| blob | 669e2dd26b19efe81554b4c6fb66548f6cbd396a |
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43 Created "Sun Jan 01 10:58:12 2012"
44 Creator "jcotton81"
45 UpdateHistory "UpdateHistoryNever"
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47 LastModifiedBy "jcotton81"
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862 c "1"
863 InitialConditionSource "internal"
864 InitialConditionForIntegrator "0"
865 InitialConditionForFilter "0"
866 ExternalReset "none"
867 IgnoreLimit off
868 ZeroCross on
869 LimitOutput off
870 UpperSaturationLimit "inf"
871 LowerSaturationLimit "-inf"
872 LinearizeAsGain off
873 AntiWindupMode "none"
874 Kb "1"
875 TrackingMode off
876 Kt "1"
877 RndMeth "Floor"
878 SaturateOnIntegerOverflow off
879 LockScale off
880 PParamMin "[]"
881 PParamMax "[]"
882 PParamDataTypeStr "Inherit: Inherit via internal rule"
883 IParamMin "[]"
884 IParamMax "[]"
885 IParamDataTypeStr "Inherit: Inherit via internal rule"
886 DParamMin "[]"
887 DParamMax "[]"
888 DParamDataTypeStr "Inherit: Inherit via internal rule"
889 NParamMin "[]"
890 NParamMax "[]"
891 NParamDataTypeStr "Inherit: Inherit via internal rule"
892 bParamMin "[]"
893 bParamMax "[]"
894 bParamDataTypeStr "Inherit: Inherit via internal rule"
895 cParamMin "[]"
896 cParamMax "[]"
897 cParamDataTypeStr "Inherit: Inherit via internal rule"
898 KbParamMin "[]"
899 KbParamMax "[]"
900 KbParamDataTypeStr "Inherit: Inherit via internal rule"
901 KtParamMin "[]"
902 KtParamMax "[]"
903 KtParamDataTypeStr "Inherit: Inherit via internal rule"
904 POutMin "[]"
905 POutMax "[]"
906 POutDataTypeStr "Inherit: Inherit via internal rule"
907 IOutMin "[]"
908 IOutMax "[]"
909 IOutDataTypeStr "Inherit: Inherit via internal rule"
910 DOutMin "[]"
911 DOutMax "[]"
912 DOutDataTypeStr "Inherit: Inherit via internal rule"
913 NOutMin "[]"
914 NOutMax "[]"
915 NOutDataTypeStr "Inherit: Inherit via internal rule"
916 bOutMin "[]"
917 bOutMax "[]"
918 bOutDataTypeStr "Inherit: Inherit via internal rule"
919 cOutMin "[]"
920 cOutMax "[]"
921 cOutDataTypeStr "Inherit: Inherit via internal rule"
922 KbOutMin "[]"
923 KbOutMax "[]"
924 KbOutDataTypeStr "Inherit: Inherit via internal rule"
925 KtOutMin "[]"
926 KtOutMax "[]"
927 KtOutDataTypeStr "Inherit: Inherit via internal rule"
928 IntegratorOutMin "[]"
929 IntegratorOutMax "[]"
930 IntegratorOutDataTypeStr "Inherit: Inherit via internal rule"
931 FilterOutMin "[]"
932 FilterOutMax "[]"
933 FilterOutDataTypeStr "Inherit: Inherit via internal rule"
934 SumOutMin "[]"
935 SumOutMax "[]"
936 SumOutDataTypeStr "Inherit: Inherit via internal rule"
937 Sum1OutMin "[]"
938 Sum1OutMax "[]"
939 Sum1OutDataTypeStr "Inherit: Inherit via internal rule"
940 Sum2OutMin "[]"
941 Sum2OutMax "[]"
942 Sum2OutDataTypeStr "Inherit: Inherit via internal rule"
943 Sum3OutMin "[]"
944 Sum3OutMax "[]"
945 Sum3OutDataTypeStr "Inherit: Inherit via internal rule"
946 SumI1OutMin "[]"
947 SumI1OutMax "[]"
948 SumI1OutDataTypeStr "Inherit: Inherit via internal rule"
949 SumI2OutMin "[]"
950 SumI2OutMax "[]"
951 SumI2OutDataTypeStr "Inherit: Inherit via internal rule"
952 SumI3OutMin "[]"
953 SumI3OutMax "[]"
954 SumI3OutDataTypeStr "Inherit: Inherit via internal rule"
955 SumDOutMin "[]"
956 SumDOutMax "[]"
957 SumDOutDataTypeStr "Inherit: Inherit via internal rule"
958 SumAccumDataTypeStr "Inherit: Inherit via internal rule"
959 Sum1AccumDataTypeStr "Inherit: Inherit via internal rule"
960 Sum2AccumDataTypeStr "Inherit: Inherit via internal rule"
961 Sum3AccumDataTypeStr "Inherit: Inherit via internal rule"
962 SumI1AccumDataTypeStr "Inherit: Inherit via internal rule"
963 SumI2AccumDataTypeStr "Inherit: Inherit via internal rule"
964 SumI3AccumDataTypeStr "Inherit: Inherit via internal rule"
965 SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
966 SaturationOutMin "[]"
967 SaturationOutMax "[]"
968 SaturationOutDataTypeStr "Inherit: Same as input"
969 IntegratorContinuousStateAttributes "''"
970 IntegratorStateMustResolveToSignalObject off
971 IntegratorRTWStateStorageClass "Auto"
972 FilterContinuousStateAttributes "''"
973 FilterStateMustResolveToSignalObject off
974 FilterRTWStateStorageClass "Auto"
975 }
976 Block {
977 BlockType SubSystem
978 Name "Subsystem"
979 SID "57"
980 Ports [1, 3]
981 Position [300, 120, 440, 180]
982 MinAlgLoopOccurrences off
983 PropExecContextOutsideSubsystem off
984 RTWSystemCode "Auto"
985 FunctionWithSeparateData off
986 Opaque off
987 RequestExecContextInheritance off
988 MaskHideContents off
989 System {
990 Name "Subsystem"
991 Location [700, 127, 1473, 405]
992 Open on
993 ModelBrowserVisibility off
994 ModelBrowserWidth 200
995 ScreenColor "white"
996 PaperOrientation "landscape"
997 PaperPositionMode "auto"
998 PaperType "usletter"
999 PaperUnits "inches"
1000 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1001 TiledPageScale 1
1002 ShowPageBoundaries off
1003 ZoomFactor "100"
1004 Block {
1005 BlockType Inport
1006 Name "Throttle"
1007 SID "58"
1008 Position [25, 33, 55, 47]
1009 ZOrder -1
1010 IconDisplay "Port number"
1011 }
1012 Block {
1013 BlockType RandomNumber
1014 Name "Accel Noise"
1015 SID "24"
1016 Position [195, 125, 225, 155]
1017 ZOrder -15
1018 SampleTime "0.1"
1019 }
1020 Block {
1021 BlockType Sum
1022 Name "Add"
1023 SID "25"
1024 Ports [2, 1]
1025 Position [195, 32, 225, 63]
1026 ZOrder -2
1027 InputSameDT off
1028 OutDataTypeStr "Inherit: Inherit via internal rule"
1029 SaturateOnIntegerOverflow off
1030 Port {
1031 PortNumber 1
1032 Name "Acceleration"
1033 RTWStorageClass "Auto"
1034 DataLoggingNameMode "SignalName"
1035 }
1036 }
1037 Block {
1038 BlockType Sum
1039 Name "Add1"
1040 SID "26"
1041 Ports [2, 1]
1042 Position [260, 117, 290, 148]
1043 ZOrder -2
1044 InputSameDT off
1045 OutDataTypeStr "Inherit: Inherit via internal rule"
1046 SaturateOnIntegerOverflow off
1047 }
1048 Block {
1049 BlockType Sum
1050 Name "Add2"
1051 SID "27"
1052 Ports [2, 1]
1053 Position [480, 87, 510, 118]
1054 ZOrder -2
1055 InputSameDT off
1056 OutDataTypeStr "Inherit: Inherit via internal rule"
1057 SaturateOnIntegerOverflow off
1058 }
1059 Block {
1060 BlockType RandomNumber
1061 Name "Altitude Noise"
1062 SID "28"
1063 Position [420, 95, 450, 125]
1064 ZOrder -15
1065 SampleTime "0.1"
1066 }
1067 Block {
1068 BlockType Gain
1069 Name "Gain"
1070 SID "29"
1071 Position [115, 25, 145, 55]
1072 ZOrder -11
1073 Gain "9.81"
1074 ParamDataTypeStr "Inherit: Inherit via internal rule"
1075 OutDataTypeStr "Inherit: Inherit via internal rule"
1076 SaturateOnIntegerOverflow off
1077 Port {
1078 PortNumber 1
1079 Name "Thrust"
1080 RTWStorageClass "Auto"
1081 DataLoggingNameMode "SignalName"
1082 }
1083 }
1084 Block {
1085 BlockType Constant
1086 Name "Gravity"
1087 SID "30"
1088 Position [115, 80, 145, 110]
1089 ZOrder -5
1090 Value "-9.81"
1091 }
1092 Block {
1093 BlockType Integrator
1094 Name "Integrator"
1095 SID "31"
1096 Ports [1, 1]
1097 Position [305, 35, 335, 65]
1098 ZOrder -2
1099 Port {
1100 PortNumber 1
1101 Name "Velocity"
1102 RTWStorageClass "Auto"
1103 DataLoggingNameMode "SignalName"
1104 }
1105 }
1106 Block {
1107 BlockType Integrator
1108 Name "Integrator1"
1109 SID "32"
1110 Ports [1, 1]
1111 Position [420, 35, 450, 65]
1112 ZOrder -2
1113 }
1114 Block {
1115 BlockType Outport
1116 Name "Altitude"
1117 SID "59"
1118 Position [520, 43, 550, 57]
1119 ZOrder -9
1120 IconDisplay "Port number"
1121 }
1122 Block {
1123 BlockType Outport
1124 Name "Measured Altitude"
1125 SID "60"
1126 Position [570, 98, 600, 112]
1127 ZOrder -9
1128 Port "2"
1129 IconDisplay "Port number"
1130 }
1131 Block {
1132 BlockType Outport
1133 Name "Measured Accel"
1134 SID "61"
1135 Position [335, 128, 365, 142]
1136 ZOrder -9
1137 Port "3"
1138 IconDisplay "Port number"
1139 }
1140 Line {
1141 SrcBlock "Add1"
1142 SrcPort 1
1143 DstBlock "Measured Accel"
1144 DstPort 1
1145 }
1146 Line {
1147 SrcBlock "Altitude Noise"
1148 SrcPort 1
1149 DstBlock "Add2"
1150 DstPort 2
1151 }
1152 Line {
1153 SrcBlock "Accel Noise"
1154 SrcPort 1
1155 DstBlock "Add1"
1156 DstPort 2
1157 }
1158 Line {
1159 SrcBlock "Integrator1"
1160 SrcPort 1
1161 Points [15, 0]
1162 Branch {
1163 Points [-5, 0]
1164 DstBlock "Add2"
1165 DstPort 1
1166 }
1167 Branch {
1168 DstBlock "Altitude"
1169 DstPort 1
1170 }
1171 }
1172 Line {
1173 Name "Velocity"
1174 Labels [1, 0]
1175 SrcBlock "Integrator"
1176 SrcPort 1
1177 DstBlock "Integrator1"
1178 DstPort 1
1179 }
1180 Line {
1181 Name "Acceleration"
1182 SrcBlock "Add"
1183 SrcPort 1
1184 Points [15, 0]
1185 Branch {
1186 DstBlock "Add1"
1187 DstPort 1
1188 }
1189 Branch {
1190 Labels [1, 0]
1191 DstBlock "Integrator"
1192 DstPort 1
1193 }
1194 }
1195 Line {
1196 SrcBlock "Gravity"
1197 SrcPort 1
1198 Points [15, 0; 0, -40]
1199 DstBlock "Add"
1200 DstPort 2
1201 }
1202 Line {
1203 Name "Thrust"
1204 Labels [1, 0]
1205 SrcBlock "Gain"
1206 SrcPort 1
1207 DstBlock "Add"
1208 DstPort 1
1209 }
1210 Line {
1211 SrcBlock "Add2"
1212 SrcPort 1
1213 DstBlock "Measured Altitude"
1214 DstPort 1
1215 }
1216 Line {
1217 SrcBlock "Throttle"
1218 SrcPort 1
1219 DstBlock "Gain"
1220 DstPort 1
1221 }
1222 }
1223 }
1224 Block {
1225 BlockType Outport
1226 Name "Altitude"
1227 SID "37"
1228 Position [620, 123, 650, 137]
1229 ZOrder -9
1230 NamePlacement "alternate"
1231 IconDisplay "Port number"
1232 }
1233 Block {
1234 BlockType Outport
1235 Name "Measured Altitude"
1236 SID "38"
1237 Position [685, 143, 715, 157]
1238 ZOrder -9
1239 Port "2"
1240 IconDisplay "Port number"
1241 }
1242 Block {
1243 BlockType Outport
1244 Name "Measured Accel"
1245 SID "39"
1246 Position [485, 163, 515, 177]
1247 ZOrder -9
1248 Port "3"
1249 IconDisplay "Port number"
1250 }
1251 Line {
1252 SrcBlock "Subsystem"
1253 SrcPort 1
1254 DstBlock "Altitude"
1255 DstPort 1
1256 }
1257 Line {
1258 SrcBlock "Subsystem"
1259 SrcPort 2
1260 Points [105, 0]
1261 Branch {
1262 DstBlock "Measured Altitude"
1263 DstPort 1
1264 }
1265 Branch {
1266 Points [0, 55; -455, 0; 0, -45]
1267 DstBlock "PID Controller (2DOF)"
1268 DstPort 2
1269 }
1270 }
1271 Line {
1272 SrcBlock "Subsystem"
1273 SrcPort 3
1274 DstBlock "Measured Accel"
1275 DstPort 1
1276 }
1277 Line {
1278 SrcBlock "Altitude Setpoint"
1279 SrcPort 1
1280 DstBlock "PID Controller (2DOF)"
1281 DstPort 1
1282 }
1283 Line {
1284 SrcBlock "PID Controller (2DOF)"
1285 SrcPort 1
1286 DstBlock "Add"
1287 DstPort 2
1288 }
1289 Line {
1290 SrcBlock "Add"
1291 SrcPort 1
1292 Points [10, 0; 0, 5]
1293 DstBlock "Subsystem"
1294 DstPort 1
1295 }
1296 Line {
1297 SrcBlock "Constant"
1298 SrcPort 1
1299 Points [35, 0]
1300 DstBlock "Add"
1301 DstPort 1
1302 }
1303 }
1304 }