📄 qlib.mdl
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SourceType "Quaternion Normalize" } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [1, 1, 0, 0, 0] Position [200, 85, 230, 115] ShowName off Operator "acos" OutputSignalType "auto" } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" Ports [1, 1, 0, 0, 0] Position [280, 85, 310, 115] ShowName off Operator "sin" OutputSignalType "auto" } Block { BlockType Outport Name "Vector" Position [545, 48, 575, 62] BackgroundColor "yellow" NamePlacement "alternate" Port "1" OutputWhenDisabled "held" InitialOutput "0" } Block { BlockType Outport Name "Phi" Position [545, 153, 575, 167] BackgroundColor "yellow" NamePlacement "alternate" Port "2" OutputWhenDisabled "held" InitialOutput "0" } Line { SrcBlock "Quaternion\nNormalize" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { Name "[ q(1) q(2) q(3) ]" Labels [0, 0] SrcBlock "Demux" SrcPort 1 DstBlock "Product" DstPort 1 } Line { Name "q(4)" Labels [0, 0] SrcBlock "Demux" SrcPort 2 DstBlock "Trigonometric\nFunction" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Fcn" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 Points [15, 0] Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } Branch { Points [0, 60] DstBlock "Gain" DstPort 1 } } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Phi" DstPort 1 } Line { SrcBlock "q" SrcPort 1 DstBlock "Quaternion\nNormalize" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Vector" DstPort 1 } Line { SrcBlock "Fcn" SrcPort 1 Points [15, 0; 0, -40] DstBlock "Product" DstPort 2 } Annotation { Position [269, 154] Text "phi/2" } } } Block { BlockType SubSystem Name "Quaternion\nMultiply" Ports [2, 1, 0, 0, 0] Position [220, 87, 260, 123] ShowPortLabels on MaskType "Quaternion Multiply" MaskDescription "Multiplies input quaternions: qout = (q1)(q2)" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "pixels" System { Name "Quaternion\nMultiply" Location [675, 339, 1111, 697] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "q1" Position [20, 13, 50, 27] BackgroundColor "cyan" Port "1" PortWidth "4" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType Inport Name "q2" Position [15, 178, 45, 192] BackgroundColor "cyan" Port "2" PortWidth "4" SampleTime "-1" DataType "auto" SignalType "auto" Interpolate on } Block { BlockType BusSelector Name "Bus\nSelector" Ports [1, 4, 0, 0, 0] Position [170, 39, 175, 106] ShowName off OutputSignals "q2(4),q2(3),q2(2),q2(1)" MuxedOutput off Port { PortNumber 1 Name "q2(4)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 2 Name "q2(3)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 3 Name "q2(2)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 4 Name "q2(1)" TestPoint off RTWStorageClass "Auto" } } Block { BlockType BusSelector Name "Bus\nSelector1" Ports [1, 4, 0, 0, 0] Position [170, 114, 175, 181] ShowName off OutputSignals "q2(3),q2(4),q2(1),q2(2)" MuxedOutput off Port { PortNumber 1 Name "q2(3)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 2 Name "q2(4)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 3 Name "q2(1)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 4 Name "q2(2)" TestPoint off RTWStorageClass "Auto" } } Block { BlockType BusSelector Name "Bus\nSelector2" Ports [1, 4, 0, 0, 0] Position [170, 189, 175, 256] ShowName off OutputSignals "q2(2),q2(1),q2(4),q2(3)" MuxedOutput off Port { PortNumber 1 Name "q2(2)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 2 Name "q2(1)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 3 Name "q2(4)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 4 Name "q2(3)" TestPoint off RTWStorageClass "Auto" } } Block { BlockType Demux Name "Demux" Ports [1, 4, 0, 0, 0] Position [65, 147, 70, 218] BackgroundColor "black" ShowName off Outputs "4" Port { PortNumber 1 Name "q2(1)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 2 Name "q2(2)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 3 Name "q2(3)" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 4 Name "q2(4)" TestPoint off RTWStorageClass "Auto" } } Block { BlockType Demux Name "Demux1" Ports [1, 2, 0, 0, 0] Position [155, 281, 160, 319] BackgroundColor "black" ShowName off Outputs "[3 1]" Port { PortNumber 1 Name "[ q(1) q(2) q(3) ]" TestPoint off RTWStorageClass "Auto" } Port { PortNumber 2 Name "q(4)" TestPoint off RTWStorageClass "Auto" } } Block { BlockType Reference Name "Dot Product 1" Ports [2, 1, 0, 0, 0] Position [320, 54, 345, 81] ShowName off SourceBlock "simulink3/Math/Dot Product" SourceType "Dot Product" } Block { BlockType Reference Name "Dot Product 2" Ports [2, 1, 0, 0, 0] Position [320, 129, 345, 156] ShowName off SourceBlock "simulink3/Math/Dot Product" SourceType "Dot Product" } Block { BlockType Reference Name "Dot Product 3" Ports [2, 1, 0, 0, 0] Position [320, 204, 345, 231] ShowName off SourceBlock "simulink3/Math/Dot Product" SourceType "Dot Product" } Block { BlockType Reference Name "Dot Product 4" Ports [2, 1, 0, 0, 0] Position [320, 279, 345, 306] ShowName off SourceBlock "simulink3/Math/Dot Product" SourceType "Dot Product" } Block { BlockType Gain Name "Gain 2" Position [225, 71, 250, 89] ShowName off FontName "helvetica" FontSize 8 Gain "-1" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain 3" Position [225, 116, 250, 134] ShowName off FontName "helvetica" FontSize 8 Gain "-1" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain 5" Position [225, 206, 250, 224] ShowName off FontName "helvetica" FontSize 8 Gain "-1" SaturateOnIntegerOverflow on } Block { BlockType Gain Name "Gain 6" Position [245, 281, 270, 299] ShowName off FontName "helvetica" FontSize 8 Gain "-1" SaturateOnIntegerOverflow on } Block { BlockType Mux Name "Mux" Ports [4, 1, 0, 0, 0] Position [115, 149, 120, 216] ShowName off Inputs "4" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [4, 1, 0, 0, 0] Position [275, 39, 280, 106] ForegroundColor "blue" ShowName off Inputs "4" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [4, 1, 0, 0, 0] Position [275, 114, 280, 181] ForegroundColor "blue" ShowName off Inputs "4" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" Ports [4, 1, 0, 0, 0] Position [275, 189, 280, 256] ForegroundColor "blue" ShowName off Inputs "4" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" Ports [2, 1, 0, 0, 0] Position [285, 281, 290, 319] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux5" Ports [4, 1, 0, 0, 0] Position [370, 29, 375, 336] ShowName off Inputs "4" DisplayOption "bar" } Block { BlockType Outport Name "q1q2" Position [395, 178, 425, 192] BackgroundColor "yellow" Port "1" OutputWhenDisabled "held" InitialOutput "0" } Line { Name "q(4)" Labels [0, 1] SrcBlock "Demux1" SrcPort 2 DstBlock "Mux4" DstPort 2 } Line { SrcBlock "Gain 6" SrcPort 1 DstBlock "Mux4" DstPort 1 } Line { Name "[ q(1) q(2) q(3) ]" Labels [-1, 1] SrcBlock "Demux1" SrcPort 1 DstBlock "Gain 6" DstPort 1 } Line { SrcBlock "Mux4" SrcPort 1 DstBlock "Dot Product 4" DstPort 2 } Line { Name "q2(3)" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 4 DstBlock "Mux3" DstPort 4 } Line { Name "q2(2)" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 1 DstBlock "Mux3" DstPort 1 } Line { Labels [0, 0] SrcBlock "Gain 5" SrcPort 1 DstBlock "Mux3" DstPort 2 } Line { Name "q2(1)" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 2 DstBlock "Gain 5" DstPort 1 } Line { Name "q2(2)" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 4 DstBlock "Mux2" DstPort 4 } Line { Name "q2(1)" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 3 DstBlock "Mux2" DstPort 3 } Line { Labels [0, 0] SrcBlock "Gain 3" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { Name "q2(3)" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 1 DstBlock "Gain 3" DstPort 1 } Line { Name "q2(1)" Labels [0, 0] SrcBlock "Bus\nSelector" SrcPort 4 DstBlock "Mux1" DstPort 4 } Line { Labels [0, 0] SrcBlock "Gain 2" SrcPort 1 DstBlock "Mux1" DstPort 3 } Line { Name "q2(2)" Labels [0, 0] SrcBlock "Bus\nSelector" SrcPort 3 DstBlock "Gain 2" DstPort 1 } Line { Name "q2(3)" Labels [0, 0] SrcBlock "Bus\nSelector" SrcPort 2 DstBlock "Mux1" DstPort 2 } Line { Name "q2(4)" Labels [0, 0] SrcBlock "Bus\nSelector" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { Name "q2(4)" Labels [0, 0] SrcBlock "Bus\nSelector1" SrcPort 2 DstBlock "Mux2" DstPort 2 } Line { Name "q2(4)" Labels [0, 0] SrcBlock "Bus\nSelector2" SrcPort 3 DstBlock "Mux3" DstPort 3 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Dot Product 1" DstPort 2 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Dot Product 2" DstPort 2 } Line { SrcBlock "Mux3" SrcPort 1 DstBlock "Dot Product 3" DstPort 2 } Line { SrcBlock "q1" SrcPort 1 Points [240, 0; 0, 40] Branch { DstBlock "Dot Product 1" DstPort 1 } Branch { Points [0, 75]
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