📄 helicop1.mdl
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}
Line {
SrcBlock "MR Rotation"
SrcPort 1
DstBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox2"
DstPort 1
}
Line {
SrcBlock "Body Rotation"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
DstPort 1
}
Branch {
Points [0, -30; -275, 0; 0, 340]
Branch {
DstBlock "Reshape"
DstPort 1
}
Branch {
Points [0, 150]
DstBlock "Reshape1"
DstPort 1
}
}
}
Line {
SrcBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
DstBlock "Product1"
DstPort 1
}
Line {
SrcBlock "Math\nFunction1"
SrcPort 1
DstBlock "Product7"
DstPort 1
}
Line {
SrcBlock "Body Pos"
SrcPort 1
DstBlock "Product6"
DstPort 1
}
Line {
SrcBlock "Math\nFunction2"
SrcPort 1
DstBlock "Product3"
DstPort 1
}
Line {
SrcBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox1"
SrcPort 1
DstBlock "Math\nFunction2"
DstPort 1
}
Line {
SrcBlock "NED to VR3"
SrcPort 1
DstBlock "Product1"
DstPort 2
}
Line {
SrcBlock "NED to VR4"
SrcPort 1
DstBlock "Product6"
DstPort 2
}
Line {
SrcBlock "NED to VR5"
SrcPort 1
DstBlock "Product7"
DstPort 2
}
Line {
SrcBlock "NED to VR6"
SrcPort 1
DstBlock "Product2"
DstPort 2
}
Line {
SrcBlock "NED to VR1"
SrcPort 1
DstBlock "Product3"
DstPort 2
}
Line {
SrcBlock "NED to VR2"
SrcPort 1
DstBlock "Product4"
DstPort 2
}
Line {
SrcBlock "MR Pos"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Product2"
DstPort 1
}
Line {
SrcBlock "NED to VR7"
SrcPort 1
DstBlock "Product5"
DstPort 1
}
Line {
SrcBlock "Product5"
SrcPort 1
Points [10, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Reshape"
SrcPort 1
DstBlock "Math\nFunction3"
DstPort 1
}
Line {
SrcBlock "Math\nFunction3"
SrcPort 1
DstBlock "Product5"
DstPort 2
}
Line {
SrcBlock "NED to VR8"
SrcPort 1
DstBlock "Product8"
DstPort 1
}
Line {
SrcBlock "Product8"
SrcPort 1
Points [10, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "Reshape1"
SrcPort 1
DstBlock "Math\nFunction4"
DstPort 1
}
Line {
SrcBlock "Math\nFunction4"
SrcPort 1
DstBlock "Product8"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "Product4"
DstPort 1
}
Line {
SrcBlock "TR Pos"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Product1"
SrcPort 1
DstBlock "VR Display"
DstPort 1
}
Line {
SrcBlock "Product6"
SrcPort 1
DstBlock "VR Display"
DstPort 2
}
Line {
SrcBlock "Product7"
SrcPort 1
DstBlock "VR Display"
DstPort 3
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "VR Display"
DstPort 4
}
Line {
SrcBlock "Product3"
SrcPort 1
DstBlock "VR Display"
DstPort 5
}
Line {
SrcBlock "Product4"
SrcPort 1
DstBlock "VR Display"
DstPort 6
}
}
}
Line {
SrcBlock "VR Data"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock "VR Display"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
DstBlock "VR Display"
DstPort 2
}
Line {
SrcBlock "Demux1"
SrcPort 3
DstBlock "VR Display"
DstPort 3
}
Line {
SrcBlock "Demux1"
SrcPort 4
DstBlock "VR Display"
DstPort 4
}
Line {
SrcBlock "Demux1"
SrcPort 5
DstBlock "VR Display"
DstPort 5
}
Line {
SrcBlock "Demux1"
SrcPort 6
DstBlock "VR Display"
DstPort 6
}
}
}
Line {
SrcBlock "Demux1"
SrcPort 3
DstBlock "Hover Yaw1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock "Trajectory"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
DstBlock "Trajectory"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Body Vel"
SrcPort 1
DstBlock "Velocity"
DstPort 1
}
Line {
SrcBlock "Euler RPY"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, 60]
DstBlock "Euler"
DstPort 1
}
Branch {
DstBlock "Instrument Data"
DstPort 3
}
}
Line {
SrcBlock "Speed"
SrcPort 1
DstBlock "Instrument Data"
DstPort 2
}
Line {
SrcBlock "VR Data"
SrcPort 1
DstBlock "Virtual Reality"
DstPort 1
}
Line {
SrcBlock "Body Pos"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, 45]
Branch {
Points [0, 60]
DstBlock "Instrument Data"
DstPort 1
}
Branch {
DstBlock "Position"
DstPort 1
}
}
Branch {
DstBlock "Gain"
DstPort 1
}
}
}
}
Block {
BlockType Reference
Name "Gateway Out1"
Ports [1, 1]
Position [200, 175, 240, 215]
BackgroundColor "yellow"
ShowName off
SourceBlock "fixpt_lib_4/Data Type/Gateway Out"
SourceType "Fixed-Point Gateway Out"
OutRealWorld "Real World Value"
OutBuiltInType "double"
RndMeth "Nearest"
DoSatur off
}
Block {
BlockType Reference
Name "Gateway Out2"
Ports [1, 1]
Position [200, 115, 240, 155]
BackgroundColor "yellow"
ShowName off
SourceBlock "fixpt_lib_4/Data Type/Gateway Out"
SourceType "Fixed-Point Gateway Out"
OutRealWorld "Real World Value"
OutBuiltInType "double"
RndMeth "Nearest"
DoSatur off
}
Block {
BlockType Reference
Name "Gateway Out3"
Ports [1, 1]
Position [200, 55, 240, 95]
BackgroundColor "yellow"
ShowName off
SourceBlock "fixpt_lib_4/Data Type/Gateway Out"
SourceType "Fixed-Point Gateway Out"
OutRealWorld "Real World Value"
OutBuiltInType "double"
RndMeth "Nearest"
DoSatur off
}
Block {
BlockType Reference
Name "Gateway Out4"
Ports [1, 1]
Position [200, 295, 240, 335]
BackgroundColor "yellow"
ShowName off
SourceBlock "fixpt_lib_4/Data Type/Gateway Out"
SourceType "Fixed-Point Gateway Out"
OutRealWorld "Real World Value"
OutBuiltInType "double"
RndMeth "Nearest"
DoSatur off
}
Line {
Name "<Body Pos>"
Labels [0, 0]
SrcBlock "Bus\nSelector"
SrcPort 1
DstBlock "Gateway Out3"
DstPort 1
}
Line {
Name "<Body Vel>"
Labels [0, 0]
SrcBlock "Bus\nSelector"
SrcPort 2
DstBlock "Gateway Out2"
DstPort 1
}
Line {
Name "<Speed>"
Labels [0, 0]
SrcBlock "Bus\nSelector"
SrcPort 3
DstBlock "Gateway Out1"
DstPort 1
}
Line {
Name "<VR Data>"
Labels [0, 0]
SrcBlock "Bus\nSelector"
SrcPort 4
DstBlock "Display Subsystem"
DstPort 4
}
Line {
Name "<Euler RPY>"
Labels [0, 0]
SrcBlock "Bus\nSelector"
SrcPort 5
DstBlock "Gateway Out4"
DstPort 1
}
Line {
SrcBlock "Bus Input"
SrcPort 1
DstBlock "Bus\nSelector"
DstPort 1
}
Line {
SrcBlock "Gateway Out4"
SrcPort 1
DstBlock "Display Subsystem"
DstPort 5
}
Line {
SrcBlock "Gateway Out1"
SrcPort 1
DstBlock "Display Subsystem"
DstPort 3
}
Line {
SrcBlock "Gateway Out2"
SrcPort 1
DstBlock "Display Subsystem"
DstPort 2
}
Line {
SrcBlock "Gateway Out3"
SrcPort 1
DstBlock "Display Subsystem"
DstPort 1
}
}
}
Block {
BlockType Reference
Name "Helicopter"
Ports [1, 1]
Position [230, 108, 345, 172]
BackgroundColor "lightBlue"
SourceBlock "HelicopterBlockset/Helicopter"
SourceType "SubSystem"
ShowPortLabels on
Permissions "ReadWrite"
TreatAsAtomicUnit off
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Line {
SrcBlock "Helicopter"
SrcPort 1
Points [45, 0]
Branch {
Points [0, -70; -355, 0; 0, 70]
DstBlock "Controller"
DstPort 1
}
Branch {
DstBlock "Displays"
DstPort 1
}
}
Line {
SrcBlock "Controller"
SrcPort 1
DstBlock "Helicopter"
DstPort 1
}
Annotation {
Name "Helicopter and Controller\nby Jim Ledin, PE\nLe"
"din Engineering\nwww.ledin.com"
Position [484, 255]
DropShadow on
FontName "Arial"
FontSize 12
}
}
}
# Finite State Machines
# -- File save dated 13-Aug-2003 18:24:36
#
# Stateflow Version 5.1 (R13+) dated Oct 16 2002, 19:29:15
#
#
Stateflow {
machine {
id 1
name "Helicopter"
created "14-Jun-2003 15:28:53"
isLibrary 0
firstTarget 2
sfVersion 51013001
}
target {
id 2
name "sfun"
description "Default Simulink S-Function Target."
machine 1
linkNode [1 0 3]
}
target {
id 3
name "rtw"
codeFlags " comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 el"
"seifdetection=1 constantfolding=1 redundantloadelimination=0"
" preservenames=0 preservenameswithparent=0 exportcharts=0"
machine 1
linkNode [1 2 0]
}
}
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