File: Controller_data.cpp1 /* 2 * Controller_data.cpp 3 * 4 * Code generation for model "Controller". 5 * 6 * Model version : 1.1303 7 * Simulink Coder version : 8.3 (R2012b) 20-Jul-2012 8 * C++ source code generated on : Sun Jun 01 14:58:10 2014 9 * 10 * Target selection: grt.tlc 11 * Note: GRT includes extra infrastructure and instrumentation for prototyping 12 * Embedded hardware selection: Generic->32-bit x86 compatible 13 * Code generation objectives: Unspecified 14 * Validation result: Not run 15 */ 16 #include "Controller.h" 17 #include "Controller_private.h" 18 19 /* Block parameters (auto storage) */ 20 Parameters_Controller Controller_P = { 21 0.0, /* Expression: 0 22 * Referenced by: '<S14>/Integrator' 23 */ 24 25 /* Expression: [1 1 1] 26 * Referenced by: '<S104>/Integrator1' 27 */ 28 { 1.0, 1.0, 1.0 }, 29 30 /* Computed Parameter: TransferFcn2_A 31 * Referenced by: '<S77>/Transfer Fcn2' 32 */ 33 { -268.65999999999997, -36100.0 }, 34 35 /* Computed Parameter: TransferFcn2_C 36 * Referenced by: '<S77>/Transfer Fcn2' 37 */ 38 { 0.0, 36100.0 }, 39 500.0, /* Expression: 500 40 * Referenced by: '<S8>/Step2' 41 */ 42 0.0, /* Expression: 0 43 * Referenced by: '<S8>/Step2' 44 */ 45 2.0, /* Expression: 2 46 * Referenced by: '<S8>/Step2' 47 */ 48 750.0, /* Expression: 750 49 * Referenced by: '<S8>/Step3' 50 */ 51 0.0, /* Expression: 0 52 * Referenced by: '<S8>/Step3' 53 */ 54 -2.0, /* Expression: -2 55 * Referenced by: '<S8>/Step3' 56 */ 57 0.0, /* Expression: 0 58 * Referenced by: '<S8>/Gain' 59 */ 60 250.0, /* Expression: 250 61 * Referenced by: '<S8>/Step' 62 */ 63 0.0, /* Expression: 0 64 * Referenced by: '<S8>/Step' 65 */ 66 30.0, /* Expression: 30 67 * Referenced by: '<S8>/Step' 68 */ 69 500.0, /* Expression: 500 70 * Referenced by: '<S8>/Step1' 71 */ 72 0.0, /* Expression: 0 73 * Referenced by: '<S8>/Step1' 74 */ 75 -30.0, /* Expression: -30 76 * Referenced by: '<S8>/Step1' 77 */ 78 0.0, /* Expression: 0 79 * Referenced by: '<S8>/Gain1' 80 */ 81 0.017453292519943295, /* Expression: pi/180 82 * Referenced by: '<S135>/Gain1' 83 */ 84 85 /* Computed Parameter: TransferFcn1_A 86 * Referenced by: '<S77>/Transfer Fcn1' 87 */ 88 { -268.65999999999997, -36100.0 }, 89 90 /* Computed Parameter: TransferFcn1_C 91 * Referenced by: '<S77>/Transfer Fcn1' 92 */ 93 { 0.0, 36100.0 }, 94 95 /* Computed Parameter: TransferFcn_A 96 * Referenced by: '<S77>/Transfer Fcn' 97 */ 98 { -268.65999999999997, -36100.0 }, 99 100 /* Computed Parameter: TransferFcn_C 101 * Referenced by: '<S77>/Transfer Fcn' 102 */ 103 { 0.0, 36100.0 }, 104 105 /* Expression: [0 0 0] 106 * Referenced by: '<S104>/Integrator' 107 */ 108 { 0.0, 0.0, 0.0 }, 109 0.0, /* Expression: 0 110 * Referenced by: '<S106>/Integrator' 111 */ 112 113 /* Expression: [0 0 0] 114 * Referenced by: '<S107>/Integrator2' 115 */ 116 { 0.0, 0.0, 0.0 }, 117 1.0, /* Expression: 1 118 * Referenced by: '<S107>/Gain' 119 */ 120 121 /* Expression: xm_0 122 * Referenced by: '<S16>/Integrator2' 123 */ 124 { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, 125 126 /* Expression: Fm_0 127 * Referenced by: '<S16>/Integrator6' 128 */ 129 { 0.0, 500.0, 0.0, 3.0, 0.0, 500.0 }, 130 -0.095742710775633816, /* Computed Parameter: TransferFcn_A_p 131 * Referenced by: '<S22>/Transfer Fcn' 132 */ 133 0.095742710775633816, /* Computed Parameter: TransferFcn_C_d 134 * Referenced by: '<S22>/Transfer Fcn' 135 */ 136 -0.095742710775633816, /* Computed Parameter: TransferFcn1_A_e 137 * Referenced by: '<S22>/Transfer Fcn1' 138 */ 139 0.095742710775633816, /* Computed Parameter: TransferFcn1_C_o 140 * Referenced by: '<S22>/Transfer Fcn1' 141 */ 142 -0.095742710775633816, /* Computed Parameter: TransferFcn2_A_p 143 * Referenced by: '<S22>/Transfer Fcn2' 144 */ 145 0.095742710775633816, /* Computed Parameter: TransferFcn2_C_n 146 * Referenced by: '<S22>/Transfer Fcn2' 147 */ 148 149 /* Expression: F_tol 150 * Referenced by: '<S16>/Constant21' 151 */ 152 { 500.0, 500.0, 3.0, 1.0, 500.0, 500.0 }, 153 154 /* Expression: e_tol 155 * Referenced by: '<S16>/Constant22' 156 */ 157 { 0.1, 0.5, 0.02 }, 158 159 /* Expression: F_R 160 * Referenced by: '<S16>/Constant23' 161 */ 162 { 0.0, 0.0, 0.0 }, 163 1.0, /* Computed Parameter: TransferFcn3_D 164 * Referenced by: '<S22>/Transfer Fcn3' 165 */ 166 1.0, /* Computed Parameter: TransferFcn4_D 167 * Referenced by: '<S22>/Transfer Fcn4' 168 */ 169 1.0, /* Computed Parameter: TransferFcn5_D 170 * Referenced by: '<S22>/Transfer Fcn5' 171 */ 172 -1.0, /* Expression: F 173 * Referenced by: '<S16>/Constant16' 174 */ 175 1.0, /* Expression: g 176 * Referenced by: '<S16>/Constant18' 177 */ 178 179 /* Expression: F_R 180 * Referenced by: '<S16>/Constant15' 181 */ 182 { 0.0, 0.0, 0.0 }, 183 184 /* Expression: theta_e0 185 * Referenced by: '<S16>/Integrator10' 186 */ 187 { 30.0, 0.0, 0.0, 0.0, 30.0, 0.0, 0.0, 0.0, 30.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 188 0.0, 0.0, 1.0 }, 189 190 /* Expression: theta_ves_hat_0 191 * Referenced by: '<S16>/Integrator3' 192 */ 193 { 2000.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 2000.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 194 7800.0, 0.0, 0.0, 1.0 }, 195 196 /* Expression: F_tol 197 * Referenced by: '<S16>/Constant19' 198 */ 199 { 500.0, 500.0, 3.0, 1.0, 500.0, 500.0 }, 200 201 /* Expression: omega00 202 * Referenced by: '<S16>/Integrator1' 203 */ 204 { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, 205 1.0, /* Expression: 1 206 * Referenced by: '<S11>/Gain2' 207 */ 208 0.0, /* Expression: 0 209 * Referenced by: '<S6>/Constant2' 210 */ 211 0.0, /* Expression: 0 212 * Referenced by: '<S6>/Constant1' 213 */ 214 0.0, /* Expression: 0 215 * Referenced by: '<S15>/Integrator' 216 */ 217 218 /* Expression: [0 0 0]' 219 * Referenced by: '<S18>/Constant1' 220 */ 221 { 0.0, 0.0, 0.0 }, 222 -1.0, /* Expression: -1 223 * Referenced by: '<S18>/Gain' 224 */ 225 0.0, /* Expression: 0 226 * Referenced by: '<S5>/Constant2' 227 */ 228 0.0, /* Expression: 0 229 * Referenced by: '<S5>/Constant1' 230 */ 231 0.0, /* Expression: 0 232 * Referenced by: '<S7>/Constant2' 233 */ 234 0.0, /* Expression: 0 235 * Referenced by: '<S7>/Constant1' 236 */ 237 238 /* Expression: [0 0 0] 239 * Referenced by: '<S15>/Constant4' 240 */ 241 { 0.0, 0.0, 0.0 }, 242 0.0, /* Expression: 0 243 * Referenced by: '<S11>/Gain' 244 */ 245 0.0, /* Expression: 0 246 * Referenced by: '<S33>/Integrator1' 247 */ 248 5.0, /* Expression: 5 249 * Referenced by: '<S38>/rho' 250 */ 251 5.0, /* Expression: 5 252 * Referenced by: '<S35>/rho' 253 */ 254 1.0, /* Expression: 1 255 * Referenced by: '<S41>/rho' 256 */ 257 1.0E-10, /* Expression: Bias 258 * Referenced by: '<S35>/Normalization' 259 */ 260 -65.0, /* Expression: -65 261 * Referenced by: '<S35>/Kp' 262 */ 263 0.0, /* Expression: 0 264 * Referenced by: '<S33>/Integrator' 265 */ 266 -1.0, /* Expression: -1 267 * Referenced by: '<S37>/Gain1' 268 */ 269 5.0, /* Expression: 5 270 * Referenced by: '<S37>/rho1' 271 */ 272 0.0, /* Expression: 0 273 * Referenced by: '<S35>/rho1' 274 */ 275 -1000.0, /* Expression: -1000 276 * Referenced by: '<S35>/Kd' 277 */ 278 -250.0, /* Expression: -250 279 * Referenced by: '<S32>/Gain' 280 */ 281 -1.0, /* Expression: -1 282 * Referenced by: '<S34>/Gain3' 283 */ 284 -1.0, /* Expression: -1 285 * Referenced by: '<S34>/Gain2' 286 */ 287 250.0, /* Expression: 250 288 * Referenced by: '<S34>/Gain' 289 */ 290 0.0, /* Expression: 0 291 * Referenced by: '<S34>/Constant' 292 */ 293 2500.0, /* Expression: 2500 294 * Referenced by: '<S34>/Gain1' 295 */ 296 297 /* Expression: -diag([1 0 1]) 298 * Referenced by: '<S17>/Gain2' 299 */ 300 { -1.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -1.0 }, 301 0.0, /* Expression: 0 302 * Referenced by: '<S11>/Gain1' 303 */ 304 12.0, /* Expression: 12 305 * Referenced by: '<S11>/Step' 306 */ 307 0.0, /* Expression: 0 308 * Referenced by: '<S11>/Step' 309 */ 310 1.0, /* Expression: 1 311 * Referenced by: '<S11>/Step' 312 */ 313 314 /* Expression: T 315 * Referenced by: '<S14>/Constant2' 316 */ 317 { 1.0, 0.0, 2.272, 0.0, 1.0, -0.316, 1.0, 0.0, 2.644, 0.0, 1.0, 0.0, 1.0, 0.0, 318 2.272, 0.0, 1.0, 0.316, 1.0, 0.0, -2.644, 0.0, 1.0, -0.19, 1.0, 0.0, -3.102, 319 0.0, 1.0, 0.0, 1.0, 0.0, -2.644, 0.0, 1.0, 0.19 }, 320 321 /* Expression: [22 22 22 45 45 45]' 322 * Referenced by: '<S14>/Constant3' 323 */ 324 { 22.0, 22.0, 22.0, 45.0, 45.0, 45.0 }, 325 326 /* Expression: [10 10 10 10 10 10]' 327 * Referenced by: '<S14>/Constant8' 328 */ 329 { 10.0, 10.0, 10.0, 10.0, 10.0, 10.0 }, 330 331 /* Expression: T 332 * Referenced by: '<S14>/Gain' 333 */ 334 { 1.0, 0.0, 2.272, 0.0, 1.0, -0.316, 1.0, 0.0, 2.644, 0.0, 1.0, 0.0, 1.0, 0.0, 335 2.272, 0.0, 1.0, 0.316, 1.0, 0.0, -2.644, 0.0, 1.0, -0.19, 1.0, 0.0, -3.102, 336 0.0, 1.0, 0.0, 1.0, 0.0, -2.644, 0.0, 1.0, 0.19 }, 337 12.0, /* Expression: 12 338 * Referenced by: '<S4>/Step' 339 */ 340 0.0, /* Expression: 0 341 * Referenced by: '<S4>/Step' 342 */ 343 1.0, /* Expression: 1 344 * Referenced by: '<S4>/Step' 345 */ 346 10.5, /* Expression: 10.5 347 * Referenced by: '<S3>/Constant' 348 */ 349 0.0, /* Expression: 0 350 * Referenced by: '<S3>/Integrator' 351 */ 352 0.0, /* Expression: 0 353 * Referenced by: '<S2>/Gravity' 354 */ 355 0.0, /* Expression: 0 356 * Referenced by: '<S84>/Integrator1' 357 */ 358 0.0, /* Expression: 0 359 * Referenced by: '<S85>/Constant' 360 */ 361 0.0, /* Expression: 0 362 * Referenced by: '<S84>/Integrator' 363 */ 364 365 /* Expression: diag([75 100 3205]) 366 * Referenced by: '<S84>/D' 367 */ 368 { 75.0, 0.0, 0.0, 0.0, 100.0, 0.0, 0.0, 0.0, 3205.0 }, 369 1.0, /* Expression: 1 370 * Referenced by: '<S13>/Gain' 371 */ 372 0.0, /* Expression: 0 373 * Referenced by: '<S119>/Integrator2' 374 */ 375 376 /* Expression: (diag([2535 2535 8485]))*diag([2 2 0.1])*0.05 377 * Referenced by: '<S84>/Gain4' 378 */ 379 { 253.5, 0.0, 0.0, 0.0, 253.5, 0.0, 0.0, 0.0, 42.425000000000004 }, 380 1.0, /* Expression: 1 381 * Referenced by: '<S13>/Gain7' 382 */ 383 0.01, /* Expression: 0.01 384 * Referenced by: '<S93>/Transport Delay' 385 */ 386 0.0, /* Expression: 0 387 * Referenced by: '<S93>/Transport Delay' 388 */ 389 1.0, /* Expression: 1 390 * Referenced by: '<S13>/Gain3' 391 */ 392 0.0, /* Expression: 0 393 * Referenced by: '<S86>/Constant' 394 */ 395 396 /* Expression: [0.5 0.5 0.5]*1 397 * Referenced by: '<S92>/Constant' 398 */ 399 { 0.5, 0.5, 0.5 }, 400 0.00185, /* Expression: 0.00185 401 * Referenced by: '<S92>/Saturation' 402 */ 403 -0.00185, /* Expression: -0.00185 404 * Referenced by: '<S92>/Saturation' 405 */ 406 407 /* Expression: [0.01 0.01 0.005]*0.1 408 * Referenced by: '<S82>/Constant' 409 */ 410 { 0.001, 0.001, 0.0005 }, 411 0.5, /* Expression: 0.5 412 * Referenced by: '<S82>/Constant1' 413 */ 414 1.0, /* Expression: 1 415 * Referenced by: '<S92>/Gain' 416 */ 417 0.0, /* Expression: 0 418 * Referenced by: '<S92>/Integrator' 419 */ 420 421 /* Expression: diag([75 100 3205]) 422 * Referenced by: '<S82>/D' 423 */ 424 { 75.0, 0.0, 0.0, 0.0, 100.0, 0.0, 0.0, 0.0, 3205.0 }, 425 426 /* Expression: [3 3 500]*1 427 * Referenced by: '<S91>/Constant1' 428 */ 429 { 3.0, 3.0, 500.0 }, 430 431 /* Expression: diag([1 1 0.1]) 432 * Referenced by: '<S82>/Gain6' 433 */ 434 { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.1 }, 435 0.00185, /* Expression: 0.00185 436 * Referenced by: '<S91>/Saturation' 437 */ 438 -0.00185, /* Expression: -0.00185 439 * Referenced by: '<S91>/Saturation' 440 */ 441 1.0, /* Expression: 1 442 * Referenced by: '<S91>/Gain' 443 */ 444 0.0, /* Expression: 0 445 * Referenced by: '<S91>/Integrator2' 446 */ 447 448 /* Expression: (diag([2535 2535 8485]))*diag([2 2 0.1])*0.05 449 * Referenced by: '<S82>/Gain4' 450 */ 451 { 253.5, 0.0, 0.0, 0.0, 253.5, 0.0, 0.0, 0.0, 42.425000000000004 }, 452 1.0, /* Expression: 1 453 * Referenced by: '<S13>/Gain6' 454 */ 455 456 /* Expression: [1 1 180/pi]' 457 * Referenced by: '<S16>/Gain' 458 */ 459 { 1.0, 1.0, 57.295779513082323 }, 460 5.0, /* Expression: 5 461 * Referenced by: '<S11>/Step1' 462 */ 463 0.0, /* Expression: 0 464 * Referenced by: '<S11>/Step1' 465 */ 466 1.0, /* Expression: 1 467 * Referenced by: '<S11>/Step1' 468 */ 469 470 /* Expression: A01 471 * Referenced by: '<S16>/Constant1' 472 */ 473 { -2.0, 1.0, -1.0, 0.0 }, 474 475 /* Expression: C01 476 * Referenced by: '<S16>/Constant11' 477 */ 478 { 0.0, 1.0 }, 479 480 /* Expression: B01 481 * Referenced by: '<S16>/Constant12' 482 */ 483 { 1.0, 0.0 }, 484 485 /* Expression: C11 486 * Referenced by: '<S16>/Constant17' 487 */ 488 { 1.0, 0.0 }, 489 490 /* Expression: C11 491 * Referenced by: '<S16>/Constant2' 492 */ 493 { 1.0, 0.0 }, 494 495 /* Expression: B11 496 * Referenced by: '<S16>/Constant3' 497 */ 498 { 1.0, 0.0 }, 499 500 /* Expression: A11 501 * Referenced by: '<S16>/Constant4' 502 */ 503 { -2.0, 1.0, -1.0, 0.0 }, 504 505 /* Expression: A01 506 * Referenced by: '<S16>/Constant5' 507 */ 508 { -2.0, 1.0, -1.0, 0.0 }, 509 510 /* Expression: B01 511 * Referenced by: '<S16>/Constant6' 512 */ 513 { 1.0, 0.0 }, 514 515 /* Expression: C01 516 * Referenced by: '<S16>/Constant7' 517 */ 518 { 0.0, 1.0 }, 519 520 /* Expression: A11 521 * Referenced by: '<S16>/Constant8' 522 */ 523 { -2.0, 1.0, -1.0, 0.0 }, 524 525 /* Expression: B11 526 * Referenced by: '<S16>/Constant9' 527 */ 528 { 1.0, 0.0 }, 529 530 /* Expression: m_s_0 531 * Referenced by: '<S16>/Integrator11' 532 */ 533 { 0.0, 0.0, 0.0 }, 534 535 /* Expression: phi_0 536 * Referenced by: '<S16>/Integrator4' 537 */ 538 { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 539 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, 540 541 /* Expression: m_s_0 542 * Referenced by: '<S16>/Integrator5' 543 */ 544 { 0.0, 0.0, 0.0 }, 545 546 /* Expression: phi_0e 547 * Referenced by: '<S16>/Integrator9' 548 */ 549 { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 550 0.0, 0.0, 0.0 }, 551 552 /* Expression: [0.1 0 0] 553 * Referenced by: '<S16>/Ocean current compensation' 554 */ 555 { 0.1, 0.0, 0.0 }, 556 -3.1415926535897931, /* Expression: -pi 557 * Referenced by: '<S33>/Constant' 558 */ 559 250.0, /* Expression: 250 560 * Referenced by: '<S33>/Gain' 561 */ 562 1.0, /* Expression: 1 563 * Referenced by: '<S33>/Gain2' 564 */ 565 0.0, /* Expression: 0 566 * Referenced by: '<S33>/Gain1' 567 */ 568 9.81, /* Expression: 9.81 569 * Referenced by: '<S43>/Gravity' 570 */ 571 572 /* Expression: [r_x1 r_y1 r_z1] 573 * Referenced by: '<S44>/Accelerometer position' 574 */ 575 { 3.0, 0.0, 0.3 }, 576 0.0, /* Expression: 0 577 * Referenced by: '<S58>/White Noise' 578 */ 579 1.0, /* Computed Parameter: WhiteNoise_StdDev 580 * Referenced by: '<S58>/White Noise' 581 */ 582 164.0, /* Expression: seed 583 * Referenced by: '<S58>/White Noise' 584 */ 585 0.0031622776601683794, /* Expression: [sqrt(Cov)]/[sqrt(Ts)] 586 * Referenced by: '<S58>/Output' 587 */ 588 589 /* Computed Parameter: TransferFcn_A_o 590 * Referenced by: '<S59>/Transfer Fcn' 591 */ 592 { -268.65999999999997, -36100.0 }, 593 594 /* Computed Parameter: TransferFcn_C_n 595 * Referenced by: '<S59>/Transfer Fcn' 596 */ 597 { 0.0, 36100.0 }, 598 599 /* Computed Parameter: TransferFcn1_A_g 600 * Referenced by: '<S59>/Transfer Fcn1' 601 */ 602 { -268.65999999999997, -36100.0 }, 603 604 /* Computed Parameter: TransferFcn1_C_e 605 * Referenced by: '<S59>/Transfer Fcn1' 606 */ 607 { 0.0, 36100.0 }, 608 609 /* Computed Parameter: TransferFcn2_A_g 610 * Referenced by: '<S59>/Transfer Fcn2' 611 */ 612 { -268.65999999999997, -36100.0 }, 613 614 /* Computed Parameter: TransferFcn2_C_c 615 * Referenced by: '<S59>/Transfer Fcn2' 616 */ 617 { 0.0, 36100.0 }, 618 619 /* Expression: [r_x2 r_y2 r_z2] 620 * Referenced by: '<S44>/Accelerometer position1' 621 */ 622 { 0.0, 0.6, 0.0 }, 623 0.0, /* Expression: 0 624 * Referenced by: '<S63>/White Noise' 625 */ 626 1.0, /* Computed Parameter: WhiteNoise_StdDev_b 627 * Referenced by: '<S63>/White Noise' 628 */ 629 627.0, /* Expression: seed 630 * Referenced by: '<S63>/White Noise' 631 */ 632 0.0031622776601683794, /* Expression: [sqrt(Cov)]/[sqrt(Ts)] 633 * Referenced by: '<S63>/Output' 634 */ 635 636 /* Computed Parameter: TransferFcn_A_j 637 * Referenced by: '<S64>/Transfer Fcn' 638 */ 639 { -268.65999999999997, -36100.0 }, 640 641 /* Computed Parameter: TransferFcn_C_c 642 * Referenced by: '<S64>/Transfer Fcn' 643 */ 644 { 0.0, 36100.0 }, 645 646 /* Computed Parameter: TransferFcn1_A_b 647 * Referenced by: '<S64>/Transfer Fcn1' 648 */ 649 { -268.65999999999997, -36100.0 }, 650 651 /* Computed Parameter: TransferFcn1_C_o2 652 * Referenced by: '<S64>/Transfer Fcn1' 653 */ 654 { 0.0, 36100.0 }, 655 656 /* Computed Parameter: TransferFcn2_A_f 657 * Referenced by: '<S64>/Transfer Fcn2' 658 */ 659 { -268.65999999999997, -36100.0 }, 660 661 /* Computed Parameter: TransferFcn2_C_e 662 * Referenced by: '<S64>/Transfer Fcn2' 663 */ 664 { 0.0, 36100.0 }, 665 666 /* Expression: [r_x3 r_y3 r_z3] 667 * Referenced by: '<S44>/Accelerometer position3' 668 */ 669 { -3.0, 0.0, 0.3 }, 670 0.0, /* Expression: 0 671 * Referenced by: '<S68>/White Noise' 672 */ 673 1.0, /* Computed Parameter: WhiteNoise_StdDev_h 674 * Referenced by: '<S68>/White Noise' 675 */ 676 1093.0, /* Expression: seed 677 * Referenced by: '<S68>/White Noise' 678 */ 679 0.0031622776601683794, /* Expression: [sqrt(Cov)]/[sqrt(Ts)] 680 * Referenced by: '<S68>/Output' 681 */ 682 683 /* Computed Parameter: TransferFcn_A_e 684 * Referenced by: '<S69>/Transfer Fcn' 685 */ 686 { -268.65999999999997, -36100.0 }, 687 688 /* Computed Parameter: TransferFcn_C_e 689 * Referenced by: '<S69>/Transfer Fcn' 690 */ 691 { 0.0, 36100.0 }, 692 693 /* Computed Parameter: TransferFcn1_A_f 694 * Referenced by: '<S69>/Transfer Fcn1' 695 */ 696 { -268.65999999999997, -36100.0 }, 697 698 /* Computed Parameter: TransferFcn1_C_m 699 * Referenced by: '<S69>/Transfer Fcn1' 700 */ 701 { 0.0, 36100.0 }, 702 703 /* Computed Parameter: TransferFcn2_A_h 704 * Referenced by: '<S69>/Transfer Fcn2' 705 */ 706 { -268.65999999999997, -36100.0 }, 707 708 /* Computed Parameter: TransferFcn2_C_m 709 * Referenced by: '<S69>/Transfer Fcn2' 710 */ 711 { 0.0, 36100.0 }, 712 713 /* Expression: [r_x4 r_y4 r_z4] 714 * Referenced by: '<S44>/Accelerometer position2' 715 */ 716 { 0.0, -0.6, 0.0 }, 717 0.0, /* Expression: 0 718 * Referenced by: '<S73>/White Noise' 719 */ 720 1.0, /* Computed Parameter: WhiteNoise_StdDev_d 721 * Referenced by: '<S73>/White Noise' 722 */ 723 1109.0, /* Expression: seed 724 * Referenced by: '<S73>/White Noise' 725 */ 726 0.0031622776601683794, /* Expression: [sqrt(Cov)]/[sqrt(Ts)] 727 * Referenced by: '<S73>/Output' 728 */ 729 730 /* Computed Parameter: TransferFcn_A_d 731 * Referenced by: '<S74>/Transfer Fcn' 732 */ 733 { -268.65999999999997, -36100.0 }, 734 735 /* Computed Parameter: TransferFcn_C_dx 736 * Referenced by: '<S74>/Transfer Fcn' 737 */ 738 { 0.0, 36100.0 }, 739 740 /* Computed Parameter: TransferFcn1_A_g2 741 * Referenced by: '<S74>/Transfer Fcn1' 742 */ 743 { -268.65999999999997, -36100.0 }, 744 745 /* Computed Parameter: TransferFcn1_C_e2 746 * Referenced by: '<S74>/Transfer Fcn1' 747 */ 748 { 0.0, 36100.0 }, 749 750 /* Computed Parameter: TransferFcn2_A_k 751 * Referenced by: '<S74>/Transfer Fcn2' 752 */ 753 { -268.65999999999997, -36100.0 }, 754 755 /* Computed Parameter: TransferFcn2_C_h 756 * Referenced by: '<S74>/Transfer Fcn2' 757 */ 758 { 0.0, 36100.0 }, 759 0.0, /* Expression: 0 760 * Referenced by: '<S75>/White Noise' 761 */ 762 1.0, /* Computed Parameter: WhiteNoise_StdDev_j 763 * Referenced by: '<S75>/White Noise' 764 */ 765 766 /* Expression: seed 767 * Referenced by: '<S75>/White Noise' 768 */ 769 { 863.0, 77.0, 1214.0 }, 770 771 /* Expression: [sqrt(Cov)]/[sqrt(Ts)] 772 * Referenced by: '<S75>/Output' 773 */ 774 { 0.01, 0.01, 0.01 }, 775 776 /* Computed Parameter: TransferFcn_A_p1 777 * Referenced by: '<S76>/Transfer Fcn' 778 */ 779 { -268.65999999999997, -36100.0 }, 780 781 /* Computed Parameter: TransferFcn_C_a 782 * Referenced by: '<S76>/Transfer Fcn' 783 */ 784 { 0.0, 36100.0 }, 785 786 /* Computed Parameter: TransferFcn1_A_n 787 * Referenced by: '<S76>/Transfer Fcn1' 788 */ 789 { -268.65999999999997, -36100.0 }, 790 791 /* Computed Parameter: TransferFcn1_C_l 792 * Referenced by: '<S76>/Transfer Fcn1' 793 */ 794 { 0.0, 36100.0 }, 795 796 /* Computed Parameter: TransferFcn2_A_gl 797 * Referenced by: '<S76>/Transfer Fcn2' 798 */ 799 { -268.65999999999997, -36100.0 }, 800 801 /* Computed Parameter: TransferFcn2_C_j 802 * Referenced by: '<S76>/Transfer Fcn2' 803 */ 804 { 0.0, 36100.0 }, 805 1.0, /* Expression: 1 806 * Referenced by: '<S13>/Gain1' 807 */ 808 1.0, /* Expression: 1 809 * Referenced by: '<S13>/Gain2' 810 */ 811 1.0, /* Expression: 1 812 * Referenced by: '<S13>/Gain4' 813 */ 814 1.0, /* Expression: 1 815 * Referenced by: '<S13>/Gain5' 816 */ 817 818 /* Expression: diag([2535 2535 8485])*0.5 819 * Referenced by: '<S82>/Gain1' 820 */ 821 { 1267.5, 0.0, 0.0, 0.0, 1267.5, 0.0, 0.0, 0.0, 4242.5 }, 822 10.0, /* Expression: 10 823 * Referenced by: '<S82>/Gain2' 824 */ 825 826 /* Expression: diag([1 1 1])*1 827 * Referenced by: '<S82>/Gain3' 828 */ 829 { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 }, 830 15.0, /* Expression: 15 831 * Referenced by: '<S82>/Gain5' 832 */ 833 834 /* Expression: inv(diag([2535 2535 8485])) 835 * Referenced by: '<S82>/M' 836 */ 837 { 0.00039447731755424062, 0.0, 0.0, 0.0, 0.00039447731755424062, 0.0, 0.0, 0.0, 838 0.00011785503830288745 }, 839 0.0, /* Expression: 0 840 * Referenced by: '<S91>/Constant' 841 */ 842 0.0, /* Expression: 0 843 * Referenced by: '<S93>/Gain' 844 */ 845 846 /* Expression: inv(A) 847 * Referenced by: '<S103>/Gain' 848 */ 849 { 0.0, 3.4694469519536142E-18, -7.8640797577615253E-18, 850 -6.9388939039072284E-18, 0.83333333333333337, 0.0, 0.083333333333333329, 851 -0.083333333333333329, -0.083333333333333329, 0.0, 0.83333333333333337, 0.0, 852 0.0, 0.0, 9.2518585385429722E-18, -0.83333333333333315, 0.0, 853 0.083333333333333343, 0.0, -1.1102230246251565E-16, 1.1102230246251565E-16, 854 0.083333333333333329, 0.0, 0.83333333333333337, -0.0, 0.0, 0.0, 855 -1.6653345369377348E-16, -0.083333333333333343, 0.0, -0.83333333333333337, 856 -0.83333333333333337, 0.83333333333333337, 0.0, 0.083333333333333329, 857 5.5511151231257827E-17, 0.5, 0.0, 0.0, 0.0, -0.83333333333333337, 858 -0.41666666666666669, 0.0, 0.0, 0.0, 0.41666666666666669, 859 -0.83333333333333337, 0.0, 0.0, 0.49999999999999994, -4.163336342344337E-17, 860 0.833333333333333, 0.0, 0.0, -0.41666666666666669, 0.41666666666666685, 861 -0.41666666666666685, 0.0, 0.0, -0.83333333333333326, 0.0, 0.0, 862 0.49999999999999994, 0.4166666666666668, 0.0, 0.0, 0.83333333333333337, 863 0.83333333333333326, -0.83333333333333326, 0.0, 0.0, 0.41666666666666663, 864 0.0, -3.4694469519536142E-18, 7.8640797577615253E-18, 6.9388939039072284E-18, 865 0.83333333333333337, 0.0, -0.083333333333333329, 0.083333333333333329, 866 0.083333333333333329, 0.0, 0.83333333333333337, 0.0, 0.0, 0.0, 867 9.25185853854297E-18, -0.83333333333333326, 0.0, -0.083333333333333343, 0.0, 868 -1.1102230246251565E-16, 1.1102230246251565E-16, -0.083333333333333329, 0.0, 869 0.83333333333333326, 0.0, -2.7755575615628914E-17, 6.1293562817847188E-17, 870 1.3877787807814457E-16, 0.083333333333333343, 0.0, -0.83333333333333337, 871 -0.83333333333333337, 0.83333333333333337, 0.0, -0.083333333333333329, 872 2.7755575615628914E-17, 0.5, 0.0, 0.0, 0.0, -0.83333333333333337, 873 0.41666666666666669, 0.0, 0.0, 0.0, -0.41666666666666669, 874 -0.83333333333333337, 0.0, 0.0, 0.5, 2.3129646346357429E-17, 875 0.83333333333333337, 0.0, 0.0, 0.41666666666666669, -0.41666666666666663, 876 0.41666666666666663, 0.0, -0.0, -0.83333333333333337, 0.0, 877 2.7755575615628914E-17, 0.49999999999999994, -0.4166666666666668, 0.0, 0.0, 878 0.83333333333333337, 0.83333333333333348, -0.83333333333333348, 0.0, 0.0, 879 -0.41666666666666669 }, 880 881 /* Expression: eye(3)*100 882 * Referenced by: '<S104>/Gain' 883 */ 884 { 100.0, 0.0, 0.0, 0.0, 100.0, 0.0, 0.0, 0.0, 100.0 }, 885 886 /* Expression: eye(3)*10 887 * Referenced by: '<S104>/Gain1' 888 */ 889 { 10.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 10.0 }, 890 891 /* Expression: [0 0 -9.81] 892 * Referenced by: '<S108>/Integrator' 893 */ 894 { 0.0, 0.0, -9.81 }, 895 896 /* Expression: eye(3)*25 897 * Referenced by: '<S108>/Gain' 898 */ 899 { 25.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 25.0 }, 900 0.0, /* Expression: 0 901 * Referenced by: '<S106>/Integrator1' 902 */ 903 1.0, /* Expression: 1 904 * Referenced by: '<S106>/Gain' 905 */ 906 0.1, /* Expression: 0.1 907 * Referenced by: '<S106>/Gain1' 908 */ 909 0.0, /* Expression: 0 910 * Referenced by: '<S106>/Integrator2' 911 */ 912 0.01, /* Expression: 0.01 913 * Referenced by: '<S106>/Gain2' 914 */ 915 2.0, /* Expression: 2 916 * Referenced by: '<S106>/Gain3' 917 */ 918 919 /* Expression: diag([2535 2535 8485]) 920 * Referenced by: '<S107>/M' 921 */ 922 { 2535.0, 0.0, 0.0, 0.0, 2535.0, 0.0, 0.0, 0.0, 8485.0 }, 923 924 /* Expression: diag([1 1 2]) 925 * Referenced by: '<S107>/Gain2' 926 */ 927 { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 2.0 }, 928 929 /* Expression: diag([2535 2535 8485])*0.5 930 * Referenced by: '<S84>/Gain1' 931 */ 932 { 1267.5, 0.0, 0.0, 0.0, 1267.5, 0.0, 0.0, 0.0, 4242.5 }, 933 10.0, /* Expression: 10 934 * Referenced by: '<S84>/Gain2' 935 */ 936 937 /* Expression: diag([1 1 1])*1 938 * Referenced by: '<S84>/Gain3' 939 */ 940 { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 }, 941 15.0, /* Expression: 15 942 * Referenced by: '<S84>/Gain5' 943 */ 944 945 /* Expression: diag([1 1 0.1]) 946 * Referenced by: '<S84>/Gain6' 947 */ 948 { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.1 }, 949 950 /* Expression: inv(diag([2535 2535 8485])) 951 * Referenced by: '<S84>/M' 952 */ 953 { 0.00039447731755424062, 0.0, 0.0, 0.0, 0.00039447731755424062, 0.0, 0.0, 0.0, 954 0.00011785503830288745 }, 955 0.0, /* Expression: 0 956 * Referenced by: '<S119>/Constant' 957 */ 958 0.0, /* Expression: 0 959 * Referenced by: '<S119>/Gain' 960 */ 961 3.0, /* Expression: 3 962 * Referenced by: '<S14>/Gain1' 963 */ 964 12.0, /* Expression: 12 965 * Referenced by: '<S3>/Step' 966 */ 967 0.0, /* Expression: 0 968 * Referenced by: '<S3>/Step' 969 */ 970 1.0, /* Expression: 1 971 * Referenced by: '<S3>/Step' 972 */ 973 974 /* Expression: [0 0 0] 975 * Referenced by: '<Root>/Constant' 976 */ 977 { 0.0, 0.0, 0.0 } 978 }; 979 |