📄 apilot1.mdl
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Name "Subtract initial\nconditions"
Ports [1, 2, 0, 0, 0]
Position [370, 48, 440, 132]
BackgroundColor "lightBlue"
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "aplib/Subtract initial\nconditions"
SourceType ""
}
Block {
BlockType Reference
Name "asymm. modes"
Ports [4, 2, 0, 0, 0]
Position [275, 235, 370, 275]
Orientation "left"
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "aplib/asymm. modes"
SourceType "Asymmetrical autopilot modes"
Port {
PortNumber 1
Name "D_rud ref"
TestPoint off
RTWStorageClass "Auto"
}
Port {
PortNumber 2
Name "D_ail ref"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType Reference
Name "delay & limiters"
Ports [3, 3, 0, 0, 0]
Position [70, 281, 165, 319]
Orientation "left"
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "aplib/delay & limiters"
SourceType "Computational delay and limiters"
}
Block {
BlockType Reference
Name "fixstate"
Ports [0, 0, 0, 0, 0]
Position [236, 391, 317, 436]
BackgroundColor "cyan"
DropShadow on
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "fbuttons/fixstate"
SourceType "fixstate"
}
Block {
BlockType Reference
Name "mode controller"
Ports [0, 1, 0, 0, 0]
Position [440, 334, 505, 366]
Orientation "left"
ForegroundColor "red"
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "aplib/mode controller"
SourceType "Mode Controller"
}
Block {
BlockType Reference
Name "symm. modes"
Ports [4, 1, 0, 0, 0]
Position [275, 289, 370, 331]
Orientation "left"
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "aplib/symm. modes"
SourceType "Symmetrical autopilot modes"
Port {
PortNumber 1
Name "D_elv ref"
TestPoint off
RTWStorageClass "Auto"
}
}
Block {
BlockType SubSystem
Name "t"
Ports [0, 0, 0, 0, 0]
Position [11, 8, 160, 69]
ForegroundColor "blue"
DropShadow on
ShowName off
OpenFcn "browse apilot"
FontName "Arial"
FontSize 11
ShowPortLabels off
MaskDisplay "disp('Apilot1 (no radio-navigation,\\nwind, tur"
"bulence, and\\nsensor models)\\nMarc Rauw, April 2004')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "t"
Location [19, 27, 159, 122]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
}
}
Line {
SrcBlock "Add initial\nconditions"
SrcPort 2
DstBlock "Beaver dynamics"
DstPort 3
}
Line {
SrcBlock "Add initial\nconditions"
SrcPort 1
DstBlock "Beaver dynamics"
DstPort 2
}
Line {
SrcBlock "Beaver dynamics"
SrcPort 1
DstBlock "Subtract initial\nconditions"
DstPort 1
}
Line {
SrcBlock "delay & limiters"
SrcPort 2
Points [-30, 0; 0, -190]
DstBlock "Actuator &\ncable dynamics"
DstPort 2
}
Line {
SrcBlock "delay & limiters"
SrcPort 3
Points [-40, 0; 0, -210]
DstBlock "Actuator &\ncable dynamics"
DstPort 1
}
Line {
Name "D_elv ref"
Labels [0, 0]
SrcBlock "symm. modes"
SrcPort 1
DstBlock "delay & limiters"
DstPort 3
}
Line {
SrcBlock "Subtract initial\nconditions"
SrcPort 1
Points [30, 0; 0, 200]
Branch {
Points [0, 55]
DstBlock "symm. modes"
DstPort 4
}
Branch {
DstBlock "asymm. modes"
DstPort 4
}
}
Line {
SrcBlock "Reference signals"
SrcPort 1
Points [-35, 0; 0, -85]
Branch {
Points [0, -55]
DstBlock "asymm. modes"
DstPort 2
}
Branch {
DstBlock "symm. modes"
DstPort 2
}
}
Line {
SrcBlock "Subtract initial\nconditions"
SrcPort 2
Points [20, 0]
Branch {
Points [0, 150]
Branch {
Points [0, 55]
DstBlock "symm. modes"
DstPort 3
}
Branch {
DstBlock "asymm. modes"
DstPort 3
}
}
Branch {
DstBlock "Selector"
DstPort 1
}
}
Line {
Name "D_rud ref"
Labels [0, 0]
SrcBlock "asymm. modes"
SrcPort 1
Points [-70, 0; 0, 45]
DstBlock "delay & limiters"
DstPort 1
}
Line {
Name "D_ail ref"
Labels [0, 0]
SrcBlock "asymm. modes"
SrcPort 2
Points [-60, 0; 0, 35]
DstBlock "delay & limiters"
DstPort 2
}
Line {
SrcBlock "Beaver dynamics"
SrcPort 2
Points [15, 0; 0, 60; -315, 0; 0, -80]
DstBlock "Actuator &\ncable dynamics"
DstPort 4
}
Line {
SrcBlock "mode controller"
SrcPort 1
Points [-25, 0; 0, -55]
Branch {
Points [0, -55]
DstBlock "asymm. modes"
DstPort 1
}
Branch {
DstBlock "symm. modes"
DstPort 1
}
}
Line {
SrcBlock "Ground_1"
SrcPort 1
DstBlock "Add initial\nconditions"
DstPort 4
}
Line {
SrcBlock "Ground_2"
SrcPort 1
DstBlock "Add initial\nconditions"
DstPort 5
}
Line {
SrcBlock "Ground_3"
SrcPort 1
DstBlock "Add initial\nconditions"
DstPort 6
}
Line {
Name "Ddeltea"
Labels [1, 0]
SrcBlock "Actuator &\ncable dynamics"
SrcPort 1
DstBlock "Add initial\nconditions"
DstPort 1
}
Line {
Name "Ddeltaa"
Labels [1, 0]
SrcBlock "Actuator &\ncable dynamics"
SrcPort 2
DstBlock "Add initial\nconditions"
DstPort 2
}
Line {
Name "Ddeltar"
Labels [1, 0]
SrcBlock "Actuator &\ncable dynamics"
SrcPort 3
DstBlock "Add initial\nconditions"
DstPort 3
}
Line {
SrcBlock "delay & limiters"
SrcPort 1
Points [-20, 0; 0, -170]
DstBlock "Actuator &\ncable dynamics"
DstPort 3
}
Line {
SrcBlock "Ground_4"
SrcPort 1
DstBlock "Beaver dynamics"
DstPort 1
}
Line {
SrcBlock "Selector"
SrcPort 1
DstBlock "Graph\nscope"
DstPort 1
}
Annotation {
Position [457, 97]
VerticalAlignment "top"
Text "z-z0"
FontName "Arial"
}
Annotation {
Position [457, 57]
VerticalAlignment "top"
Text "z"
FontName "Arial"
}
Annotation {
Position [97, 375]
ForegroundColor "blue"
Text "Basic initialization:"
FontName "Arial"
FontSize 11
FontWeight "bold"
}
Annotation {
Position [274, 376]
ForegroundColor "blue"
Text "Advanced initialization:"
FontName "Arial"
FontSize 11
FontWeight "bold"
}
}
}
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