diff --git a/missions/alder/XLOG_SHORESIDE_16_6_2025_____22_24_59/XLOG_SHORESIDE_16_6_2025_____22_24_59.slog b/missions/alder/XLOG_SHORESIDE_16_6_2025_____22_24_59/XLOG_SHORESIDE_16_6_2025_____22_24_59.slog
new file mode 100644
index 0000000..087c2a5
--- /dev/null
+++ b/missions/alder/XLOG_SHORESIDE_16_6_2025_____22_24_59/XLOG_SHORESIDE_16_6_2025_____22_24_59.slog
@@ -0,0 +1,507 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% LOG FILE:       ./XLOG_SHORESIDE_16_6_2025_____22_24_59/XLOG_SHORESIDE_16_6_2025_____22_24_59.slog
+%% FILE OPENED ON  Thu Jan  1 08:00:00 1970
+%% LOGSTART           1750083899.229048
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%%   (1) TIME 
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% TIME            
+%% TIME            
+0.753351           
+%% TIME            
+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
+%% TIME            
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+%% TIME            
+%% TIME            
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diff --git a/missions/alder/alder.moos b/missions/alder/alder.moos
index 0d000f4..812c8a7 100644
--- a/missions/alder/alder.moos
+++ b/missions/alder/alder.moos
@@ -16,12 +16,13 @@ ProcessConfig = ANTLER
   Run = MOOSDB        @ NewConsole = false
   //Run = uSimMarineV22	@ NewConsole = false
   Run = pNodeReporter	@ NewConsole = false
+  //Run = pLogger         @ NewConsole = false
   //Run = pMarinePIDV22 @ NewConsole = false
   Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
   Run = pAUV150       @ NewConsole = false
-  Run = pMotionControler @ NewConsole = false
+  //Run = pMotionControler @ NewConsole = false
 }
 
 //------------------------------------------
@@ -176,4 +177,25 @@ ProcessConfig = pMotionControler
   AppTick    = 10
   CommsTick  = 10
   config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
+}
+
+ProcessConfig = pLogger
+{
+  AppTick       = 10
+  CommsTick     = 10
+  
+  File          = XLOG_SHORESIDE
+  PATH          = ./
+  SyncLog       = true @ 0.2
+  AsyncLog      = true
+  FileTimeStamp = true
+
+  LogAuxSrc     = true
+
+  // Log it all!!!!!
+  WildCardLogging = true 
+
+  WildCardOmitPattern = *_STATUS
+  WildCardOmitPattern = DB_VARSUMMARY
+  WildCardOmitPattern = DB_RWSUMMARY
 }
\ No newline at end of file
diff --git a/src/pAUV150/AUV150.cpp b/src/pAUV150/AUV150.cpp
index 7ab526b..4d5c8da 100644
--- a/src/pAUV150/AUV150.cpp
+++ b/src/pAUV150/AUV150.cpp
@@ -17,6 +17,9 @@
 
 using namespace std;
 
+// 添加静态成员定义
+Controler AUV150::m_control;
+
 static bool TCP_ReadLoop(void *p)
 {
     AUV150 *pAUV150 = (AUV150 *)p;
@@ -49,6 +52,8 @@ AUV150::AUV150()
     m_desiredVarTime = 0;
     m_controlTime = 0;
     m_samplingTime = 0;
+
+    m_control.initialize();
 }
 
 //---------------------------------------------------------
@@ -102,7 +107,19 @@ bool AUV150::OnNewMail(MOOSMSG_LIST &NewMail)
     {
         m_CommandFrame.mainThruster = msg.GetDouble();
     }
-    else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
+    else if(key == "DESIRED_HEADING")
+    {
+        m_control.rtU.heading_cmd = msg.GetDouble();
+    }
+    else if(key == "DESIRED_SPEED")
+    {
+        m_control.rtU.speed_cmd = msg.GetDouble();
+    }
+    else if(key == "DESIRED_DEPTH") 
+    {
+        m_control.rtU.depth_cmd = msg.GetDouble();
+    }
+    else if(key != "APPCAST_REQ") 
        reportRunWarning("Unhandled Mail: " + key);
    }
 	
@@ -205,6 +222,9 @@ void AUV150::registerVariables()
   Register("DESIRED_RUDDER",0);
   Register("DESIRED_THRUST",0);
   Register("DESIRED_ELEVATOR",0);
+  Register("DESIRED_HEADING", 0);
+  Register("DESIRED_SPEED", 0);
+  Register("DESIRED_DEPTH", 0);
 }
 
 
@@ -262,7 +282,16 @@ bool AUV150::ListenLoop()
                     updateStatus(*p);
                     postStatusUpdate("NAV");
                     // 计算控制量
-                    
+                    // 修改航向角输入，解决360度临界问题
+                    m_control.rtU.psi = std::fmod(m_status.trueHeading, 360.0);
+                    m_control.rtU.theta = std::remainder(m_status.pitch, 360.0);
+                    m_control.rtU.z = m_status.depthSensor;
+                    m_control.step();
+                    m_CommandFrame.rudderUp = -m_control.rtY.DirectUpperRudderServoAngleCmd;
+                    m_CommandFrame.rudderDown = -m_control.rtY.DirectLowerRudderServoAngleCmd;
+                    m_CommandFrame.rudderLeft = m_control.rtY.DirectLeftRudderServoAngleCmd;
+                    m_CommandFrame.rudderRight = m_control.rtY.DirectRightRudderServoAngleCmd;
+                    m_CommandFrame.mainThruster = m_control.rtY.MainThrusterSpeedCmd;
                     // 发送消息 
                     try
                     {
@@ -278,7 +307,6 @@ bool AUV150::ListenLoop()
                                 << e.sGetException() << "\n";
                     }
 
-
                     // 计算控制频率
                     m_samplingTime = MOOSTime();
                     message_count++;
@@ -411,6 +439,12 @@ bool AUV150::buildReport()
         m_msgs << oss.str() << std::endl << std::endl;
     };
 
+    //=================DEGUB==========================
+
+    m_msgs << "rudder_L" << m_control.rtY.DirectLowerRudderServoAngleCmd << std::endl;
+    m_msgs << "rudder_R" << m_control.rtY.DirectRightRudderServoAngleCmd << std::endl;
+    m_msgs << "thrust" << m_control.rtY.MainThrusterSpeedCmd << std::endl;
+
     // =============== Navigation Info ===============
       printTable(
       {"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"},
@@ -425,26 +459,12 @@ bool AUV150::buildReport()
           doubleToString(m_controlGap, 5) + "s"
       }
     );
-    // printTable(
-    // {"Connect", "Read", "Writ" ,"Conter" ,"Gap","Gap2"},
-    // {
-    //     (isConnected() ? "Yes" : "No"),
-    //     doubleToString(getRealReadFreq(), 4) + " Hz",
-    //     doubleToString(getRealWriteFreq(), 4) + " Hz",
-    //     ulintToString(getCounter()),
-    //     doubleToString(m_controlGap, 5) + "s",
-    //     doubleToString((m_controlTime-m_samplingTime),5)
-    // }
-// );
     m_msgs << "Fault Codes: ";
     for (uint8_t code : getFaultCodes()) {
         m_msgs << uintToString(code) + " ";
     }
     m_msgs << std::endl;
     m_msgs << "Navigation Mode  : " << uintToString(m_status.navModeFb) << std::endl;
-    // m_msgs << "Origin Latitude  : " << m_OriginLatitude << endl;
-    // m_msgs << "Origin Longitude : " << m_OriginLongitude << endl;
-    // m_msgs << "---------------------------------\n";
     // =============== Heading & Attitude ===============
     printTable(
         {"Heading", "Pitch", "Roll", "X", "Y", "Z", "H"},
diff --git a/src/pAUV150/AUV150.h b/src/pAUV150/AUV150.h
index 6135473..18dab76 100644
--- a/src/pAUV150/AUV150.h
+++ b/src/pAUV150/AUV150.h
@@ -14,6 +14,8 @@
 #include "MOOS/libMOOS/Utils/MOOSThread.h"
 #include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
 #include "MOOS/libMOOSGeodesy/MOOSGeodesy.h"
+#include "Controler/Controler.h"
+#include "AngleUtils.h"
 
 #include <iostream>
 #include <string>
@@ -179,6 +181,9 @@ private: // State variables
 
   double m_controlTime;
   double m_samplingTime;
+  
+  //控制器
+  static Controler m_control;
 };
 
 #endif
diff --git a/src/pAUV150/CMakeLists.txt b/src/pAUV150/CMakeLists.txt
index eab7a55..0df5049 100644
--- a/src/pAUV150/CMakeLists.txt
+++ b/src/pAUV150/CMakeLists.txt
@@ -16,6 +16,14 @@ SET(SRC
   AUV150.cpp
   AUV150_Info.cpp
   main.cpp
+  # 添加Controller源文件
+  ${CMAKE_CURRENT_SOURCE_DIR}/Controler/Controler.cpp
+)
+
+# 添加头文件目录
+include_directories(
+  ${MOOSGEODESY_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_SOURCE_DIR}/Controler
 )
 
 ADD_EXECUTABLE(pAUV150 ${SRC})
@@ -23,6 +31,7 @@ ADD_EXECUTABLE(pAUV150 ${SRC})
 TARGET_LINK_LIBRARIES(pAUV150
    ${MOOS_LIBRARIES}
    ${MOOSGEODESY_LIBRARIES}
+   geometry
    apputil
    mbutil
    m
diff --git a/src/pAUV150/Controler/Controler.cpp b/src/pAUV150/Controler/Controler.cpp
new file mode 100644
index 0000000..2dcdd89
--- /dev/null
+++ b/src/pAUV150/Controler/Controler.cpp
@@ -0,0 +1,177 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: Controler.cpp
+//
+// Code generated for Simulink model 'Controler'.
+//
+// Model version                  : 5.11
+// Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024
+// C/C++ source code generated on : Tue Jun 17 18:31:17 2025
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: Intel->x86-64 (Linux 64)
+// Code generation objectives:
+//    1. Execution efficiency
+//    2. RAM efficiency
+// Validation result: Not run
+//
+#include "Controler.h"
+#include "rtwtypes.h"
+
+// Model step function
+void Controler::step()
+{
+  real_T rtb_FilterCoefficient;
+  real_T rtb_FilterCoefficient_a;
+  real_T rtb_FilterCoefficient_lc;
+  real_T rtb_IntegralGain;
+  real_T rtb_Sum1;
+  real_T rtb_Sum2;
+
+  // Outputs for Atomic SubSystem: '<Root>/Controler'
+  // Sum: '<S1>/Sum' incorporates:
+  //   Inport: '<Root>/heading_cmd'
+  //   Inport: '<Root>/psi'
+
+  rtb_Sum1 = rtU.heading_cmd - rtU.psi;
+
+  // Gain: '<S42>/Filter Coefficient' incorporates:
+  //   DiscreteIntegrator: '<S34>/Filter'
+  //   Gain: '<S32>/Derivative Gain'
+  //   Sum: '<S34>/SumD'
+
+  rtb_FilterCoefficient = (0.01 * rtb_Sum1 - rtDW.Filter_DSTATE) * 10.0;
+
+  // Outport: '<Root>/DirectUpperRudderServoAngleCmd' incorporates:
+  //   DiscreteIntegrator: '<S39>/Integrator'
+  //   Gain: '<S44>/Proportional Gain'
+  //   Sum: '<S48>/Sum'
+
+  rtY.DirectUpperRudderServoAngleCmd = (0.1 * rtb_Sum1 + rtDW.Integrator_DSTATE)
+    + rtb_FilterCoefficient;
+
+  // Gain: '<S36>/Integral Gain'
+  rtb_IntegralGain = 0.0 * rtb_Sum1;
+
+  // Sum: '<S1>/Sum1' incorporates:
+  //   Inport: '<Root>/depth_cmd'
+  //   Inport: '<Root>/z'
+
+  rtb_Sum1 = rtU.z - rtU.depth_cmd;
+
+  // Gain: '<S94>/Filter Coefficient' incorporates:
+  //   DiscreteIntegrator: '<S86>/Filter'
+  //   Gain: '<S84>/Derivative Gain'
+  //   Sum: '<S86>/SumD'
+
+  rtb_FilterCoefficient_lc = (0.0 * rtb_Sum1 - rtDW.Filter_DSTATE_m) * 10.0;
+
+  // Sum: '<S1>/Sum2' incorporates:
+  //   DiscreteIntegrator: '<S91>/Integrator'
+  //   Gain: '<S96>/Proportional Gain'
+  //   Inport: '<Root>/theta'
+  //   Sum: '<S100>/Sum'
+
+  rtb_Sum2 = ((2.0 * rtb_Sum1 + rtDW.Integrator_DSTATE_o) +
+              rtb_FilterCoefficient_lc) - rtU.theta;
+
+  // Gain: '<S146>/Filter Coefficient' incorporates:
+  //   DiscreteIntegrator: '<S138>/Filter'
+  //   Gain: '<S136>/Derivative Gain'
+  //   Sum: '<S138>/SumD'
+
+  rtb_FilterCoefficient_a = (0.1 * rtb_Sum2 - rtDW.Filter_DSTATE_l) * 10.0;
+
+  // Outport: '<Root>/DirectLeftRudderServoAngleCmd' incorporates:
+  //   DiscreteIntegrator: '<S143>/Integrator'
+  //   Gain: '<S148>/Proportional Gain'
+  //   Sum: '<S152>/Sum'
+
+  rtY.DirectLeftRudderServoAngleCmd = (0.5 * rtb_Sum2 + rtDW.Integrator_DSTATE_f)
+    + rtb_FilterCoefficient_a;
+
+  // Update for DiscreteIntegrator: '<S34>/Filter'
+  rtDW.Filter_DSTATE += 0.1 * rtb_FilterCoefficient;
+
+  // Update for DiscreteIntegrator: '<S39>/Integrator'
+  rtDW.Integrator_DSTATE += 0.1 * rtb_IntegralGain;
+
+  // Update for DiscreteIntegrator: '<S86>/Filter'
+  rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_lc;
+
+  // Update for DiscreteIntegrator: '<S91>/Integrator' incorporates:
+  //   Gain: '<S88>/Integral Gain'
+
+  rtDW.Integrator_DSTATE_o += 0.0 * rtb_Sum1 * 0.1;
+
+  // Update for DiscreteIntegrator: '<S138>/Filter'
+  rtDW.Filter_DSTATE_l += 0.1 * rtb_FilterCoefficient_a;
+
+  // Update for DiscreteIntegrator: '<S143>/Integrator' incorporates:
+  //   Gain: '<S140>/Integral Gain'
+
+  rtDW.Integrator_DSTATE_f += 0.0 * rtb_Sum2 * 0.1;
+
+  // End of Outputs for SubSystem: '<Root>/Controler'
+
+  // Outport: '<Root>/MainThrusterSpeedCmd' incorporates:
+  //   Constant: '<S1>/Constant'
+
+  rtY.MainThrusterSpeedCmd = 100.0;
+
+  // Outport: '<Root>/DirectLowerRudderServoAngleCmd' incorporates:
+  //   Constant: '<S1>/Constant2'
+
+  rtY.DirectLowerRudderServoAngleCmd = 1.0;
+
+  // Outport: '<Root>/DirectRightRudderServoAngleCmd' incorporates:
+  //   Constant: '<S1>/Constant4'
+
+  rtY.DirectRightRudderServoAngleCmd = 1.0;
+}
+
+// Model initialize function
+void Controler::initialize()
+{
+  // (no initialization code required)
+}
+
+const char_T* Controler::RT_MODEL::getErrorStatus() const
+{
+  return (errorStatus);
+}
+
+void Controler::RT_MODEL::setErrorStatus(const char_T* const volatile
+  aErrorStatus)
+{
+  (errorStatus = aErrorStatus);
+}
+
+// Constructor
+Controler::Controler() :
+  rtU(),
+  rtY(),
+  rtDW(),
+  rtM()
+{
+  // Currently there is no constructor body generated.
+}
+
+// Destructor
+// Currently there is no destructor body generated.
+Controler::~Controler() = default;
+
+// Real-Time Model get method
+Controler::RT_MODEL * Controler::getRTM()
+{
+  return (&rtM);
+}
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//
diff --git a/src/pAUV150/Controler/Controler.h b/src/pAUV150/Controler/Controler.h
new file mode 100644
index 0000000..184f3f2
--- /dev/null
+++ b/src/pAUV150/Controler/Controler.h
@@ -0,0 +1,314 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: Controler.h
+//
+// Code generated for Simulink model 'Controler'.
+//
+// Model version                  : 5.11
+// Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024
+// C/C++ source code generated on : Tue Jun 17 18:31:17 2025
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: Intel->x86-64 (Linux 64)
+// Code generation objectives:
+//    1. Execution efficiency
+//    2. RAM efficiency
+// Validation result: Not run
+//
+#ifndef Controler_h_
+#define Controler_h_
+#include <cmath>
+#include "rtwtypes.h"
+#include "Controler_types.h"
+
+// Class declaration for model Controler
+class Controler final
+{
+  // public data and function members
+ public:
+  // Block signals and states (default storage) for system '<Root>'
+  struct DW {
+    real_T Filter_DSTATE;              // '<S34>/Filter'
+    real_T Integrator_DSTATE;          // '<S39>/Integrator'
+    real_T Filter_DSTATE_m;            // '<S86>/Filter'
+    real_T Integrator_DSTATE_o;        // '<S91>/Integrator'
+    real_T Filter_DSTATE_l;            // '<S138>/Filter'
+    real_T Integrator_DSTATE_f;        // '<S143>/Integrator'
+  };
+
+  // External inputs (root inport signals with default storage)
+  struct ExtU {
+    real_T u;                          // '<Root>/u'
+    real_T v;                          // '<Root>/v'
+    real_T w;                          // '<Root>/w'
+    real_T phi;                        // '<Root>/phi'
+    real_T theta;                      // '<Root>/theta'
+    real_T psi;                        // '<Root>/psi'
+    real_T x;                          // '<Root>/x'
+    real_T y;                          // '<Root>/y'
+    real_T z;                          // '<Root>/z'
+    real_T dx;                         // '<Root>/dx'
+    real_T dy;                         // '<Root>/dy'
+    real_T dz;                         // '<Root>/dz'
+    real_T speed_cmd;                  // '<Root>/speed_cmd'
+    real_T heading_cmd;                // '<Root>/heading_cmd'
+    real_T depth_cmd;                  // '<Root>/depth_cmd'
+  };
+
+  // External outputs (root outports fed by signals with default storage)
+  struct ExtY {
+    real_T MainThrusterSpeedCmd;       // '<Root>/MainThrusterSpeedCmd'
+    real_T DirectUpperRudderServoAngleCmd;
+                                     // '<Root>/DirectUpperRudderServoAngleCmd'
+    real_T DirectLowerRudderServoAngleCmd;
+                                     // '<Root>/DirectLowerRudderServoAngleCmd'
+    real_T DirectLeftRudderServoAngleCmd;
+                                      // '<Root>/DirectLeftRudderServoAngleCmd'
+    real_T DirectRightRudderServoAngleCmd;
+                                     // '<Root>/DirectRightRudderServoAngleCmd'
+  };
+
+  // Real-time Model Data Structure
+  struct RT_MODEL {
+    const char_T * volatile errorStatus;
+    const char_T* getErrorStatus() const;
+    void setErrorStatus(const char_T* const volatile aErrorStatus);
+  };
+
+  // Copy Constructor
+  Controler(Controler const&) = delete;
+
+  // Assignment Operator
+  Controler& operator= (Controler const&) & = delete;
+
+  // Move Constructor
+  Controler(Controler &&) = delete;
+
+  // Move Assignment Operator
+  Controler& operator= (Controler &&) = delete;
+
+  // Real-Time Model get method
+  Controler::RT_MODEL * getRTM();
+
+  // External inputs
+  ExtU rtU;
+
+  // External outputs
+  ExtY rtY;
+
+  // model initialize function
+  static void initialize();
+
+  // model step function
+  void step();
+
+  // Constructor
+  Controler();
+
+  // Destructor
+  ~Controler();
+
+  // private data and function members
+ private:
+  // Block states
+  DW rtDW;
+
+  // Real-Time Model
+  RT_MODEL rtM;
+};
+
+//-
+//  These blocks were eliminated from the model due to optimizations:
+//
+//  Block '<S1>/Scope1' : Unused code path elimination
+
+
+//-
+//  The generated code includes comments that allow you to trace directly
+//  back to the appropriate location in the model.  The basic format
+//  is <system>/block_name, where system is the system number (uniquely
+//  assigned by Simulink) and block_name is the name of the block.
+//
+//  Note that this particular code originates from a subsystem build,
+//  and has its own system numbers different from the parent model.
+//  Refer to the system hierarchy for this subsystem below, and use the
+//  MATLAB hilite_system command to trace the generated code back
+//  to the parent model.  For example,
+//
+//  hilite_system('SimModelR2022b_0617/Controler')    - opens subsystem SimModelR2022b_0617/Controler
+//  hilite_system('SimModelR2022b_0617/Controler/Kp') - opens and selects block Kp
+//
+//  Here is the system hierarchy for this model
+//
+//  '<Root>' : 'SimModelR2022b_0617'
+//  '<S1>'   : 'SimModelR2022b_0617/Controler'
+//  '<S2>'   : 'SimModelR2022b_0617/Controler/PID Controller'
+//  '<S3>'   : 'SimModelR2022b_0617/Controler/PID Controller1'
+//  '<S4>'   : 'SimModelR2022b_0617/Controler/PID Controller2'
+//  '<S5>'   : 'SimModelR2022b_0617/Controler/PID Controller/Anti-windup'
+//  '<S6>'   : 'SimModelR2022b_0617/Controler/PID Controller/D Gain'
+//  '<S7>'   : 'SimModelR2022b_0617/Controler/PID Controller/External Derivative'
+//  '<S8>'   : 'SimModelR2022b_0617/Controler/PID Controller/Filter'
+//  '<S9>'   : 'SimModelR2022b_0617/Controler/PID Controller/Filter ICs'
+//  '<S10>'  : 'SimModelR2022b_0617/Controler/PID Controller/I Gain'
+//  '<S11>'  : 'SimModelR2022b_0617/Controler/PID Controller/Ideal P Gain'
+//  '<S12>'  : 'SimModelR2022b_0617/Controler/PID Controller/Ideal P Gain Fdbk'
+//  '<S13>'  : 'SimModelR2022b_0617/Controler/PID Controller/Integrator'
+//  '<S14>'  : 'SimModelR2022b_0617/Controler/PID Controller/Integrator ICs'
+//  '<S15>'  : 'SimModelR2022b_0617/Controler/PID Controller/N Copy'
+//  '<S16>'  : 'SimModelR2022b_0617/Controler/PID Controller/N Gain'
+//  '<S17>'  : 'SimModelR2022b_0617/Controler/PID Controller/P Copy'
+//  '<S18>'  : 'SimModelR2022b_0617/Controler/PID Controller/Parallel P Gain'
+//  '<S19>'  : 'SimModelR2022b_0617/Controler/PID Controller/Reset Signal'
+//  '<S20>'  : 'SimModelR2022b_0617/Controler/PID Controller/Saturation'
+//  '<S21>'  : 'SimModelR2022b_0617/Controler/PID Controller/Saturation Fdbk'
+//  '<S22>'  : 'SimModelR2022b_0617/Controler/PID Controller/Sum'
+//  '<S23>'  : 'SimModelR2022b_0617/Controler/PID Controller/Sum Fdbk'
+//  '<S24>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tracking Mode'
+//  '<S25>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tracking Mode Sum'
+//  '<S26>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tsamp - Integral'
+//  '<S27>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tsamp - Ngain'
+//  '<S28>'  : 'SimModelR2022b_0617/Controler/PID Controller/postSat Signal'
+//  '<S29>'  : 'SimModelR2022b_0617/Controler/PID Controller/preInt Signal'
+//  '<S30>'  : 'SimModelR2022b_0617/Controler/PID Controller/preSat Signal'
+//  '<S31>'  : 'SimModelR2022b_0617/Controler/PID Controller/Anti-windup/Passthrough'
+//  '<S32>'  : 'SimModelR2022b_0617/Controler/PID Controller/D Gain/Internal Parameters'
+//  '<S33>'  : 'SimModelR2022b_0617/Controler/PID Controller/External Derivative/Error'
+//  '<S34>'  : 'SimModelR2022b_0617/Controler/PID Controller/Filter/Disc. Forward Euler Filter'
+//  '<S35>'  : 'SimModelR2022b_0617/Controler/PID Controller/Filter ICs/Internal IC - Filter'
+//  '<S36>'  : 'SimModelR2022b_0617/Controler/PID Controller/I Gain/Internal Parameters'
+//  '<S37>'  : 'SimModelR2022b_0617/Controler/PID Controller/Ideal P Gain/Passthrough'
+//  '<S38>'  : 'SimModelR2022b_0617/Controler/PID Controller/Ideal P Gain Fdbk/Disabled'
+//  '<S39>'  : 'SimModelR2022b_0617/Controler/PID Controller/Integrator/Discrete'
+//  '<S40>'  : 'SimModelR2022b_0617/Controler/PID Controller/Integrator ICs/Internal IC'
+//  '<S41>'  : 'SimModelR2022b_0617/Controler/PID Controller/N Copy/Disabled'
+//  '<S42>'  : 'SimModelR2022b_0617/Controler/PID Controller/N Gain/Internal Parameters'
+//  '<S43>'  : 'SimModelR2022b_0617/Controler/PID Controller/P Copy/Disabled'
+//  '<S44>'  : 'SimModelR2022b_0617/Controler/PID Controller/Parallel P Gain/Internal Parameters'
+//  '<S45>'  : 'SimModelR2022b_0617/Controler/PID Controller/Reset Signal/Disabled'
+//  '<S46>'  : 'SimModelR2022b_0617/Controler/PID Controller/Saturation/Passthrough'
+//  '<S47>'  : 'SimModelR2022b_0617/Controler/PID Controller/Saturation Fdbk/Disabled'
+//  '<S48>'  : 'SimModelR2022b_0617/Controler/PID Controller/Sum/Sum_PID'
+//  '<S49>'  : 'SimModelR2022b_0617/Controler/PID Controller/Sum Fdbk/Disabled'
+//  '<S50>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tracking Mode/Disabled'
+//  '<S51>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tracking Mode Sum/Passthrough'
+//  '<S52>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tsamp - Integral/TsSignalSpecification'
+//  '<S53>'  : 'SimModelR2022b_0617/Controler/PID Controller/Tsamp - Ngain/Passthrough'
+//  '<S54>'  : 'SimModelR2022b_0617/Controler/PID Controller/postSat Signal/Forward_Path'
+//  '<S55>'  : 'SimModelR2022b_0617/Controler/PID Controller/preInt Signal/Internal PreInt'
+//  '<S56>'  : 'SimModelR2022b_0617/Controler/PID Controller/preSat Signal/Forward_Path'
+//  '<S57>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Anti-windup'
+//  '<S58>'  : 'SimModelR2022b_0617/Controler/PID Controller1/D Gain'
+//  '<S59>'  : 'SimModelR2022b_0617/Controler/PID Controller1/External Derivative'
+//  '<S60>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Filter'
+//  '<S61>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Filter ICs'
+//  '<S62>'  : 'SimModelR2022b_0617/Controler/PID Controller1/I Gain'
+//  '<S63>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Ideal P Gain'
+//  '<S64>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Ideal P Gain Fdbk'
+//  '<S65>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Integrator'
+//  '<S66>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Integrator ICs'
+//  '<S67>'  : 'SimModelR2022b_0617/Controler/PID Controller1/N Copy'
+//  '<S68>'  : 'SimModelR2022b_0617/Controler/PID Controller1/N Gain'
+//  '<S69>'  : 'SimModelR2022b_0617/Controler/PID Controller1/P Copy'
+//  '<S70>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Parallel P Gain'
+//  '<S71>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Reset Signal'
+//  '<S72>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Saturation'
+//  '<S73>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Saturation Fdbk'
+//  '<S74>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Sum'
+//  '<S75>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Sum Fdbk'
+//  '<S76>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Tracking Mode'
+//  '<S77>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Tracking Mode Sum'
+//  '<S78>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Tsamp - Integral'
+//  '<S79>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Tsamp - Ngain'
+//  '<S80>'  : 'SimModelR2022b_0617/Controler/PID Controller1/postSat Signal'
+//  '<S81>'  : 'SimModelR2022b_0617/Controler/PID Controller1/preInt Signal'
+//  '<S82>'  : 'SimModelR2022b_0617/Controler/PID Controller1/preSat Signal'
+//  '<S83>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Anti-windup/Passthrough'
+//  '<S84>'  : 'SimModelR2022b_0617/Controler/PID Controller1/D Gain/Internal Parameters'
+//  '<S85>'  : 'SimModelR2022b_0617/Controler/PID Controller1/External Derivative/Error'
+//  '<S86>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
+//  '<S87>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
+//  '<S88>'  : 'SimModelR2022b_0617/Controler/PID Controller1/I Gain/Internal Parameters'
+//  '<S89>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Ideal P Gain/Passthrough'
+//  '<S90>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
+//  '<S91>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Integrator/Discrete'
+//  '<S92>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Integrator ICs/Internal IC'
+//  '<S93>'  : 'SimModelR2022b_0617/Controler/PID Controller1/N Copy/Disabled'
+//  '<S94>'  : 'SimModelR2022b_0617/Controler/PID Controller1/N Gain/Internal Parameters'
+//  '<S95>'  : 'SimModelR2022b_0617/Controler/PID Controller1/P Copy/Disabled'
+//  '<S96>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
+//  '<S97>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Reset Signal/Disabled'
+//  '<S98>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Saturation/Passthrough'
+//  '<S99>'  : 'SimModelR2022b_0617/Controler/PID Controller1/Saturation Fdbk/Disabled'
+//  '<S100>' : 'SimModelR2022b_0617/Controler/PID Controller1/Sum/Sum_PID'
+//  '<S101>' : 'SimModelR2022b_0617/Controler/PID Controller1/Sum Fdbk/Disabled'
+//  '<S102>' : 'SimModelR2022b_0617/Controler/PID Controller1/Tracking Mode/Disabled'
+//  '<S103>' : 'SimModelR2022b_0617/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
+//  '<S104>' : 'SimModelR2022b_0617/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
+//  '<S105>' : 'SimModelR2022b_0617/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
+//  '<S106>' : 'SimModelR2022b_0617/Controler/PID Controller1/postSat Signal/Forward_Path'
+//  '<S107>' : 'SimModelR2022b_0617/Controler/PID Controller1/preInt Signal/Internal PreInt'
+//  '<S108>' : 'SimModelR2022b_0617/Controler/PID Controller1/preSat Signal/Forward_Path'
+//  '<S109>' : 'SimModelR2022b_0617/Controler/PID Controller2/Anti-windup'
+//  '<S110>' : 'SimModelR2022b_0617/Controler/PID Controller2/D Gain'
+//  '<S111>' : 'SimModelR2022b_0617/Controler/PID Controller2/External Derivative'
+//  '<S112>' : 'SimModelR2022b_0617/Controler/PID Controller2/Filter'
+//  '<S113>' : 'SimModelR2022b_0617/Controler/PID Controller2/Filter ICs'
+//  '<S114>' : 'SimModelR2022b_0617/Controler/PID Controller2/I Gain'
+//  '<S115>' : 'SimModelR2022b_0617/Controler/PID Controller2/Ideal P Gain'
+//  '<S116>' : 'SimModelR2022b_0617/Controler/PID Controller2/Ideal P Gain Fdbk'
+//  '<S117>' : 'SimModelR2022b_0617/Controler/PID Controller2/Integrator'
+//  '<S118>' : 'SimModelR2022b_0617/Controler/PID Controller2/Integrator ICs'
+//  '<S119>' : 'SimModelR2022b_0617/Controler/PID Controller2/N Copy'
+//  '<S120>' : 'SimModelR2022b_0617/Controler/PID Controller2/N Gain'
+//  '<S121>' : 'SimModelR2022b_0617/Controler/PID Controller2/P Copy'
+//  '<S122>' : 'SimModelR2022b_0617/Controler/PID Controller2/Parallel P Gain'
+//  '<S123>' : 'SimModelR2022b_0617/Controler/PID Controller2/Reset Signal'
+//  '<S124>' : 'SimModelR2022b_0617/Controler/PID Controller2/Saturation'
+//  '<S125>' : 'SimModelR2022b_0617/Controler/PID Controller2/Saturation Fdbk'
+//  '<S126>' : 'SimModelR2022b_0617/Controler/PID Controller2/Sum'
+//  '<S127>' : 'SimModelR2022b_0617/Controler/PID Controller2/Sum Fdbk'
+//  '<S128>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tracking Mode'
+//  '<S129>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tracking Mode Sum'
+//  '<S130>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tsamp - Integral'
+//  '<S131>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tsamp - Ngain'
+//  '<S132>' : 'SimModelR2022b_0617/Controler/PID Controller2/postSat Signal'
+//  '<S133>' : 'SimModelR2022b_0617/Controler/PID Controller2/preInt Signal'
+//  '<S134>' : 'SimModelR2022b_0617/Controler/PID Controller2/preSat Signal'
+//  '<S135>' : 'SimModelR2022b_0617/Controler/PID Controller2/Anti-windup/Passthrough'
+//  '<S136>' : 'SimModelR2022b_0617/Controler/PID Controller2/D Gain/Internal Parameters'
+//  '<S137>' : 'SimModelR2022b_0617/Controler/PID Controller2/External Derivative/Error'
+//  '<S138>' : 'SimModelR2022b_0617/Controler/PID Controller2/Filter/Disc. Forward Euler Filter'
+//  '<S139>' : 'SimModelR2022b_0617/Controler/PID Controller2/Filter ICs/Internal IC - Filter'
+//  '<S140>' : 'SimModelR2022b_0617/Controler/PID Controller2/I Gain/Internal Parameters'
+//  '<S141>' : 'SimModelR2022b_0617/Controler/PID Controller2/Ideal P Gain/Passthrough'
+//  '<S142>' : 'SimModelR2022b_0617/Controler/PID Controller2/Ideal P Gain Fdbk/Disabled'
+//  '<S143>' : 'SimModelR2022b_0617/Controler/PID Controller2/Integrator/Discrete'
+//  '<S144>' : 'SimModelR2022b_0617/Controler/PID Controller2/Integrator ICs/Internal IC'
+//  '<S145>' : 'SimModelR2022b_0617/Controler/PID Controller2/N Copy/Disabled'
+//  '<S146>' : 'SimModelR2022b_0617/Controler/PID Controller2/N Gain/Internal Parameters'
+//  '<S147>' : 'SimModelR2022b_0617/Controler/PID Controller2/P Copy/Disabled'
+//  '<S148>' : 'SimModelR2022b_0617/Controler/PID Controller2/Parallel P Gain/Internal Parameters'
+//  '<S149>' : 'SimModelR2022b_0617/Controler/PID Controller2/Reset Signal/Disabled'
+//  '<S150>' : 'SimModelR2022b_0617/Controler/PID Controller2/Saturation/Passthrough'
+//  '<S151>' : 'SimModelR2022b_0617/Controler/PID Controller2/Saturation Fdbk/Disabled'
+//  '<S152>' : 'SimModelR2022b_0617/Controler/PID Controller2/Sum/Sum_PID'
+//  '<S153>' : 'SimModelR2022b_0617/Controler/PID Controller2/Sum Fdbk/Disabled'
+//  '<S154>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tracking Mode/Disabled'
+//  '<S155>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tracking Mode Sum/Passthrough'
+//  '<S156>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tsamp - Integral/TsSignalSpecification'
+//  '<S157>' : 'SimModelR2022b_0617/Controler/PID Controller2/Tsamp - Ngain/Passthrough'
+//  '<S158>' : 'SimModelR2022b_0617/Controler/PID Controller2/postSat Signal/Forward_Path'
+//  '<S159>' : 'SimModelR2022b_0617/Controler/PID Controller2/preInt Signal/Internal PreInt'
+//  '<S160>' : 'SimModelR2022b_0617/Controler/PID Controller2/preSat Signal/Forward_Path'
+
+#endif                                 // Controler_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//
diff --git a/src/pAUV150/Controler/Controler_private.h b/src/pAUV150/Controler/Controler_private.h
new file mode 100644
index 0000000..54d4625
--- /dev/null
+++ b/src/pAUV150/Controler/Controler_private.h
@@ -0,0 +1,31 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: Controler_private.h
+//
+// Code generated for Simulink model 'Controler'.
+//
+// Model version                  : 5.11
+// Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024
+// C/C++ source code generated on : Tue Jun 17 18:31:17 2025
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: Intel->x86-64 (Linux 64)
+// Code generation objectives:
+//    1. Execution efficiency
+//    2. RAM efficiency
+// Validation result: Not run
+//
+#ifndef Controler_private_h_
+#define Controler_private_h_
+#include "rtwtypes.h"
+#include "Controler_types.h"
+#endif                                 // Controler_private_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//
diff --git a/src/pAUV150/Controler/Controler_types.h b/src/pAUV150/Controler/Controler_types.h
new file mode 100644
index 0000000..5ffc206
--- /dev/null
+++ b/src/pAUV150/Controler/Controler_types.h
@@ -0,0 +1,29 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: Controler_types.h
+//
+// Code generated for Simulink model 'Controler'.
+//
+// Model version                  : 5.11
+// Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024
+// C/C++ source code generated on : Tue Jun 17 18:31:17 2025
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: Intel->x86-64 (Linux 64)
+// Code generation objectives:
+//    1. Execution efficiency
+//    2. RAM efficiency
+// Validation result: Not run
+//
+#ifndef Controler_types_h_
+#define Controler_types_h_
+#endif                                 // Controler_types_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//
diff --git a/src/pAUV150/Controler/rtwtypes.h b/src/pAUV150/Controler/rtwtypes.h
new file mode 100644
index 0000000..813c030
--- /dev/null
+++ b/src/pAUV150/Controler/rtwtypes.h
@@ -0,0 +1,106 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: rtwtypes.h
+//
+// Code generated for Simulink model 'Controler'.
+//
+// Model version                  : 5.11
+// Simulink Coder version         : 24.2 (R2024b) 21-Jun-2024
+// C/C++ source code generated on : Tue Jun 17 18:31:17 2025
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: Intel->x86-64 (Linux 64)
+// Code generation objectives:
+//    1. Execution efficiency
+//    2. RAM efficiency
+// Validation result: Not run
+//
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+// Logical type definitions
+#if (!defined(__cplusplus))
+#ifndef false
+#define false                          (0U)
+#endif
+
+#ifndef true
+#define true                           (1U)
+#endif
+#endif
+
+//=======================================================================*
+//  Target hardware information
+//    Device type: Intel->x86-64 (Linux 64)
+//    Number of bits:     char:   8    short:   16    int:  32
+//                        long:  64    long long:  64
+//                        native word size:  64
+//    Byte ordering: LittleEndian
+//    Signed integer division rounds to: Zero
+//    Shift right on a signed integer as arithmetic shift: on
+// =======================================================================
+
+//=======================================================================*
+//  Fixed width word size data types:                                     *
+//    int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+//    uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+//    real32_T, real64_T           - 32 and 64 bit floating point numbers *
+// =======================================================================
+typedef signed char int8_T;
+typedef unsigned char uint8_T;
+typedef short int16_T;
+typedef unsigned short uint16_T;
+typedef int int32_T;
+typedef unsigned int uint32_T;
+typedef long int64_T;
+typedef unsigned long uint64_T;
+typedef float real32_T;
+typedef double real64_T;
+
+//===========================================================================*
+//  Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
+//                            real_T, time_T, ulong_T, ulonglong_T.           *
+// ===========================================================================
+typedef double real_T;
+typedef double time_T;
+typedef unsigned char boolean_T;
+typedef int int_T;
+typedef unsigned int uint_T;
+typedef unsigned long ulong_T;
+typedef unsigned long long ulonglong_T;
+typedef char char_T;
+typedef unsigned char uchar_T;
+typedef char_T byte_T;
+
+//=======================================================================*
+//  Min and Max:                                                          *
+//    int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
+//    uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
+// =======================================================================
+#define MAX_int8_T                     ((int8_T)(127))
+#define MIN_int8_T                     ((int8_T)(-128))
+#define MAX_uint8_T                    ((uint8_T)(255U))
+#define MAX_int16_T                    ((int16_T)(32767))
+#define MIN_int16_T                    ((int16_T)(-32768))
+#define MAX_uint16_T                   ((uint16_T)(65535U))
+#define MAX_int32_T                    ((int32_T)(2147483647))
+#define MIN_int32_T                    ((int32_T)(-2147483647-1))
+#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))
+#define MAX_int64_T                    ((int64_T)(9223372036854775807L))
+#define MIN_int64_T                    ((int64_T)(-9223372036854775807L-1L))
+#define MAX_uint64_T                   ((uint64_T)(0xFFFFFFFFFFFFFFFFUL))
+
+// Block D-Work pointer type
+typedef void * pointer_T;
+
+#endif                                 // RTWTYPES_H
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//