // Sum: '<S23>/Add3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 865 | // Sum: '<S62>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 866 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 867 | rtDW.Delay_DSTATE[1] = (0.421511657975665 * rtDW.Add1_k + |
| Glaxys_finest1 | 0:25d32fc1c12e | 868 | rtDW.Integrator_DSTATE_m) + rtDW.FilterCoefficient_a; |
| Glaxys_finest1 | 0:25d32fc1c12e | 869 | rtDW.Delay_DSTATE[2] = (0.421511657975665 * rtb_TmpSignalConversionAtSFun_1 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 870 | rtDW.Integrator_DSTATE_e) + rtb_TmpSignalConversionAtSFun_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 871 | rtDW.Delay_DSTATE[3] = ((0.0 - rtDW.Integrator_p[5]) * 0.00309186213155581 + |
| Glaxys_finest1 | 0:25d32fc1c12e | 872 | rtDW.Integrator_DSTATE_o) + rtDW.FilterCoefficient_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 873 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 874 | // Sum: '<S22>/Add3' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 875 | // Inport: '<Root>/z' |
| Glaxys_finest1 | 0:25d32fc1c12e | 876 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 877 | rtDW.Add3_a = rtU.z - rtDW.Integrator_p[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 878 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 879 | // Gain: '<S232>/Filter Coefficient' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 880 | // DiscreteIntegrator: '<S224>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 881 | // Gain: '<S223>/Derivative Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 882 | // Sum: '<S224>/SumD' |
| Glaxys_finest1 | 0:25d32fc1c12e | 883 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 884 | rtDW.FilterCoefficient_i = (1.46547031640698 * rtDW.Add3_a - |
| Glaxys_finest1 | 0:25d32fc1c12e | 885 | rtDW.Filter_DSTATE_n) * 19.9677854964375; |
| Glaxys_finest1 | 0:25d32fc1c12e | 886 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 887 | // Sum: '<S4>/Add' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 888 | // Delay: '<S1>/Delay' |
| Glaxys_finest1 | 0:25d32fc1c12e | 889 | // DiscreteIntegrator: '<S229>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 890 | // Gain: '<S234>/Proportional Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 891 | // Sum: '<S238>/Sum' |
| Glaxys_finest1 | 0:25d32fc1c12e | 892 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 893 | rtDW.Delay_DSTATE[0] = ((0.547568478085603 * rtDW.Add3_a + |
| Glaxys_finest1 | 0:25d32fc1c12e | 894 | rtDW.Integrator_DSTATE_ao) + rtDW.FilterCoefficient_i) + 7.3575; |
| Glaxys_finest1 | 0:25d32fc1c12e | 895 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 896 | // Update for DiscreteIntegrator: '<S141>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 897 | // Gain: '<S138>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 898 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 899 | rtDW.Integrator_DSTATE += 0.0492289691165195 * rtDW.maxval * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 900 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 901 | // Update for DiscreteIntegrator: '<S136>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 902 | rtDW.Filter_DSTATE += 0.0001 * Fdes_idx_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 903 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 904 | // Update for DiscreteIntegrator: '<S273>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 905 | // Gain: '<S270>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 906 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 907 | rtDW.Integrator_DSTATE_a += 0.0492289691165195 * Fdes_idx_1 * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 908 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 909 | // Update for DiscreteIntegrator: '<S268>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 910 | rtDW.Filter_DSTATE_k += 0.0001 * Fdes_idx_2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 911 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 912 | // Update for DiscreteIntegrator: '<S185>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 913 | // Gain: '<S182>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 914 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 915 | rtDW.Integrator_DSTATE_m += 0.230387898131499 * rtDW.Add1_k * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 916 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 917 | // Update for DiscreteIntegrator: '<S180>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 918 | rtDW.Filter_DSTATE_m += 0.0001 * rtDW.FilterCoefficient_a; |
| Glaxys_finest1 | 0:25d32fc1c12e | 919 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 920 | // Update for DiscreteIntegrator: '<S53>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 921 | // Gain: '<S50>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 922 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 923 | rtDW.Integrator_DSTATE_e += 0.230387898131499 * |
| Glaxys_finest1 | 0:25d32fc1c12e | 924 | rtb_TmpSignalConversionAtSFun_1 * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 925 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 926 | // Update for DiscreteIntegrator: '<S48>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 927 | rtDW.Filter_DSTATE_l += 0.0001 * rtb_TmpSignalConversionAtSFun_0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 928 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 929 | // Update for DiscreteIntegrator: '<S97>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 930 | // Constant: '<S4>/Constant' |
| Glaxys_finest1 | 0:25d32fc1c12e | 931 | // Gain: '<S94>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 932 | // MATLAB Function: '<S4>/MATLAB Function4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 933 | // Sum: '<S23>/Add3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 934 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 935 | rtDW.Integrator_DSTATE_o += (0.0 - rtDW.Integrator_p[5]) * 4.32690066926921E-5 |
| Glaxys_finest1 | 0:25d32fc1c12e | 936 | * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 937 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 938 | // Update for DiscreteIntegrator: '<S92>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 939 | rtDW.Filter_DSTATE_lo += 0.0001 * rtDW.FilterCoefficient_k; |
| Glaxys_finest1 | 0:25d32fc1c12e | 940 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 941 | // Update for DiscreteIntegrator: '<S229>/Integrator' incorporates: |
| Glaxys_finest1 | 0:25d32fc1c12e | 942 | // Gain: '<S226>/Integral Gain' |
| Glaxys_finest1 | 0:25d32fc1c12e | 943 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 944 | rtDW.Integrator_DSTATE_ao += 0.0506661578399485 * rtDW.Add3_a * 0.0001; |
| Glaxys_finest1 | 0:25d32fc1c12e | 945 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 946 | // Update for DiscreteIntegrator: '<S224>/Filter' |
| Glaxys_finest1 | 0:25d32fc1c12e | 947 | rtDW.Filter_DSTATE_n += 0.0001 * rtDW.FilterCoefficient_i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 948 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 949 | // End of Outputs for SubSystem: '<S1>/small_angle_control' |
| Glaxys_finest1 | 0:25d32fc1c12e | 950 | // End of Outputs for SubSystem: '<Root>/Adaptive large angle controller' |
| Glaxys_finest1 | 0:25d32fc1c12e | 951 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 952 | // Outport: '<Root>/u1 ' |
| Glaxys_finest1 | 0:25d32fc1c12e | 953 | rtY.u1 = rtDW.duty[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 954 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 955 | // Outport: '<Root>/u2 ' |
| Glaxys_finest1 | 0:25d32fc1c12e | 956 | rtY.u2 = rtDW.duty[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 957 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 958 | // Outport: '<Root>/u3' |
| Glaxys_finest1 | 0:25d32fc1c12e | 959 | rtY.u3 = rtDW.duty[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 960 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 961 | // Outport: '<Root>/u4' |
| Glaxys_finest1 | 0:25d32fc1c12e | 962 | rtY.u4 = rtDW.duty[3]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 963 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 964 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 965 | // Model initialize function |
| Glaxys_finest1 | 0:25d32fc1c12e | 966 | void LAAPModelClass::initialize() |
| Glaxys_finest1 | 0:25d32fc1c12e | 967 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 968 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 969 | int32_T i; |
| Glaxys_finest1 | 0:25d32fc1c12e | 970 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 971 | // SystemInitialize for Atomic SubSystem: '<Root>/Adaptive large angle controller' |
| Glaxys_finest1 | 0:25d32fc1c12e | 972 | // SystemInitialize for Atomic SubSystem: '<S1>/quadcopter_dynamics_prediction' |
| Glaxys_finest1 | 0:25d32fc1c12e | 973 | // InitializeConditions for DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 974 | for (i = 0; i < 6; i++) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 975 | rtDW.Integrator_DSTATE_ep[i] = 0.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 976 | if (rtDW.Integrator_DSTATE_ep[i] >= 10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 977 | rtDW.Integrator_DSTATE_ep[i] = 10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 978 | } else { |
| Glaxys_finest1 | 0:25d32fc1c12e | 979 | if (rtDW.Integrator_DSTATE_ep[i] <= -10.0) { |
| Glaxys_finest1 | 0:25d32fc1c12e | 980 | rtDW.Integrator_DSTATE_ep[i] = -10.0; |
| Glaxys_finest1 | 0:25d32fc1c12e | 981 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 982 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 983 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 984 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 985 | // End of InitializeConditions for DiscreteIntegrator: '<S13>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 986 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 987 | // InitializeConditions for DiscreteIntegrator: '<S14>/Integrator' |
| Glaxys_finest1 | 0:25d32fc1c12e | 988 | rtDW.Integrator_IC_LOADING = 1U; |
| Glaxys_finest1 | 0:25d32fc1c12e | 989 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 990 | // End of SystemInitialize for SubSystem: '<S1>/quadcopter_dynamics_prediction' |
| Glaxys_finest1 | 0:25d32fc1c12e | 991 | // End of SystemInitialize for SubSystem: '<Root>/Adaptive large angle controller' |
| Glaxys_finest1 | 0:25d32fc1c12e | 992 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 993 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 994 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 995 | // Constructor |
| Glaxys_finest1 | 0:25d32fc1c12e | 996 | LAAPModelClass::LAAPModelClass() |
| Glaxys_finest1 | 0:25d32fc1c12e | 997 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 998 | // Currently there is no constructor body generated. |
| Glaxys_finest1 | 0:25d32fc1c12e | 999 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1000 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1001 | // Destructor |
| Glaxys_finest1 | 0:25d32fc1c12e | 1002 | LAAPModelClass::~LAAPModelClass() |
| Glaxys_finest1 | 0:25d32fc1c12e | 1003 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1004 | // Currently there is no destructor body generated. |
| Glaxys_finest1 | 0:25d32fc1c12e | 1005 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1006 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1007 | // Root-level input access methods |
| Glaxys_finest1 | 0:25d32fc1c12e | 1008 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1009 | // Root inport: '<Root>/rdot' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1010 | void LAAPModelClass::setrdot(real_T localArgInput[3]) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1011 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1012 | rtU.rdot[0] = localArgInput[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1013 | rtU.rdot[1] = localArgInput[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1014 | rtU.rdot[2] = localArgInput[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1015 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1016 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1017 | // Root inport: '<Root>/r' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1018 | void LAAPModelClass::setr(real_T localArgInput[3]) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1019 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1020 | rtU.r[0] = localArgInput[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1021 | rtU.r[1] = localArgInput[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1022 | rtU.r[2] = localArgInput[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1023 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1024 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1025 | // Root inport: '<Root>/wb' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1026 | void LAAPModelClass::setwb(real_T localArgInput[3]) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1027 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1028 | rtU.wb[0] = localArgInput[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1029 | rtU.wb[1] = localArgInput[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1030 | rtU.wb[2] = localArgInput[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1031 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1032 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1033 | // Root inport: '<Root>/angles' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1034 | void LAAPModelClass::setangles(real_T localArgInput[3]) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1035 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1036 | rtU.angles[0] = localArgInput[0]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1037 | rtU.angles[1] = localArgInput[1]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1038 | rtU.angles[2] = localArgInput[2]; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1039 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1040 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1041 | // Root inport: '<Root>/x' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1042 | void LAAPModelClass::setx(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1043 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1044 | rtU.x = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1045 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1046 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1047 | // Root inport: '<Root>/y' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1048 | void LAAPModelClass::sety(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1049 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1050 | rtU.y = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1051 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1052 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1053 | // Root inport: '<Root>/z' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1054 | void LAAPModelClass::setz(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1055 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1056 | rtU.z = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1057 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1058 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1059 | // Root inport: '<Root>/phi' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1060 | void LAAPModelClass::setphi(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1061 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1062 | rtU.phi = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1063 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1064 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1065 | // Root inport: '<Root>/theta' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1066 | void LAAPModelClass::settheta(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1067 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1068 | rtU.theta = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1069 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1070 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1071 | // Root inport: '<Root>/psi' set method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1072 | void LAAPModelClass::setpsi(real_T localArgInput) |
| Glaxys_finest1 | 0:25d32fc1c12e | 1073 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1074 | rtU.psi = localArgInput; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1075 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1076 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1077 | // Root-level output access methods |
| Glaxys_finest1 | 0:25d32fc1c12e | 1078 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1079 | // Root outport: '<Root>/u1 ' get method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1080 | real_T LAAPModelClass::getu1_() const |
| Glaxys_finest1 | 0:25d32fc1c12e | 1081 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1082 | return rtY.u1; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1083 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1084 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1085 | // Root outport: '<Root>/u2 ' get method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1086 | real_T LAAPModelClass::getu2_() const |
| Glaxys_finest1 | 0:25d32fc1c12e | 1087 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1088 | return rtY.u2; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1089 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1090 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1091 | // Root outport: '<Root>/u3' get method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1092 | real_T LAAPModelClass::getu3() const |
| Glaxys_finest1 | 0:25d32fc1c12e | 1093 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1094 | return rtY.u3; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1095 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1096 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1097 | // Root outport: '<Root>/u4' get method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1098 | real_T LAAPModelClass::getu4() const |
| Glaxys_finest1 | 0:25d32fc1c12e | 1099 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1100 | return rtY.u4; |
| Glaxys_finest1 | 0:25d32fc1c12e | 1101 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1102 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1103 | // Real-Time Model get method |
| Glaxys_finest1 | 0:25d32fc1c12e | 1104 | RT_MODEL * LAAPModelClass::getRTM() |
| Glaxys_finest1 | 0:25d32fc1c12e | 1105 | { |
| Glaxys_finest1 | 0:25d32fc1c12e | 1106 | return (&rtM); |
| Glaxys_finest1 | 0:25d32fc1c12e | 1107 | } |
| Glaxys_finest1 | 0:25d32fc1c12e | 1108 | |
| Glaxys_finest1 | 0:25d32fc1c12e | 1109 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 1110 | // File trailer for generated code. |
| Glaxys_finest1 | 0:25d32fc1c12e | 1111 | // |
| Glaxys_finest1 | 0:25d32fc1c12e | 1112 | // [EOF] |
| Glaxys_finest1 | 0:25d32fc1c12e | 1113 | // |