File: Controller_data.cpp

    1   /*
    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