📄 quadrotorsim.mdl
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Block {
BlockType "S-Function"
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
SFunctionDeploymentMode off
}
Block {
BlockType SubSystem
ShowPortLabels "FromPortIcon"
Permissions "ReadWrite"
PermitHierarchicalResolution "All"
TreatAsAtomicUnit off
CheckFcnCallInpInsideContextMsg off
SystemSampleTime "-1"
RTWFcnNameOpts "Auto"
RTWFileNameOpts "Auto"
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
SimViewingDevice off
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
CollapseMode "All dimensions"
CollapseDim "1"
InputSameDT on
AccumDataTypeStr "Inherit: Inherit via internal rule"
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as first input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: Same as first input"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Switch
Criteria "u2 >= Threshold"
Threshold "0"
InputSameDT on
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: Inherit via internal rule"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
ZeroCross on
SampleTime "-1"
}
Block {
BlockType ZeroOrderHold
SampleTime "1"
}
Block {
BlockType Constant
Value "1"
VectorParams1D on
SamplingMode "Sample based"
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "fixdt(1,16,0)"
ConRadixGroup "Use specified scaling"
OutScaling "[]"
OutDataTypeStr "Inherit: Inherit from 'Constant value'"
SampleTime "inf"
FramePeriod "inf"
}
}
AnnotationDefaults {
HorizontalAlignment "center"
VerticalAlignment "middle"
ForegroundColor "black"
BackgroundColor "white"
DropShadow off
FontName "Helvetica"
FontSize 10
FontWeight "normal"
FontAngle "normal"
UseDisplayTextAsClickCallback off
}
LineDefaults {
FontName "Helvetica"
FontSize 9
FontWeight "normal"
FontAngle "normal"
}
System {
Name "quadrotorsim"
Location [522, 153, 1478, 694]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType SubSystem
Name "Autopilot"
Ports [2, 1]
Position [370, 221, 455, 279]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDisplay "image(imread('kestrel.jpg'))"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Autopilot"
Location [1024, 303, 1592, 825]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "commands"
Position [85, 273, 115, 287]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "x"
Position [85, 343, 115, 357]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType MATLABFcn
Name "Autopilot"
Ports [1, 1]
Position [240, 265, 300, 295]
MATLABFcn "autopilot(u,C)"
OutputDimensions "4+12+12"
SampleTime "C.Ts"
}
Block {
BlockType Clock
Name "Clock"
Position [90, 200, 110, 220]
Decimation "10"
}
Block {
BlockType Demux
Name "Demux"
Ports [1, 3]
Position [340, 142, 345, 418]
BackgroundColor "black"
ShowName off
Outputs "[4;12; 12]"
}
Block {
BlockType Goto
Name "Goto"
Position [430, 130, 470, 160]
ShowName off
GotoTag "u"
TagVisibility "global"
}
Block {
BlockType Goto
Name "Goto1"
Position [420, 265, 460, 295]
ShowName off
GotoTag "xd"
TagVisibility "global"
}
Block {
BlockType Goto
Name "Goto2"
Position [425, 355, 465, 385]
ShowName off
GotoTag "xhat"
TagVisibility "global"
}
Block {
BlockType Mux
Name "Mux1"
Ports [3, 1]
Position [180, 177, 185, 383]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "u"
Position [435, 183, 465, 197]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Demux"
SrcPort 3
DstBlock "Goto2"
DstPort 1
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "Autopilot"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 2
DstBlock "Goto1"
DstPort 1
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [0, 0; 30, 0]
Branch {
Points [0, -45]
DstBlock "Goto"
DstPort 1
}
Branch {
DstBlock "u"
DstPort 1
}
}
Line {
SrcBlock "Autopilot"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Clock"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "x"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "commands"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Annotation {
Name "Quadrotor Autopilot System"
Position [268, 50]
ForegroundColor "blue"
FontName "Arial"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType Constant
Name "Constant"
Position [50, 435, 80, 465]
Value "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Constant
Name "Constant1"
Position [230, 330, 260, 360]
Orientation "up"
ShowName off
Value "-1"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Display
Name "Estimation Error"
Ports [1]
Position [795, 160, 885, 190]
Decimation "1"
Lockdown off
}
Block {
BlockType Goto
Name "Goto"
Position [360, 150, 400, 180]
ShowName off
GotoTag "target"
TagVisibility "global"
}
Block {
BlockType Reference
Name "Manual Switch"
Ports [2, 1]
Position [150, 57, 180, 93]
ShowName off
SourceBlock "simulink/Signal\nRouting/Manual Switch"
SourceType "Manual Switch"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
sw "1"
action "0"
varsize off
}
Block {
BlockType Reference
Name "Manual Switch1"
Ports [2, 1]
Position [150, 162, 180, 198]
ShowName off
SourceBlock "simulink/Signal\nRouting/Manual Switch"
SourceType "Manual Switch"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
sw "1"
action "0"
varsize off
}
Block {
BlockType Reference
Name "Manual Switch2"
Ports [2, 1]
Position [155, 267, 185, 303]
ShowName off
SourceBlock "simulink/Signal\nRouting/Manual Switch"
SourceType "Manual Switch"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
sw "1"
action "0"
varsize off
}
Block {
BlockType Reference
Name "Manual Switch3"
Ports [2, 1]
Position [155, 372, 185, 408]
ShowName off
SourceBlock "simulink/Signal\nRouting/Manual Switch"
SourceType "Manual Switch"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
sw "1"
action "0"
varsize off
}
Block {
BlockType Mux
Name "Mux1"
Ports [4, 1]
Position [300, 22, 305, 443]
ShowName off
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "Quadrotor"
Ports [1, 1]
Position [500, 222, 590, 278]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
MaskDisplay "image(imread('quadrotor.jpg'))"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "Quadrotor"
Location [1114, 82, 1664, 529]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Inport
Name "u"
Position [65, 113, 95, 127]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType "S-Function"
Name "Dynamics"
Ports [1, 1]
Position [200, 200, 300, 230]
FunctionName "quadrotor_dynamics"
Parameters "C"
EnableBusSupport off
}
Block {
BlockType Constant
Name "East wind"
Position [65, 295, 95, 325]
Value "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Goto
Name "Goto"
Position [375, 245, 415, 275]
GotoTag "x"
TagVisibility "global"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1]
Position [155, 72, 160, 358]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "North wind"
Position [65, 200, 95, 230]
Value "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "x"
Position [385, 208, 415, 222]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "East wind"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "North wind"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "u"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "Dynamics"
DstPort 1
}
Line {
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