sf_uavmode_template.mdl

multi uav(多无人机matlab下的仿真)

Model {
  Name			  "sf_uavmode_template"
  Version		  5.0
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Sat Apr 20 15:23:16 2002"
  Creator		  "dlluch"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "dlluch"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Sun Aug 17 17:24:05 2003"
  ModelVersionFormat	  "1.%<AutoIncrement:6>"
  ConfigurationManager	  "sourcesafe"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  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
  BufferReuse		  on
  RTWExpressionDepthLimit 5
  SimulationMode	  "normal"
  Solver		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "10.0"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  Decimation		  "1"
  LimitDataPoints	  on
  MaxDataPoints		  "1000"
  SignalLoggingName	  "sigsOut"
  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"
  RTWInlineParameters	  off
  BlockReductionOpt	  on
  BooleanDataType	  off
  ConditionallyExecuteInputs on
  ParameterPooling	  on
  OptimizeBlockIOStorage  on
  ZeroCross		  on
  AssertionControl	  "UseLocalSettings"
  ProdHWDeviceType	  "Microprocessor"
  ProdHWWordLengths	  "8,16,32,32"
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  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		    "Microsoft Sans Serif"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Demux
      Outputs		      "4"
      DisplayOption	      "none"
      BusSelectionMode	      off
    }
    Block {
      BlockType		      Ground
    }
    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		      Terminator
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Microsoft Sans Serif"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Microsoft Sans Serif"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "sf_uavmode_template"
    Location		    [480, 85, 980, 386]
    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		      "uav_modes"
      Ports		      []
      Position		      [30, 14, 90, 66]
      TreatAsAtomicUnit	      off
      MaskType		      "Stateflow"
      MaskDescription	      "Stateflow diagram"
      MaskDisplay	      "plot(sf('Private','sfblk','xIcon'),sf('Private'"
",'sfblk','yIcon'));text(0.5,0,sf('Private', 'sfblk', 'tIcon'),'HorizontalAl',"
"'Center','VerticalAl','Bottom');"
      MaskSelfModifiable      on
      MaskIconFrame	      off
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"uav_modes"
	Location		[257, 457, 812, 717]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	Block {
	  BlockType		  Demux
	  Name			  " Demux "
	  Ports			  [1, 1]
	  Position		  [270, 100, 320, 140]
	  Outputs		  "1"
	}
	Block {
	  BlockType		  Ground
	  Name			  " Ground "
	  Position		  [20, 111, 40, 129]
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  " SFunction "
	  Tag			  "Stateflow S-Function sf_uavmode_template 1"
	  Ports			  [1, 1]
	  Position		  [180, 100, 230, 140]
	  FunctionName		  "sf_sfun"
	  PortCounts		  "[1 1]"
	}
	Block {
	  BlockType		  Terminator
	  Name			  " Terminator "
	  Position		  [460, 111, 480, 129]
	}
	Line {
	  SrcBlock		  " SFunction "
	  SrcPort		  1
	  DstBlock		  " Demux "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Ground "
	  SrcPort		  1
	  DstBlock		  " SFunction "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  " Demux "
	  SrcPort		  1
	  DstBlock		  " Terminator "
	  DstPort		  1
	}
      }
    }
  }
}

# Finite State Machines
# -- File save dated 17-Aug-2003 17:24:06
#
#    Stateflow Version 5.1 (R13+) dated Oct 16 2002, 19:29:15
#
#

Stateflow {

	machine {
		id                   		1
		name                 		"sf_uavmode_template"
		created              		"20-Apr-2002 15:23:16"
		isLibrary            		0
		firstTarget          		18
		sfVersion            		51013001
	}

	chart {
		id                       		2
		name                     		"uav_modes"
		windowPosition           		[52.5 163.5 417 348.75]
		viewLimits               		[6.385 353.74 0 290.858]
		zoomFactor               		0.93
		screen                   		[1 1 1024 768 1.333333333333333]
		treeNode                 		[0 3 0 0]
		viewObj                  		2
		visible                  		1
		machine                  		1
		subviewS {
			x1        		6.385
			zoomFactor		0.93
		}
		decomposition            		SET_CHART
		chartFileNumber          		1
	}

	state {
		id                  		3
		labelString         		"uav1"
		position            		[15 15 330.125 91.375]
		fontSize            		12
		chart               		2
		treeNode            		[2 4 0 0]
		firstTransition     		8
		superState          		GROUPED
		subviewer           		2
		type                		AND_STATE
		decomposition       		CLUSTER_STATE
		firstEvent          		13
	}

	state {
		id                  		4
		labelString         		"ac_avoid\n"
						"en:mode_count[1][1]++;"
		position            		[25 45 70 50]
		fontSize            		12
		chart               		2
		treeNode            		[3 0 0 5]
		superState          		SUBCHART
		isGrouped           		1
		subviewer           		2
		subviewS {
			x1        		-13.95
			y1        		-13.95
			pos       		[0 0 127.25 61.25]
		}
		type                		OR_STATE
		decomposition       		CLUSTER_STATE
	}

	state {
		id                  		5
		labelString         		"obs_avoid\n"
						"en:mode_count[1][2]++;"
		position            		[105 45 70 50]
		fontSize            		12
		chart               		2
		treeNode            		[3 0 4 6]
		superState          		SUBCHART
		isGrouped           		1
		subviewer           		2
		subviewS {
			x1        		-13.95
			y1        		-13.95
			pos       		[0 0 131 56.75]
		}
		type                		OR_STATE
		decomposition       		CLUSTER_STATE
	}

	state {
		id                  		6
		labelString         		"tgt_aquire\n"
						"en:mode_count[1][3]++;"
		position            		[185 45 70 50]
		fontSize            		12
		chart               		2
		treeNode            		[3 0 5 7]
		superState          		SUBCHART
		isGrouped           		1
		subviewer           		2
		subviewS {
			x1        		-13.95
			y1        		-13.95
			pos       		[0 0 134 57.5]
		}
		type                		OR_STATE
		decomposition       		CLUSTER_STATE
	}

	state {
		id                  		7
		labelString         		"form_keep\n"
						"en:mode_count[1][4]++;"
		position            		[265 45 70 50]
		fontSize            		12
		chart               		2
		treeNode            		[3 0 6 0]
		superState          		SUBCHART
		isGrouped           		1
		subviewer           		2
		subviewS {
			x1        		-13.95
			y1        		-13.95
			pos       		[0 0 145.25 56]
		}
		type                		OR_STATE
		decomposition       		CLUSTER_STATE
	}

	transition {
		id             		8
		labelString    		"aa"
		labelPosition  		[68.6 22.314 15.314 16.043]
		fontSize       		12
		src {
			id          		3
			intersection		[1 0 1 0.1422 61.953 15 0 -1.9525]
		}
		dst {
			id          		4
			intersection		[1 0 -1 0.5279 61.953 45 0 1.9525]
		}
		midPoint       		[61.953 26.3915]
		chart          		2
		linkNode       		[3 0 9]
		isGrouped      		1
		dataLimits     		[59.553 64.353 15 45]
		subviewer      		2
		drawStyle      		SMART
	}

	transition {
		id             		9
		labelString    		"oa"
		labelPosition  		[143.125 21.375 15.314 16.043]
		fontSize       		12
		src {
			id          		3
			intersection		[1 0 1 0.3764 139.251 15 0 0.75]
		}
		dst {
			id          		5
			intersection		[1 0 -1 0.4893 139.251 45 0 -0.75]
		}
		midPoint       		[139.25 26.3915]
		chart          		2
		linkNode       		[3 8 11]
		isGrouped      		1
		dataLimits     		[136.851 141.651 15 45]
		subviewer      		2
		drawStyle      		SMART
	}

	transition {
		id             		10
		labelString    		"ta"
		labelPosition  		[226.375 21.375 11.834 16.043]
		fontSize       		12
		src {
			id          		3
			intersection		[1 0 1 0.6217 220.252 15 0 -0.25]
		}
		dst {
			id          		6
			intersection		[1 0 -1 0.5036 220.252 45 0 0.25]
		}
		midPoint       		[220.25 26.3915]
		chart          		2
		linkNode       		[3 11 12]
		isGrouped      		1
		dataLimits     		[217.852 222.652 15 45]
		subviewer      		2
		drawStyle      		SMART
	}

	transition {
		id             		11
		labelString    		"fk"
		labelPosition  		[306.125 21.375 11.138 16.043]
		fontSize       		12
		src {
			id          		3
			intersection		[1 0 1 0.8648 300.497 15 0 -0.5]
		}
		dst {
			id          		7
			intersection		[1 0 -1 0.5071 300.497 45 0 0.5]
		}
		midPoint       		[300.5 26.3915]
		chart          		2
		linkNode       		[3 9 10]
		isGrouped      		1
		dataLimits     		[298.097 302.897 15 45]
		subviewer      		2
		drawStyle      		SMART
	}

	transition {
		id             		12
		labelPosition  		[92.004 32.254 8.353 16.043]
		fontSize       		12
		src {
			intersection		[0 0 0 0 102.4075 27.9 0 0]
		}
		dst {
			id          		4
			intersection		[1 0 -1 0.9265 89.855 45 0 0]
		}
		midPoint       		[94.2242 32.0256]
		chart          		2
		linkNode       		[3 10 0]
		isGrouped      		1
		dataLimits     		[87.455 102.408 27.9 45]
		subviewer      		2
		drawStyle      		SMART
	}

	event {
		id         		13
		name       		"aa"
		linkNode   		[3 0 14]
		scope      		LOCAL_EVENT
		trigger    		EITHER_EDGE_EVENT
		machine    		1
	}

	event {
		id         		14
		name       		"fk"
		linkNode   		[3 13 15]
		scope      		LOCAL_EVENT
		trigger    		EITHER_EDGE_EVENT
		machine    		1
	}

	event {
		id         		15
		name       		"oa"
		linkNode   		[3 14 16]
		scope      		LOCAL_EVENT
		trigger    		EITHER_EDGE_EVENT
		machine    		1
	}

	event {
		id         		16
		name       		"ta"
		linkNode   		[3 15 0]
		scope      		LOCAL_EVENT
		trigger    		EITHER_EDGE_EVENT
		machine    		1
	}

	instance {
		id     		17
		name   		"uav_modes"
		machine		1
		chart  		2
	}

	target {
		id               		18
		name             		"sfun"
		description      		"Default Simulink S-Function Target."
		machine          		1
		linkNode         		[1 0 0]
	}
}