📄 helicop1.mdl
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progid "mwnumled.numledctrl.1"
connect "neither"
input "Value"
init "hActx.Digits=6;hActx.Decimals=2;hAc"
"tx.FixedDecimal=1;hActx.value=1234.56;"
inblock on
border on
dialOut "0"
updateParam "0"
}
Block {
BlockType Reference
Name "Heading (deg true)"
Ports []
Position [505, 141, 690, 329]
SourceBlock "dnglibv1/ActiveX\nControl"
SourceType "ActiveX Block"
progid "mwagauge.agaugectrl.1"
connect "neither"
input "NeedleValue"
init "hActx.configuration='Angular Gauge"
"\\Compass';"
inblock on
border on
dialOut "0"
updateParam "0"
}
Block {
BlockType Reference
Name "Pitch Angle (deg)"
Ports []
Position [365, 141, 475, 249]
SourceBlock "dnglibv1/ActiveX\nControl"
SourceType "ActiveX Block"
progid "mwagauge.agaugectrl.1"
connect "neither"
input "NeedleValue"
inblock on
border on
dialOut "0"
updateParam "0"
}
Block {
BlockType Reference
Name "Roll Angle (deg)"
Ports []
Position [195, 141, 305, 249]
SourceBlock "dnglibv1/ActiveX\nControl"
SourceType "ActiveX Block"
progid "mwagauge.agaugectrl.1"
connect "neither"
input "NeedleValue"
inblock on
border on
dialOut "0"
updateParam "0"
}
Block {
BlockType Reference
Name "Speed (m/sec)"
Ports []
Position [305, 20, 460, 90]
SourceBlock "dnglibv1/ActiveX\nControl"
SourceType "ActiveX Block"
progid "mwnumled.numledctrl.1"
connect "neither"
input "Value"
init "hActx.configuration='Numeric LED\\P"
"lusMinus XX.XXX';hActx.Digits=6;hActx.Decimals=3;hActx.FixedDecimal=1;hActx.v"
"alue=-317.489;hActx.SegmentWidth=3;"
inblock on
border on
dialOut "0"
updateParam "0"
}
}
}
Block {
BlockType Scope
Name "Position"
Ports [1]
Position [105, 84, 135, 116]
BackgroundColor "yellow"
Location [377, 498, 701, 737]
Open on
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "200"
YMin "-200"
YMax "200"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType Reference
Name "Trajectory"
Ports [2]
Position [305, 30, 335, 65]
BackgroundColor "yellow"
SourceBlock "simulink/Sinks/XY Graph"
SourceType "XY scope."
xmin "-10"
xmax "210"
ymin "-10"
ymax "210"
st "-1"
}
Block {
BlockType Scope
Name "Velocity"
Ports [1]
Position [105, 319, 135, 351]
BackgroundColor "yellow"
Location [706, 497, 1019, 736]
Open on
NumInputPorts "1"
ZoomMode "yonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "200"
YMin "-10"
YMax "10"
SaveName "ScopeData2"
DataFormat "StructureWithTime"
LimitDataPoints off
}
Block {
BlockType SubSystem
Name "Virtual Reality"
Ports [1]
Position [105, 374, 175, 406]
BackgroundColor "yellow"
TreatAsAtomicUnit off
System {
Name "Virtual Reality"
Location [279, 78, 977, 615]
Open off
ModelBrowserVisibility on
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "VR Data"
Position [85, 153, 115, 167]
BackgroundColor "yellow"
}
Block {
BlockType Demux
Name "Demux1"
Ports [1, 6]
Position [160, 36, 165, 284]
BackgroundColor "black"
ShowName off
Outputs "[3 9 3 9 3 9]"
}
Block {
BlockType SubSystem
Name "VR Display"
Ports [6]
Position [245, 39, 335, 281]
BackgroundColor "yellow"
TreatAsAtomicUnit off
System {
Name "VR Display"
Location [241, 131, 949, 668]
Open off
ModelBrowserVisibility on
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "95"
Block {
BlockType Inport
Name "MR Pos"
Position [140, 273, 170, 287]
BackgroundColor "yellow"
}
Block {
BlockType Inport
Name "MR Rotation"
Position [260, 198, 290, 212]
BackgroundColor "yellow"
Port "2"
}
Block {
BlockType Inport
Name "TR Pos"
Position [140, 423, 170, 437]
BackgroundColor "yellow"
Port "3"
}
Block {
BlockType Inport
Name "TR Rotation"
Position [260, 348, 290, 362]
BackgroundColor "yellow"
Port "4"
}
Block {
BlockType Inport
Name "Body Pos"
Position [140, 123, 170, 137]
BackgroundColor "yellow"
Port "5"
}
Block {
BlockType Inport
Name "Body Rotation"
Position [260, 48, 290, 62]
BackgroundColor "yellow"
Port "6"
}
Block {
BlockType Reference
Name "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
Tag "Pose2VR"
Ports [1, 1]
Position [330, 41, 430, 69]
BackgroundColor "yellow"
ShowName off
SourceBlock "mblibv1/Utilities/Convert from Ro"
"tation Matrix to\nVirtual Reality Toolbox"
SourceType "RotationMatrix2VR"
}
Block {
BlockType Reference
Name "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox1"
Tag "Pose2VR"
Ports [1, 1]
Position [330, 341, 430, 369]
BackgroundColor "yellow"
ShowName off
SourceBlock "mblibv1/Utilities/Convert from Ro"
"tation Matrix to\nVirtual Reality Toolbox"
SourceType "RotationMatrix2VR"
}
Block {
BlockType Reference
Name "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox2"
Tag "Pose2VR"
Ports [1, 1]
Position [330, 191, 430, 219]
BackgroundColor "yellow"
ShowName off
SourceBlock "mblibv1/Utilities/Convert from Ro"
"tation Matrix to\nVirtual Reality Toolbox"
SourceType "RotationMatrix2VR"
}
Block {
BlockType Math
Name "Math\nFunction"
Ports [1, 1]
Position [450, 40, 480, 70]
BackgroundColor "yellow"
ShowName off
Operator "transpose"
}
Block {
BlockType Math
Name "Math\nFunction1"
Ports [1, 1]
Position [450, 190, 480, 220]
BackgroundColor "yellow"
ShowName off
Operator "transpose"
}
Block {
BlockType Math
Name "Math\nFunction2"
Ports [1, 1]
Position [450, 340, 480, 370]
BackgroundColor "yellow"
ShowName off
Operator "transpose"
}
Block {
BlockType Math
Name "Math\nFunction3"
Ports [1, 1]
Position [135, 350, 165, 380]
BackgroundColor "yellow"
ShowName off
Operator "transpose"
}
Block {
BlockType Math
Name "Math\nFunction4"
Ports [1, 1]
Position [135, 500, 165, 530]
BackgroundColor "yellow"
ShowName off
Operator "transpose"
}
Block {
BlockType Constant
Name "NED to VR1"
Position [395, 379, 480, 401]
BackgroundColor "yellow"
ShowName off
Value "ned_rot_to_vr"
}
Block {
BlockType Constant
Name "NED to VR2"
Position [400, 454, 480, 476]
BackgroundColor "yellow"
ShowName off
Value "ned_pos_to_vr"
}
Block {
BlockType Constant
Name "NED to VR3"
Position [395, 79, 480, 101]
BackgroundColor "yellow"
ShowName off
Value "ned_rot_to_vr"
}
Block {
BlockType Constant
Name "NED to VR4"
Position [400, 154, 480, 176]
BackgroundColor "yellow"
ShowName off
Value "ned_pos_to_vr"
}
Block {
BlockType Constant
Name "NED to VR5"
Position [395, 229, 480, 251]
BackgroundColor "yellow"
ShowName off
Value "ned_rot_to_vr"
}
Block {
BlockType Constant
Name "NED to VR6"
Position [400, 304, 480, 326]
BackgroundColor "yellow"
ShowName off
Value "ned_pos_to_vr"
}
Block {
BlockType Constant
Name "NED to VR7"
Position [95, 319, 160, 341]
BackgroundColor "yellow"
ShowName off
Value "mr_offset"
VectorParams1D off
}
Block {
BlockType Constant
Name "NED to VR8"
Position [95, 469, 160, 491]
BackgroundColor "yellow"
ShowName off
Value "tr_offset"
VectorParams1D off
}
Block {
BlockType Product
Name "Product1"
Ports [2, 1]
Position [510, 38, 550, 107]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product2"
Ports [2, 1]
Position [510, 263, 550, 332]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product3"
Ports [2, 1]
Position [510, 338, 550, 407]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product4"
Ports [2, 1]
Position [510, 413, 550, 482]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product5"
Ports [2, 1]
Position [185, 313, 225, 382]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product6"
Ports [2, 1]
Position [510, 113, 550, 182]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product7"
Ports [2, 1]
Position [510, 188, 550, 257]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Product
Name "Product8"
Ports [2, 1]
Position [185, 463, 225, 532]
BackgroundColor "yellow"
ShowName off
Multiplication "Matrix(*)"
InputSameDT off
}
Block {
BlockType Reference
Name "Reshape"
Ports [1, 1]
Position [55, 352, 115, 378]
BackgroundColor "yellow"
ShowName off
SourceBlock "simulink/Math\nOperations/Reshape"
SourceType "Reshape"
OutputDimensionality "Customize"
OutputDimensions "[3,3]"
}
Block {
BlockType Reference
Name "Reshape1"
Ports [1, 1]
Position [55, 502, 115, 528]
BackgroundColor "yellow"
ShowName off
SourceBlock "simulink/Math\nOperations/Reshape"
SourceType "Reshape"
OutputDimensionality "Customize"
OutputDimensions "[3,3]"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [230, 270, 250, 290]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [230, 420, 250, 440]
BackgroundColor "yellow"
ShowName off
IconShape "round"
Inputs "|++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Reference
Name "VR Display"
Ports [6]
Position [585, 39, 740, 486]
BackgroundColor "yellow"
SourceBlock "vrlib/VR Sink"
SourceType "Virtual Reality Sink"
SampleTime "-1"
ViewEnable on
RemoteChange off
RemoteView off
FieldsWritten "Helicopter.rotation.4#Helicopter."
"translation.3#Main_Rotor.rotation.4#Main_Rotor.translation.3#Tail_Rotor.rotat"
"ion.4#Tail_Rotor.translation.3"
WorldFileName "helicopter_runway.WRL"
WorldDescription "Helicopter"
AutoView on
FigureProperties "{'Position', 'Name', 'Viewpoint',"
" 'CameraBound', 'CameraDirection', 'CameraPosition', 'CameraUpVector', 'ZoomF"
"actor', 'Antialiasing', 'Headlight', 'Lighting', 'PanelMode', 'Textures', 'Tr"
"ansparency', 'Wireframe', 'NavZones', 'InfoStrip', 'NavMode', 'NavSpeed', ; ["
"5.0000000000000000e+000 2.5000000000000000e+001 4.0000000000000000e+002 3."
"2000000000000000e+002], 'Helicopter', 'Observe Helicopter', 'on', [6.25118406"
"16084752e-002 -9.4108294567115919e-002 -9.9359745303440561e-001], [0.00000000"
"00000000e+000 0.0000000000000000e+000 0.0000000000000000e+000], [0.00000000"
"00000000e+000 1.0000000000000000e+000 0.0000000000000000e+000], [1.00000000"
"00000000e+000], 'off', 'on', 'on', 'halfbar', 'on', 'on', 'off', 'off', 'off'"
", 'fly', 'normal', ; }"
}
Line {
SrcBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox2"
SrcPort 1
DstBlock "Math\nFunction1"
DstPort 1
}
Line {
SrcBlock "TR Rotation"
SrcPort 1
DstBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox1"
DstPort 1
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