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QuadrotorSimulink.mdl
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QuadrotorSimulink.mdl
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BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
OutMin "[]"
OutMax "[]"
DataType "auto"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: auto"
LockScale off
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
LatchByCopyingInsideSignal off
Interpolate on
}
Block {
BlockType Integrator
ExternalReset "none"
InitialConditionSource "internal"
InitialCondition "0"
LimitOutput off
UpperSaturationLimit "inf"
LowerSaturationLimit "-inf"
ShowSaturationPort off
ShowStatePort off
AbsoluteTolerance "auto"
IgnoreLimit off
ZeroCross on
ContinuousStateAttributes "''"
}
Block {
BlockType Outport
Port "1"
UseBusObject off
BusObject "BusObject"
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
OutMin "[]"
OutMax "[]"
DataType "auto"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: auto"
LockScale off
SignalType "auto"
SamplingMode "auto"
SourceOfInitialOutputValue "Dialog"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Block {
BlockType Product
Inputs "2"
Multiplication "Element-wise(.*)"
CollapseMode "All dimensions"
CollapseDim "1"
InputSameDT on
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as first input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: Same as first input"
LockScale off
RndMeth "Zero"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
Block {
BlockType Saturate
UpperLimit "0.5"
LowerLimit "-0.5"
LinearizeAsGain on
ZeroCross on
SampleTime "-1"
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: Same as input"
LockScale off
RndMeth "Floor"
}
Block {
BlockType Scope
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "-1"
}
Block {
BlockType Step
Time "1"
Before "0"
After "1"
SampleTime "-1"
VectorParams1D on
ZeroCross on
}
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 ToWorkspace
VariableName "simulink_output"
MaxDataPoints "1000"
Decimation "1"
SampleTime "0"
FixptAsFi off
}
Block {
BlockType Trigonometry
Operator "sin"
OutputSignalType "auto"
SampleTime "-1"
}
}
System {
Name "QuadrotorSimulink"
Location [650, 82, 1270, 938]
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 "Angular Rate \nPID Controller"
Ports [6, 3]
Position [700, 331, 815, 534]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "Angular Rate \nPID Controller"
Location [698, 386, 1053, 743]
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"
Block {
BlockType Inport
Name "p"
Position [25, 33, 55, 47]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "p desired"
Position [25, 63, 55, 77]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "q"
Position [30, 163, 60, 177]
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "q desired"
Position [30, 193, 60, 207]
Port "4"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "r"
Position [25, 278, 55, 292]
Port "5"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "r desired"
Position [25, 308, 55, 322]
Port "6"
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "p PID"
Ports [2, 1]
Position [80, 25, 150, 85]
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Opaque off
RequestExecContextInheritance off
MaskHideContents off
System {
Name "p PID"
Location [341, 434, 988, 636]
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 "p"
Position [25, 153, 55, 167]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "p desired"
Position [25, 38, 55, 52]
Port "2"
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Block {
BlockType Derivative
Name "Derivative"
Position [245, 145, 275, 175]
}
Block {
BlockType Integrator
Name "Integrator"
Ports [1, 1]
Position [245, 85, 275, 115]
}
Block {
BlockType Gain
Name "Kd"
Position [315, 145, 345, 175]
Gain "Quad.p_KD"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Ki"
Position [310, 85, 340, 115]
Gain "Quad.p_KI"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Gain
Name "Kp"
Position [310, 25, 340, 55]
Gain "Quad.p_KP"
ParameterDataTypeMode "Inherit via internal rule"
ParameterDataType "fixdt(1, 16)"
ParameterScaling "2^0"
ParamDataTypeStr "Inherit: Inherit via internal rule"
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Psi Error"
Ports [2, 1]
Position [135, 82, 165, 113]
Inputs "+-"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Saturate
Name "Saturation1"
Position [375, 85, 405, 115]
UpperLimit "Quad.U2_max"
LowerLimit "Quad.U2_min"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Sum
Name "Sum"
Ports [3, 1]
Position [465, 72, 485, 128]
Inputs "+++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
OutDataType "fixdt(1, 16)"
OutScaling "2^-10"
OutDataTypeStr "Inherit: Inherit via internal rule"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "U2"
Position [525, 93, 555, 107]
IconDisplay "Port number"
OutDataType "fixdt(1, 16)"
OutScaling "2^0"
}
Line {
SrcBlock "p"
SrcPort 1
Points [60, 0]
Branch {
DstBlock "Psi Error"
DstPort 2
}
Branch {
DstBlock "Derivative"
DstPort 1
}
}
Line {
SrcBlock "p desired"