📄 helicopt.mdl
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Library {
Name "HelicopterBlockset"
Version 5.0
SaveDefaultBlockParams on
LibraryLinkDisplay "none"
ShowLoopsOnError on
IgnoreBidirectionalLines off
CovSaveName "covdata"
CovMetricSettings "dw"
CovNameIncrementing off
CovHtmlReporting on
covSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeReport off
BlockNameDataTip off
BlockParametersDataTip off
BlockDescriptionStringDataTip off
ToolBar on
StatusBar on
BrowserShowLibraryLinks off
BrowserLookUnderMasks off
Created "Thu Jul 03 17:04:27 2003"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Jim"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Wed Aug 13 18:21:53 2003"
ModelVersionFormat "1.%<AutoIncrement:12>"
ConfigurationManager "Microsoft Visual SourceSafe"
SimParamPage "Solver"
LinearizationMsg "none"
Profile off
ParamWorkspaceSource "MATLABWorkspace"
ExtModeMexFile "ext_comm"
ExtModeBatchMode off
ExtModeTrigType "manual"
ExtModeTrigMode "normal"
ExtModeTrigPort "1"
ExtModeTrigElement "any"
ExtModeTrigDuration 1000
ExtModeTrigHoldOff 0
ExtModeTrigDelay 0
ExtModeTrigDirection "rising"
ExtModeTrigLevel 0
ExtModeArchiveMode "off"
ExtModeAutoIncOneShot off
ExtModeIncDirWhenArm off
ExtModeAddSuffixToVar off
ExtModeWriteAllDataToWs off
ExtModeArmWhenConnect on
ExtModeSkipDownloadWhenConnect off
ExtModeLogAll on
ExtModeAutoUpdateStatusClock on
SimulationMode "normal"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
AlgebraicLoopMsg "warning"
BlockPriorityViolationMsg "warning"
MinStepSizeMsg "warning"
InheritedTsInSrcMsg "warning"
DiscreteInheritContinuousMsg "warning"
MultiTaskRateTransMsg "error"
SingleTaskRateTransMsg "none"
CheckForMatrixSingularity "none"
IntegerOverflowMsg "warning"
Int32ToFloatConvMsg "warning"
ParameterDowncastMsg "error"
ParameterOverflowMsg "error"
ParameterPrecisionLossMsg "warning"
UnderSpecifiedDataTypeMsg "none"
UnnecessaryDatatypeConvMsg "none"
VectorMatrixConversionMsg "none"
InvalidFcnCallConnMsg "error"
SignalLabelMismatchMsg "none"
UnconnectedInputMsg "warning"
UnconnectedOutputMsg "warning"
UnconnectedLineMsg "warning"
SfunCompatibilityCheckMsg "none"
ProdHWDeviceType "Microprocessor"
ProdHWWordLengths "8,16,32,32"
RTWMakeCommand "make_rtw"
RTWGenerateCodeOnly off
RTWRetainRTWFile off
TLCProfiler off
TLCDebug off
TLCCoverage off
TLCAssertion off
BlockDefaults {
Orientation "right"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
NamePlacement "normal"
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
ShowName on
}
BlockParameterDefaults {
Block {
BlockType Abs
SaturateOnIntegerOverflow on
ZeroCross on
}
Block {
BlockType Actuator
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType BusSelector
MuxedOutput off
}
Block {
BlockType BusCreator
Inputs "4"
DisplayOption "none"
}
Block {
BlockType Constant
Value "1"
VectorParams1D on
ShowAdditionalParam off
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
}
Block {
BlockType DataTypeConversion
DataType "auto"
SaturateOnIntegerOverflow on
}
Block {
BlockType Demux
Outputs "4"
DisplayOption "none"
BusSelectionMode off
}
Block {
BlockType DiscreteIntegrator
IntegratorMethod "Forward Euler"
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
SampleTime "1"
RTWStateStorageClass "Auto"
}
Block {
BlockType DiscreteStateSpace
A "1"
B "1"
C "1"
D "1"
X0 "0"
SampleTime "1"
Realization "auto"
RTWStateStorageClass "Auto"
}
Block {
BlockType DiscreteTransferFcn
Numerator "[1]"
Denominator "[1 0.5]"
SampleTime "1"
Realization "auto"
RTWStateStorageClass "Auto"
}
Block {
BlockType EnablePort
StatesWhenEnabling "held"
ShowOutputPort off
ZeroCross on
}
Block {
BlockType Fcn
Expr "sin(u[1])"
}
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
ShowAdditionalParam off
ParameterDataTypeMode "Same as input"
ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
ParameterScaling "2^0"
OutDataTypeMode "Same as input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Ground
}
Block {
BlockType Inport
Port "1"
PortDimensions "-1"
SampleTime "-1"
ShowAdditionalParam off
LatchInput off
DataType "auto"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
ZeroCross on
}
Block {
BlockType Logic
Operator "AND"
Inputs "2"
ShowAdditionalParam off
AllPortsSameDT on
OutDataTypeMode "Logical (see Advanced Sim. Parameters)"
LogicDataType "uint(8)"
}
Block {
BlockType Math
Operator "exp"
OutputSignalType "auto"
}
Block {
BlockType Memory
X0 "0"
InheritSampleTime off
LinearizeMemory off
RTWStateStorageClass "Auto"
}
Block {
BlockType Mux
Inputs "4"
DisplayOption "none"
}
Block {
BlockType Outport
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType PMComponent
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType PMIOPort
}
Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType RelationalOperator
Operator ">="
ShowAdditionalParam off
InputSameDT on
LogicOutDataTypeMode "Logical (see Advanced Sim. Parameters)"
LogicDataType "uint(8)"
ZeroCross on
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
}
Block {
BlockType Selector
InputType "Vector"
ElementSrc "Internal"
Elements "1"
RowSrc "Internal"
Rows "1"
ColumnSrc "Internal"
Columns "1"
InputPortWidth "-1"
}
Block {
BlockType Sensor
SubClassName "unknown"
PortType "blob"
}
Block {
BlockType "S-Function"
FunctionName "system"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType SubSystem
ShowPortLabels on
Permissions "ReadWrite"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Same as first input"
OutDataType "sfix(16)"
OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
}
Block {
BlockType Switch
Criteria "u2 >= Threshold"
Threshold "0"
ShowAdditionalParam off
InputSameDT on
OutDataTypeMode "Inherit via internal rule"
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
}
Block {
BlockType Terminator
}
Block {
BlockType TriggerPort
TriggerType "rising"
ShowOutputPort off
OutputDataType "auto"
ZeroCross on
}
Block {
BlockType Trigonometry
Operator "sin"
OutputSignalType "auto"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "HelicopterBlockset"
Location [367, 82, 947, 383]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Controller"
Ports [1, 1]
Position [110, 56, 225, 234]
BackgroundColor "green"
TreatAsAtomicUnit on
System {
Name "Controller"
Location [239, 91, 936, 660]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Bus Input"
Position [25, 193, 55, 207]
BackgroundColor "lightBlue"
}
Block {
BlockType BusCreator
Name "Bus\nCreator"
Ports [4, 1]
Position [585, 59, 595, 341]
BackgroundColor "yellow"
ShowName off
DisplayOption "bar"
}
Block {
BlockType BusSelector
Name "Bus\nSelector"
Ports [1, 5]
Position [115, 66, 125, 334]
BackgroundColor "yellow"
ShowName off
OutputSignals "Body Pos,Body Vel,Euler RPY,Body Rate,Earth"
"-to-Body"
Port {
PortNumber 1
Name "<Body Pos>"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
Port {
PortNumber 2
Name "<Body Vel>"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
Port {
PortNumber 3
Name "<Euler RPY>"
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