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DstPort 1
}
Line {
SrcBlock "Product2"
SrcPort 1
DstBlock "xdot"
DstPort 1
}
Line {
SrcBlock "x"
SrcPort 1
DstBlock "Zero-Order\nHold1"
DstPort 1
}
}
}
Block {
BlockType Lookup
Name "Hd(t)"
Position [180, 163, 235, 187]
InputValues "Pt"
OutputValues "Ph"
}
Block {
BlockType Constant
Name "Horizon Time"
Position [25, 28, 60, 42]
NamePlacement "alternate"
Value "0"
}
Block {
BlockType Math
Name "Math\nFunction"
Ports [2, 1, 0, 0, 0]
Position [110, 46, 140, 124]
NamePlacement "alternate"
ShowName off
Operator "mod"
OutputSignalType "auto"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [260, 59, 265, 201]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux2"
Ports [2, 1, 0, 0, 0]
Position [405, 60, 410, 200]
ShowName off
Inputs "[3 3]"
DisplayOption "bar"
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1, 0, 0, 0]
Position [70, 55, 90, 75]
ShowName off
FontName "Arial"
IconShape "round"
Inputs "++|"
SaturateOnIntegerOverflow on
}
Block {
BlockType Constant
Name "Time Limit"
Position [25, 98, 60, 112]
Value "Pt(end)"
}
Block {
BlockType Lookup
Name "Xd(t)"
Position [180, 73, 235, 97]
InputValues "Pt"
OutputValues "Px"
}
Block {
BlockType Lookup
Name "Yd(t)"
Position [180, 118, 235, 142]
InputValues "Pt"
OutputValues "Py"
}
Block {
BlockType Outport
Name "ref"
Position [440, 123, 470, 137]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [40, 0]
Branch {
Points [0, 35]
DstBlock "Derivative"
DstPort 1
}
Branch {
Points [0, -35]
DstBlock "Delay"
DstPort 1
}
}
Line {
SrcBlock "Time Limit"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 2
}
Line {
SrcBlock "Math\nFunction"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
Points [0, 45]
Branch {
Points [0, 45]
DstBlock "Hd(t)"
DstPort 1
}
Branch {
DstBlock "Yd(t)"
DstPort 1
}
}
Branch {
DstBlock "Xd(t)"
DstPort 1
}
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Sum2"
DstPort 2
}
Line {
SrcBlock "Horizon Time"
SrcPort 1
Points [15, 0]
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Math\nFunction"
DstPort 1
}
Line {
SrcBlock "Hd(t)"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Yd(t)"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Xd(t)"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Delay"
SrcPort 1
DstBlock "Mux2"
DstPort 1
}
Line {
SrcBlock "Derivative"
SrcPort 1
DstBlock "Mux2"
DstPort 2
}
Line {
SrcBlock "Mux2"
SrcPort 1
DstBlock "ref"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Sensors"
Ports [4, 1, 0, 0, 0]
Position [540, 90, 590, 250]
ShowPortLabels on
System {
Name "Sensors"
Location [266, 177, 932, 475]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "x"
Position [35, 103, 65, 117]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "xdot"
Position [35, 163, 65, 177]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
Port {
PortNumber 1
Name "xdot"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType Inport
Name "others"
Position [35, 208, 65, 222]
Port "3"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
Port {
PortNumber 1
Name "Others"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType Inport
Name "controls"
Position [35, 253, 65, 267]
Port "4"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
Port {
PortNumber 1
Name "Controls"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType SubSystem
Name "ARA Sensors"
Ports [1, 1, 0, 0, 0]
Position [370, 31, 415, 69]
ShowPortLabels on
System {
Name "ARA Sensors"
Location [54, 176, 397, 516]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [35, 168, 65, 182]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 9, 0, 0, 0]
Position [95, 45, 100, 305]
BackgroundColor "black"
ShowName off
Outputs "9"
}
Block {
BlockType Mux
Name "Mux1"
Ports [9, 1, 0, 0, 0]
Position [220, 46, 225, 304]
ShowName off
Inputs "9"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "Out"
Position [265, 168, 295, 182]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "Demux"
SrcPort 7
DstBlock "Mux1"
DstPort 7
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "Demux"
SrcPort 4
DstBlock "Mux1"
DstPort 4
}
Line {
SrcBlock "Demux"
SrcPort 5
DstBlock "Mux1"
DstPort 5
}
Line {
SrcBlock "Demux"
SrcPort 6
DstBlock "Mux1"
DstPort 6
}
Line {
SrcBlock "Demux"
SrcPort 8
DstBlock "Mux1"
DstPort 8
}
Line {
SrcBlock "Demux"
SrcPort 9
DstBlock "Mux1"
DstPort 9
}
Annotation {
Position [170, 24]
Text "Insert ARA (Airspeed, Rate, Attitude) S"
"ensors Model Here \n( Transfer Functions + Limiters + Noise)"
}
}
}
Block {
BlockType UnitDelay
Name "ARA delay"
Position [460, 30, 500, 70]
X0 "[60 -0.0293682 0 0 0 0 0 -0.0293682 0]"
SampleTime "0.05"
}
Block {
BlockType SubSystem
Name "GPS Sensors"
Ports [1, 1, 0, 0, 0]
Position [370, 91, 415, 129]
ShowPortLabels on
System {
Name "GPS Sensors"
Location [54, 176, 397, 516]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In"
Position [35, 168, 65, 182]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Outport
Name "Out"
Position [265, 168, 295, 182]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "In"
SrcPort 1
DstBlock "Out"
DstPort 1
}
Annotation {
Position [170, 129]
Text "Add GPS Noine Model Here "
}
}
}
Block {
BlockType UnitDelay
Name "GPS delay"
Position [460, 90, 500, 130]
X0 "[-2.5 0 60]"
SampleTime "0.05"
}
Block {
BlockType Mux
Name "Mux1"
Ports [2, 1, 0, 0, 0]
Position [545, 21, 550, 139]
ShowName off
Inputs "[9 3]"
DisplayOption "bar"
}
Block {
BlockType Selector
Name "Selector1"
Position [140, 100, 180, 120]
ShowName off
Elements "[10 11 12]"
InputPortWidth "12"
Port {
PortNumber 1
Name "Position (GPS)"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType Selector
Name "Selector2"
Position [140, 40, 180, 60]
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