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change control parameters

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This commit is contained in:
user_gly
2025-07-02 16:17:51 +08:00
parent c41269956a
commit c860d2e311
14 changed files with 510 additions and 931 deletions
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2
CMakeLists.txt
View File

@@ -10,7 +10,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
PROJECT( IVP_EXTEND ) PROJECT( IVP_EXTEND )
set (CMAKE_CXX_STANDARD 11) set (CMAKE_CXX_STANDARD 11)
# set (MOOSIVP_SOURCE_TREE_BASE "/home/zjk/software/moos-ivp-main") set (MOOSIVP_SOURCE_TREE_BASE "/home/jima/moos-ivp")
#======================================================================= #=======================================================================
# Set the output directories for the binary and library files # Set the output directories for the binary and library files

10
missions/alpha/alpha.moos
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@@ -165,8 +165,8 @@ ProcessConfig = pNodeReporter
AppTick = 2 AppTick = 2
CommsTick = 2 CommsTick = 2
platform_length = 1.5 // meters platform_length = 2 // meters
//platform_beam = 0.2 // meters platform_beam = 2 // meters
platform_type = auv platform_type = auv
platform_color = dodger_blue platform_color = dodger_blue
//vessel_type = auv //vessel_type = auv
@@ -179,7 +179,9 @@ ProcessConfig = pAUV150
//server_host = 10.127.0.18 //server_host = 10.127.0.18
//server_host = 127.0.0.1 //server_host = 127.0.0.1
server_host = 192.168.137.1 //server_host = 192.168.137.1
//server_host = 192.168.220.1
server_host = 192.168.43.131
LatOrigin = 43.825300 LatOrigin = 43.825300
LongOrigin = -70.330400 LongOrigin = -70.330400
@@ -213,4 +215,4 @@ ProcessConfig = pLogger
WildCardOmitPattern = *_STATUS WildCardOmitPattern = *_STATUS
WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_VARSUMMARY
WildCardOmitPattern = DB_RWSUMMARY WildCardOmitPattern = DB_RWSUMMARY
} }

10
missions/alpha/alpha_shoreside.moos
View File

@@ -28,15 +28,15 @@ ProcessConfig = pShare
CommsTick = 10 CommsTick = 10
input = route = localhost:8085 input = route = localhost:8085
output = src_name=APPCAST_REQ, route=192.168.137.148:8082 output = src_name=APPCAST_REQ, route=192.168.0.101:8082
//输出有两个端口，8081和8082，选择用1或者2 //输出有两个端口，8081和8082，选择用1或者2
//发送消息看以下格式 //发送消息看以下格式
//output = src_name=Y, dest_name=B, route=host:port //output = src_name=Y, dest_name=B, route=host:port
output = src_name=uMission_action_cmd,route=192.168.137.148:8082 output = src_name=uMission_action_cmd,route=192.168.0.101:8082
output = src_name=DEPLOY, route=192.168.137.148:8082 output = src_name=DEPLOY, route=192.168.0.101:8082
output = src_name=RETURN, route=192.168.137.148:8082 output = src_name=RETURN, route=192.168.0.101:8082
output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.137.148:8082 output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.0.101:8082
} }
//------------------------------------------ //------------------------------------------

864
src/pAUV150/Controler/Controler.cpp
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)
@@ -27,365 +27,27 @@
void Controler::step() void Controler::step()
{ {
real_T mod_error; real_T mod_error;
real_T rtb_Delay1;
real_T rtb_Delay1_d;
real_T rtb_Delay5;
real_T rtb_Delay6;
real_T rtb_Delay6_c;
real_T rtb_Delay7;
real_T rtb_Delay7_c;
real_T rtb_FilterCoefficient; real_T rtb_FilterCoefficient;
real_T rtb_FilterCoefficient_g; real_T rtb_FilterCoefficient_a;
real_T rtb_FilterCoefficient_l; real_T rtb_FilterCoefficient_lc;
real_T rtb_Filter_k; real_T rtb_Filter_b;
real_T rtb_IntegralGain; real_T rtb_IntegralGain;
real_T rtb_Integrator_d; real_T rtb_Integrator_l;
real_T rtb_Integrator_p;
real_T rtb_Sum;
real_T rtb_Switch; real_T rtb_Switch;
real_T rtb_depth_error; real_T rtb_depth_error;
real_T rtb_pitch_error;
real_T rtb_pos_i1;
real_T rtb_pos_i1_k;
real_T rtb_pos_i2;
real_T rtb_pos_i2_l;
real_T rtb_pos_i3;
real_T rtb_ref_i1;
real_T rtb_ref_i1_p;
real_T rtb_ref_i2;
real_T rtb_ref_i2_d;
real_T rtb_ref_i3;
int8_T rtb_Switch1; int8_T rtb_Switch1;
int8_T tmp; int8_T tmp;
int8_T tmp_0;
boolean_T rtb_RelationalOperator; boolean_T rtb_RelationalOperator;
boolean_T rtb_fixforDTpropagationissue; boolean_T rtb_fixforDTpropagationissue;
// Outputs for Atomic SubSystem: '<Root>/Controler' // Outputs for Atomic SubSystem: '<Root>/Controler'
// Delay: '<S6>/pos_i-1' // MATLAB Function: '<S1>/MATLAB Function1' incorporates:
rtb_pos_i1 = rtDW.pos_i1_DSTATE;
// Delay: '<S6>/pos_i-2'
rtb_pos_i2 = rtDW.pos_i2_DSTATE;
// Delay: '<S6>/pos_i-3'
rtb_pos_i3 = rtDW.pos_i3_DSTATE;
// Delay: '<S6>/ref_i-1'
rtb_ref_i1 = rtDW.ref_i1_DSTATE;
// Delay: '<S6>/ref_i-2'
rtb_ref_i2 = rtDW.ref_i2_DSTATE;
// Delay: '<S6>/ref_i-3'
rtb_ref_i3 = rtDW.ref_i3_DSTATE;
// Delay: '<S170>/Delay1'
rtb_Delay1 = rtDW.Delay1_DSTATE;
// Delay: '<S170>/Delay6'
rtb_Delay6 = rtDW.Delay6_DSTATE;
// Delay: '<S170>/Delay7'
rtb_Delay7 = rtDW.Delay7_DSTATE;
// Delay: '<S170>/Delay5'
rtb_Delay5 = rtDW.Delay5_DSTATE;
// Sum: '<S1>/Sum1' incorporates:
// Delay: '<S170>/Delay1'
// Delay: '<S170>/Delay10'
// Delay: '<S170>/Delay2'
// Delay: '<S170>/Delay3'
// Delay: '<S170>/Delay4'
// Delay: '<S170>/Delay5'
// Delay: '<S170>/Delay6'
// Delay: '<S170>/Delay7'
// Delay: '<S170>/Delay8'
// Delay: '<S170>/Delay9'
// Delay: '<S6>/pos_i-1'
// Delay: '<S6>/pos_i-2'
// Delay: '<S6>/pos_i-3'
// Delay: '<S6>/pos_i-4'
// Delay: '<S6>/ref_i-1'
// Delay: '<S6>/ref_i-2'
// Delay: '<S6>/ref_i-3'
// Delay: '<S6>/ref_i-4'
// Gain: '<S170>/Gain1'
// Gain: '<S170>/Gain10'
// Gain: '<S170>/Gain11'
// Gain: '<S170>/Gain2'
// Gain: '<S170>/Gain3'
// Gain: '<S170>/Gain4'
// Gain: '<S170>/Gain5'
// Gain: '<S170>/Gain6'
// Gain: '<S170>/Gain7'
// Gain: '<S170>/Gain9'
// Gain: '<S6>/Compensation Gain'
// Gain: '<S6>/Gain'
// Gain: '<S6>/Gain1'
// Gain: '<S6>/Gain10'
// Gain: '<S6>/Gain11'
// Gain: '<S6>/Gain12'
// Gain: '<S6>/Gain13'
// Gain: '<S6>/Gain14'
// Gain: '<S6>/Gain15'
// Gain: '<S6>/Gain16'
// Gain: '<S6>/Gain17'
// Gain: '<S6>/Gain18'
// Gain: '<S6>/Gain19'
// Gain: '<S6>/Gain2'
// Gain: '<S6>/Gain3'
// Gain: '<S6>/Gain4'
// Gain: '<S6>/Gain5'
// Gain: '<S6>/Gain6'
// Gain: '<S6>/Gain7'
// Gain: '<S6>/Gain8'
// Gain: '<S6>/Gain9'
// Inport: '<Root>/depth_cmd'
// Inport: '<Root>/z'
// Sum: '<S170>/Add2'
// Sum: '<S1>/Add'
// Sum: '<S6>/Add'
// Sum: '<S6>/Add1'
// Sum: '<S6>/predict_error_(i+2)'
rtb_depth_error = rtU.z - ((rtU.depth_cmd - ((((((((((((((((((((rtU.z -
4.96546716 * rtDW.Delay1_DSTATE) - -9.86401854 * rtDW.Delay6_DSTATE) -
9.7928555 * rtDW.Delay7_DSTATE) - -4.85552402 * rtDW.Delay5_DSTATE) -
0.9612199 * rtDW.Delay8_DSTATE) - -0.0031985800000000021 *
rtDW.Delay10_DSTATE) - 0.0095957400000000071 * rtDW.Delay9_DSTATE) -
-0.0031985800000000073 * rtDW.Delay4_DSTATE) - -0.0095957399999999984 *
rtDW.Delay3_DSTATE) - 0.0063971600000000007 * rtDW.Delay2_DSTATE) +
(((((((((4.96546716 * rtU.z + -9.86401854 * rtDW.pos_i1_DSTATE) + 9.7928555 *
rtDW.pos_i2_DSTATE) + -4.85552402 * rtDW.pos_i3_DSTATE) + 0.9612199 *
rtDW.pos_i4_DSTATE) + 0.0063971600000000007 * rtU.depth_cmd) +
-0.0095957399999999984 * rtDW.ref_i1_DSTATE) + -0.0031985800000000073 *
rtDW.ref_i2_DSTATE) + 0.0095957400000000071 * rtDW.ref_i3_DSTATE) +
-0.0031985800000000021 * rtDW.ref_i4_DSTATE)) * 4.96546716 + -9.86401854 *
rtU.z) + 9.7928555 * rtDW.pos_i1_DSTATE) + -4.85552402 * rtDW.pos_i2_DSTATE)
+ 0.9612199 * rtDW.pos_i3_DSTATE) + 0.0063971600000000007 * rtU.depth_cmd) +
-0.0095957399999999984 * rtU.depth_cmd) + -0.0031985800000000073 *
rtDW.ref_i1_DSTATE) + 0.0095957400000000071 * rtDW.ref_i2_DSTATE) +
-0.0031985800000000021 * rtDW.ref_i3_DSTATE)) * rtP.gamma_depth +
rtU.depth_cmd);
// Gain: '<S101>/Filter Coefficient' incorporates:
// DiscreteIntegrator: '<S93>/Filter'
// Gain: '<S91>/Derivative Gain'
// Sum: '<S93>/SumD'
rtb_FilterCoefficient = (rtP.pid_depth.D * rtb_depth_error -
rtDW.Filter_DSTATE) * rtP.pid_depth.N;
// Sum: '<S107>/Sum' incorporates:
// DiscreteIntegrator: '<S98>/Integrator'
// Gain: '<S103>/Proportional Gain'
rtb_Filter_k = (rtP.pid_depth.P * rtb_depth_error + rtDW.Integrator_DSTATE) +
rtb_FilterCoefficient;
// Saturate: '<S105>/Saturation'
if (rtb_Filter_k > 30.0) {
rtb_pitch_error = 30.0;
} else if (rtb_Filter_k < -30.0) {
rtb_pitch_error = -30.0;
} else {
rtb_pitch_error = rtb_Filter_k;
}
// Sum: '<S1>/Sum2' incorporates:
// Inport: '<Root>/theta'
// Saturate: '<S105>/Saturation'
rtb_pitch_error -= rtU.theta;
// Gain: '<S155>/Filter Coefficient' incorporates:
// DiscreteIntegrator: '<S147>/Filter'
// Gain: '<S145>/Derivative Gain'
// Sum: '<S147>/SumD'
rtb_FilterCoefficient_g = (rtP.pid_pitch.D * rtb_pitch_error -
rtDW.Filter_DSTATE_l) * rtP.pid_pitch.N;
// Sum: '<S161>/Sum' incorporates:
// DiscreteIntegrator: '<S152>/Integrator'
// Gain: '<S157>/Proportional Gain'
rtb_Integrator_d = (rtP.pid_pitch.P * rtb_pitch_error +
rtDW.Integrator_DSTATE_f) + rtb_FilterCoefficient_g;
// Saturate: '<S159>/Saturation' incorporates:
// DeadZone: '<S144>/DeadZone'
if (rtb_Integrator_d > 35.0) {
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
rtY.DirectLeftRudderServoAngleCmd = 35.0;
rtb_Integrator_d -= 35.0;
} else {
if (rtb_Integrator_d < -35.0) {
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
rtY.DirectLeftRudderServoAngleCmd = -35.0;
} else {
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
rtY.DirectLeftRudderServoAngleCmd = rtb_Integrator_d;
}
if (rtb_Integrator_d >= -35.0) {
rtb_Integrator_d = 0.0;
} else {
rtb_Integrator_d -= -35.0;
}
}
// End of Saturate: '<S159>/Saturation'
// RelationalOperator: '<S142>/Relational Operator' incorporates:
// Constant: '<S142>/Clamping_zero'
rtb_RelationalOperator = (rtb_Integrator_d != 0.0);
// RelationalOperator: '<S142>/fix for DT propagation issue' incorporates:
// Constant: '<S142>/Clamping_zero'
rtb_fixforDTpropagationissue = (rtb_Integrator_d > 0.0);
// Gain: '<S149>/Integral Gain'
rtb_Integrator_d = rtP.pid_pitch.I * rtb_pitch_error;
// Switch: '<S142>/Switch1' incorporates:
// Constant: '<S142>/Constant'
// Constant: '<S142>/Constant2'
if (rtb_fixforDTpropagationissue) {
tmp = 1;
} else {
tmp = -1;
}
// Switch: '<S142>/Switch2' incorporates:
// Constant: '<S142>/Clamping_zero'
// Constant: '<S142>/Constant3'
// Constant: '<S142>/Constant4'
// RelationalOperator: '<S142>/fix for DT propagation issue1'
if (rtb_Integrator_d > 0.0) {
tmp_0 = 1;
} else {
tmp_0 = -1;
}
// Switch: '<S142>/Switch' incorporates:
// Constant: '<S142>/Constant1'
// Logic: '<S142>/AND3'
// RelationalOperator: '<S142>/Equal1'
// Switch: '<S142>/Switch1'
// Switch: '<S142>/Switch2'
if (rtb_RelationalOperator && (tmp == tmp_0)) {
rtb_Switch = 0.0;
} else {
rtb_Switch = rtb_Integrator_d;
}
// End of Switch: '<S142>/Switch'
// DeadZone: '<S90>/DeadZone'
if (rtb_Filter_k > 30.0) {
rtb_Filter_k -= 30.0;
} else if (rtb_Filter_k >= -30.0) {
rtb_Filter_k = 0.0;
} else {
rtb_Filter_k -= -30.0;
}
// End of DeadZone: '<S90>/DeadZone'
// Gain: '<S95>/Integral Gain'
rtb_Integrator_d = rtP.pid_depth.I * rtb_depth_error;
// Delay: '<S7>/pos_i-1'
rtb_pos_i1_k = rtDW.pos_i1_DSTATE_f;
// Delay: '<S7>/pos_i-2'
rtb_pos_i2_l = rtDW.pos_i2_DSTATE_n;
// Delay: '<S7>/ref_i-1'
rtb_ref_i1_p = rtDW.ref_i1_DSTATE_c;
// Delay: '<S7>/ref_i-2'
rtb_ref_i2_d = rtDW.ref_i2_DSTATE_m;
// Delay: '<S171>/Delay1'
rtb_Delay1_d = rtDW.Delay1_DSTATE_o;
// Delay: '<S171>/Delay6'
rtb_Delay6_c = rtDW.Delay6_DSTATE_k;
// Delay: '<S171>/Delay7'
rtb_Delay7_c = rtDW.Delay7_DSTATE_o;
// MATLAB Function: '<S1>/MATLAB Function' incorporates:
// Delay: '<S171>/Delay1'
// Delay: '<S171>/Delay2'
// Delay: '<S171>/Delay3'
// Delay: '<S171>/Delay4'
// Delay: '<S171>/Delay5'
// Delay: '<S171>/Delay6'
// Delay: '<S171>/Delay7'
// Delay: '<S171>/Delay9'
// Delay: '<S7>/pos_i-1'
// Delay: '<S7>/pos_i-2'
// Delay: '<S7>/pos_i-3'
// Delay: '<S7>/ref_i-1'
// Delay: '<S7>/ref_i-2'
// Delay: '<S7>/ref_i-3'
// Gain: '<S171>/Gain1'
// Gain: '<S171>/Gain10'
// Gain: '<S171>/Gain11'
// Gain: '<S171>/Gain2'
// Gain: '<S171>/Gain3'
// Gain: '<S171>/Gain4'
// Gain: '<S171>/Gain7'
// Gain: '<S171>/Gain9'
// Gain: '<S7>/Compensation Gain'
// Gain: '<S7>/Gain'
// Gain: '<S7>/Gain1'
// Gain: '<S7>/Gain10'
// Gain: '<S7>/Gain11'
// Gain: '<S7>/Gain12'
// Gain: '<S7>/Gain14'
// Gain: '<S7>/Gain15'
// Gain: '<S7>/Gain16'
// Gain: '<S7>/Gain2'
// Gain: '<S7>/Gain3'
// Gain: '<S7>/Gain4'
// Gain: '<S7>/Gain5'
// Gain: '<S7>/Gain6'
// Gain: '<S7>/Gain7'
// Gain: '<S7>/Gain8'
// Gain: '<S7>/Gain9'
// Inport: '<Root>/heading_cmd' // Inport: '<Root>/heading_cmd'
// Inport: '<Root>/psi' // Inport: '<Root>/psi'
// Sum: '<S171>/Add2'
// Sum: '<S1>/Add1'
// Sum: '<S7>/Add'
// Sum: '<S7>/Add1'
// Sum: '<S7>/predict_error_(i+2)'
mod_error = ((rtU.heading_cmd - ((((((((((((((((rtU.psi - 3.828503 * mod_error = rtU.psi - rtU.heading_cmd;
rtDW.Delay1_DSTATE_o) - -5.5210193 * rtDW.Delay6_DSTATE_k) - 3.5572363 *
rtDW.Delay7_DSTATE_o) - -0.86472 * rtDW.Delay5_DSTATE_d) -
-7.589415207398531E-19 * rtDW.Delay9_DSTATE_m) - -0.0032962999999999985 *
rtDW.Delay4_DSTATE_a) - 0.0072993 * rtDW.Delay3_DSTATE_f) -
-0.0040030000000000005 * rtDW.Delay2_DSTATE_g) + (((((((3.828503 * rtU.psi +
-5.5210193 * rtDW.pos_i1_DSTATE_f) + 3.5572363 * rtDW.pos_i2_DSTATE_n) +
-0.86472 * rtDW.pos_i3_DSTATE_b) + -0.0040030000000000005 * rtU.heading_cmd)
+ 0.0072993 * rtDW.ref_i1_DSTATE_c) + -0.0032962999999999985 *
rtDW.ref_i2_DSTATE_m) + -7.589415207398531E-19 * rtDW.ref_i3_DSTATE_i)) *
3.828503 + -5.5210193 * rtU.psi) + 3.5572363 * rtDW.pos_i1_DSTATE_f) +
-0.86472 * rtDW.pos_i2_DSTATE_n) + -0.0040030000000000005 * rtU.heading_cmd)
+ 0.0072993 * rtU.heading_cmd) + -0.0032962999999999985 *
rtDW.ref_i1_DSTATE_c) + -7.589415207398531E-19 * rtDW.ref_i2_DSTATE_m)) *
rtP.gamma_heading + rtU.heading_cmd) - rtU.psi;
if (!std::isnan(mod_error)) { if (!std::isnan(mod_error)) {
if (std::isinf(mod_error)) { if (std::isinf(mod_error)) {
mod_error = (rtNaN); mod_error = (rtNaN);
@@ -405,58 +67,218 @@ void Controler::step()
mod_error -= 360.0; mod_error -= 360.0;
} }
// End of MATLAB Function: '<S1>/MATLAB Function' // End of MATLAB Function: '<S1>/MATLAB Function1'
// Gain: '<S47>/Filter Coefficient' incorporates: // Gain: '<S153>/Filter Coefficient' incorporates:
// DiscreteIntegrator: '<S39>/Filter' // DiscreteIntegrator: '<S145>/Filter'
// Gain: '<S37>/Derivative Gain' // Gain: '<S143>/Derivative Gain'
// Sum: '<S39>/SumD' // Sum: '<S145>/SumD'
rtb_FilterCoefficient_l = (rtP.pid_heading.D * mod_error - rtb_FilterCoefficient = (rtP.pid_heading.D * mod_error - rtDW.Filter_DSTATE) *
rtDW.Filter_DSTATE_m) * rtP.pid_heading.N; rtP.pid_heading.N;
// Sum: '<S53>/Sum' incorporates: // Sum: '<S159>/Sum' incorporates:
// DiscreteIntegrator: '<S44>/Integrator' // DiscreteIntegrator: '<S150>/Integrator'
// Gain: '<S49>/Proportional Gain' // Gain: '<S155>/Proportional Gain'
rtb_IntegralGain = (rtP.pid_heading.P * mod_error + rtDW.Integrator_DSTATE_b) rtb_Integrator_l = (rtP.pid_heading.P * mod_error + rtDW.Integrator_DSTATE) +
+ rtb_FilterCoefficient_l; rtb_FilterCoefficient;
// Saturate: '<S51>/Saturation' incorporates: // DeadZone: '<S142>/DeadZone'
// DeadZone: '<S36>/DeadZone' if (rtb_Integrator_l > 35.0) {
rtb_Sum = rtb_Integrator_l - 35.0;
if (rtb_IntegralGain > 35.0) { } else if (rtb_Integrator_l >= -35.0) {
// Outport: '<Root>/DirectUpperRudderServoAngleCmd' rtb_Sum = 0.0;
rtY.DirectUpperRudderServoAngleCmd = 35.0;
rtb_IntegralGain -= 35.0;
} else { } else {
if (rtb_IntegralGain < -35.0) { rtb_Sum = rtb_Integrator_l - -35.0;
// Outport: '<Root>/DirectUpperRudderServoAngleCmd'
rtY.DirectUpperRudderServoAngleCmd = -35.0;
} else {
// Outport: '<Root>/DirectUpperRudderServoAngleCmd'
rtY.DirectUpperRudderServoAngleCmd = rtb_IntegralGain;
}
if (rtb_IntegralGain >= -35.0) {
rtb_IntegralGain = 0.0;
} else {
rtb_IntegralGain -= -35.0;
}
} }
// End of Saturate: '<S51>/Saturation' // End of DeadZone: '<S142>/DeadZone'
// RelationalOperator: '<S34>/Relational Operator' incorporates: // RelationalOperator: '<S140>/Relational Operator' incorporates:
// Constant: '<S34>/Clamping_zero' // Constant: '<S140>/Clamping_zero'
rtb_RelationalOperator = (rtb_Sum != 0.0);
// RelationalOperator: '<S140>/fix for DT propagation issue' incorporates:
// Constant: '<S140>/Clamping_zero'
rtb_fixforDTpropagationissue = (rtb_Sum > 0.0);
// Gain: '<S147>/Integral Gain'
rtb_Sum = rtP.pid_heading.I * mod_error;
// Switch: '<S140>/Switch1' incorporates:
// Constant: '<S140>/Constant'
// Constant: '<S140>/Constant2'
if (rtb_fixforDTpropagationissue) {
tmp = 1;
} else {
tmp = -1;
}
// Switch: '<S140>/Switch2' incorporates:
// Constant: '<S140>/Clamping_zero'
// Constant: '<S140>/Constant3'
// Constant: '<S140>/Constant4'
// RelationalOperator: '<S140>/fix for DT propagation issue1'
if (rtb_Sum > 0.0) {
rtb_Switch1 = 1;
} else {
rtb_Switch1 = -1;
}
// Switch: '<S140>/Switch' incorporates:
// Constant: '<S140>/Constant1'
// Logic: '<S140>/AND3'
// RelationalOperator: '<S140>/Equal1'
// Switch: '<S140>/Switch1'
// Switch: '<S140>/Switch2'
if (rtb_RelationalOperator && (tmp == rtb_Switch1)) {
rtb_Switch = 0.0;
} else {
rtb_Switch = rtb_Sum;
}
// End of Switch: '<S140>/Switch'
// Saturate: '<S157>/Saturation'
if (rtb_Integrator_l > 35.0) {
rtb_Integrator_l = 35.0;
} else if (rtb_Integrator_l < -35.0) {
rtb_Integrator_l = -35.0;
}
// End of Saturate: '<S157>/Saturation'
// Sum: '<S1>/Sum1' incorporates:
// Inport: '<Root>/depth_cmd'
// Inport: '<Root>/z'
rtb_depth_error = rtU.z - rtU.depth_cmd;
// Gain: '<S39>/Integral Gain'
rtb_Sum = rtP.pid_depth.I * rtb_depth_error;
// Gain: '<S45>/Filter Coefficient' incorporates:
// DiscreteIntegrator: '<S37>/Filter'
// Gain: '<S35>/Derivative Gain'
// Sum: '<S37>/SumD'
rtb_FilterCoefficient_lc = (rtP.pid_depth.D * rtb_depth_error -
rtDW.Filter_DSTATE_m) * rtP.pid_depth.N;
// Sum: '<S51>/Sum' incorporates:
// DiscreteIntegrator: '<S42>/Integrator'
// Gain: '<S47>/Proportional Gain'
rtb_Filter_b = (rtP.pid_depth.P * rtb_depth_error + rtDW.Integrator_DSTATE_o)
+ rtb_FilterCoefficient_lc;
// DeadZone: '<S34>/DeadZone'
if (rtb_Filter_b > 30.0) {
rtb_Integrator_p = rtb_Filter_b - 30.0;
// Switch: '<S32>/Switch1' incorporates:
// Constant: '<S32>/Constant'
tmp = 1;
} else {
if (rtb_Filter_b >= -30.0) {
rtb_Integrator_p = 0.0;
} else {
rtb_Integrator_p = rtb_Filter_b - -30.0;
}
// Switch: '<S32>/Switch1' incorporates:
// Constant: '<S32>/Constant2'
tmp = -1;
}
// End of DeadZone: '<S34>/DeadZone'
// Switch: '<S32>/Switch2' incorporates:
// Constant: '<S32>/Clamping_zero'
// Constant: '<S32>/Constant3'
// Constant: '<S32>/Constant4'
// RelationalOperator: '<S32>/fix for DT propagation issue1'
if (rtb_Sum > 0.0) {
rtb_Switch1 = 1;
} else {
rtb_Switch1 = -1;
}
// Switch: '<S32>/Switch' incorporates:
// Constant: '<S32>/Clamping_zero'
// Constant: '<S32>/Constant1'
// Logic: '<S32>/AND3'
// RelationalOperator: '<S32>/Equal1'
// RelationalOperator: '<S32>/Relational Operator'
// Switch: '<S32>/Switch1'
// Switch: '<S32>/Switch2'
if ((rtb_Integrator_p != 0.0) && (tmp == rtb_Switch1)) {
rtb_Integrator_p = 0.0;
} else {
rtb_Integrator_p = rtb_Sum;
}
// End of Switch: '<S32>/Switch'
// Saturate: '<S49>/Saturation'
if (rtb_Filter_b > 30.0) {
rtb_Filter_b = 30.0;
} else if (rtb_Filter_b < -30.0) {
rtb_Filter_b = -30.0;
}
// Sum: '<S1>/Sum2' incorporates:
// Inport: '<Root>/theta'
// Saturate: '<S49>/Saturation'
rtb_Filter_b = rtU.theta - rtb_Filter_b;
// Gain: '<S99>/Filter Coefficient' incorporates:
// DiscreteIntegrator: '<S91>/Filter'
// Gain: '<S89>/Derivative Gain'
// Sum: '<S91>/SumD'
rtb_FilterCoefficient_a = (rtP.pid_pitch.D * rtb_Filter_b -
rtDW.Filter_DSTATE_l) * rtP.pid_pitch.N;
// Sum: '<S105>/Sum' incorporates:
// DiscreteIntegrator: '<S96>/Integrator'
// Gain: '<S101>/Proportional Gain'
rtb_Sum = (rtP.pid_pitch.P * rtb_Filter_b + rtDW.Integrator_DSTATE_f) +
rtb_FilterCoefficient_a;
// DeadZone: '<S88>/DeadZone'
if (rtb_Sum > 35.0) {
rtb_IntegralGain = rtb_Sum - 35.0;
} else if (rtb_Sum >= -35.0) {
rtb_IntegralGain = 0.0;
} else {
rtb_IntegralGain = rtb_Sum - -35.0;
}
// End of DeadZone: '<S88>/DeadZone'
// RelationalOperator: '<S86>/Relational Operator' incorporates:
// Constant: '<S86>/Clamping_zero'
rtb_RelationalOperator = (rtb_IntegralGain != 0.0); rtb_RelationalOperator = (rtb_IntegralGain != 0.0);
// Switch: '<S34>/Switch1' incorporates: // Switch: '<S86>/Switch1' incorporates:
// Constant: '<S34>/Clamping_zero' // Constant: '<S86>/Clamping_zero'
// Constant: '<S34>/Constant' // Constant: '<S86>/Constant'
// Constant: '<S34>/Constant2' // Constant: '<S86>/Constant2'
// RelationalOperator: '<S34>/fix for DT propagation issue' // RelationalOperator: '<S86>/fix for DT propagation issue'
if (rtb_IntegralGain > 0.0) { if (rtb_IntegralGain > 0.0) {
rtb_Switch1 = 1; rtb_Switch1 = 1;
@@ -464,207 +286,51 @@ void Controler::step()
rtb_Switch1 = -1; rtb_Switch1 = -1;
} }
// End of Switch: '<S34>/Switch1' // End of Switch: '<S86>/Switch1'
// Gain: '<S41>/Integral Gain' // Gain: '<S93>/Integral Gain'
rtb_IntegralGain = rtP.pid_heading.I * mod_error; rtb_IntegralGain = rtP.pid_pitch.I * rtb_Filter_b;
// Update for Delay: '<S6>/pos_i-1' incorporates: // Saturate: '<S103>/Saturation'
// Inport: '<Root>/z' if (rtb_Sum > 35.0) {
rtb_Sum = 35.0;
rtDW.pos_i1_DSTATE = rtU.z; } else if (rtb_Sum < -35.0) {
rtb_Sum = -35.0;
// Update for Delay: '<S6>/pos_i-2'
rtDW.pos_i2_DSTATE = rtb_pos_i1;
// Update for Delay: '<S6>/pos_i-3'
rtDW.pos_i3_DSTATE = rtb_pos_i2;
// Update for Delay: '<S6>/pos_i-4'
rtDW.pos_i4_DSTATE = rtb_pos_i3;
// Update for Delay: '<S6>/ref_i-1' incorporates:
// Inport: '<Root>/depth_cmd'
rtDW.ref_i1_DSTATE = rtU.depth_cmd;
// Update for Delay: '<S6>/ref_i-2'
rtDW.ref_i2_DSTATE = rtb_ref_i1;
// Update for Delay: '<S6>/ref_i-3'
rtDW.ref_i3_DSTATE = rtb_ref_i2;
// Update for Delay: '<S6>/ref_i-4'
rtDW.ref_i4_DSTATE = rtb_ref_i3;
// Update for Delay: '<S170>/Delay1' incorporates:
// Inport: '<Root>/z'
rtDW.Delay1_DSTATE = rtU.z;
// Update for Delay: '<S170>/Delay6'
rtDW.Delay6_DSTATE = rtb_Delay1;
// Update for Delay: '<S170>/Delay7'
rtDW.Delay7_DSTATE = rtb_Delay6;
// Update for Delay: '<S170>/Delay5'
rtDW.Delay5_DSTATE = rtb_Delay7;
// Update for Delay: '<S170>/Delay8'
rtDW.Delay8_DSTATE = rtb_Delay5;
// Update for Delay: '<S170>/Delay10' incorporates:
// Delay: '<S170>/Delay9'
rtDW.Delay10_DSTATE = rtDW.Delay9_DSTATE;
// Update for Delay: '<S170>/Delay9' incorporates:
// Delay: '<S170>/Delay4'
rtDW.Delay9_DSTATE = rtDW.Delay4_DSTATE;
// Update for Delay: '<S170>/Delay4' incorporates:
// Delay: '<S170>/Delay3'
rtDW.Delay4_DSTATE = rtDW.Delay3_DSTATE;
// Update for Delay: '<S170>/Delay3' incorporates:
// Delay: '<S170>/Delay2'
rtDW.Delay3_DSTATE = rtDW.Delay2_DSTATE;
// Update for Delay: '<S170>/Delay2' incorporates:
// Inport: '<Root>/depth_cmd'
rtDW.Delay2_DSTATE = rtU.depth_cmd;
// Switch: '<S88>/Switch1' incorporates:
// Constant: '<S88>/Clamping_zero'
// Constant: '<S88>/Constant'
// Constant: '<S88>/Constant2'
// RelationalOperator: '<S88>/fix for DT propagation issue'
if (rtb_Filter_k > 0.0) {
tmp = 1;
} else {
tmp = -1;
} }
// Switch: '<S88>/Switch2' incorporates: // End of Saturate: '<S103>/Saturation'
// Constant: '<S88>/Clamping_zero'
// Constant: '<S88>/Constant3'
// Constant: '<S88>/Constant4'
// RelationalOperator: '<S88>/fix for DT propagation issue1'
if (rtb_Integrator_d > 0.0) { // Update for DiscreteIntegrator: '<S150>/Integrator'
tmp_0 = 1; rtDW.Integrator_DSTATE += rtb_Switch;
} else { if (rtDW.Integrator_DSTATE > 15.0) {
tmp_0 = -1; rtDW.Integrator_DSTATE = 15.0;
} else if (rtDW.Integrator_DSTATE < -15.0) {
rtDW.Integrator_DSTATE = -15.0;
} }
// Switch: '<S88>/Switch' incorporates: // End of Update for DiscreteIntegrator: '<S150>/Integrator'
// Constant: '<S88>/Clamping_zero'
// Constant: '<S88>/Constant1'
// Logic: '<S88>/AND3'
// RelationalOperator: '<S88>/Equal1'
// RelationalOperator: '<S88>/Relational Operator'
// Switch: '<S88>/Switch1'
// Switch: '<S88>/Switch2'
if ((rtb_Filter_k != 0.0) && (tmp == tmp_0)) { // Update for DiscreteIntegrator: '<S145>/Filter'
rtb_Integrator_d = 0.0;
}
// Update for DiscreteIntegrator: '<S98>/Integrator' incorporates:
// Switch: '<S88>/Switch'
rtDW.Integrator_DSTATE += rtb_Integrator_d;
if (rtDW.Integrator_DSTATE > 10.0) {
rtDW.Integrator_DSTATE = 10.0;
} else if (rtDW.Integrator_DSTATE < -10.0) {
rtDW.Integrator_DSTATE = -10.0;
}
// End of Update for DiscreteIntegrator: '<S98>/Integrator'
// Update for DiscreteIntegrator: '<S93>/Filter'
rtDW.Filter_DSTATE += 0.1 * rtb_FilterCoefficient; rtDW.Filter_DSTATE += 0.1 * rtb_FilterCoefficient;
// Update for DiscreteIntegrator: '<S152>/Integrator' // Update for DiscreteIntegrator: '<S42>/Integrator'
rtDW.Integrator_DSTATE_f += rtb_Switch; rtDW.Integrator_DSTATE_o += rtb_Integrator_p;
if (rtDW.Integrator_DSTATE_f > 15.0) { if (rtDW.Integrator_DSTATE_o > 10.0) {
rtDW.Integrator_DSTATE_f = 15.0; rtDW.Integrator_DSTATE_o = 10.0;
} else if (rtDW.Integrator_DSTATE_f < -15.0) { } else if (rtDW.Integrator_DSTATE_o < -10.0) {
rtDW.Integrator_DSTATE_f = -15.0; rtDW.Integrator_DSTATE_o = -10.0;
} }
// End of Update for DiscreteIntegrator: '<S152>/Integrator' // End of Update for DiscreteIntegrator: '<S42>/Integrator'
// Update for DiscreteIntegrator: '<S147>/Filter' // Update for DiscreteIntegrator: '<S37>/Filter'
rtDW.Filter_DSTATE_l += 0.1 * rtb_FilterCoefficient_g; rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_lc;
// Update for Delay: '<S7>/pos_i-1' incorporates: // Switch: '<S86>/Switch2' incorporates:
// Inport: '<Root>/psi' // Constant: '<S86>/Clamping_zero'
// Constant: '<S86>/Constant3'
rtDW.pos_i1_DSTATE_f = rtU.psi; // Constant: '<S86>/Constant4'
// RelationalOperator: '<S86>/fix for DT propagation issue1'
// Update for Delay: '<S7>/pos_i-2'
rtDW.pos_i2_DSTATE_n = rtb_pos_i1_k;
// Update for Delay: '<S7>/pos_i-3'
rtDW.pos_i3_DSTATE_b = rtb_pos_i2_l;
// Update for Delay: '<S7>/ref_i-1' incorporates:
// Inport: '<Root>/heading_cmd'
rtDW.ref_i1_DSTATE_c = rtU.heading_cmd;
// Update for Delay: '<S7>/ref_i-2'
rtDW.ref_i2_DSTATE_m = rtb_ref_i1_p;
// Update for Delay: '<S7>/ref_i-3'
rtDW.ref_i3_DSTATE_i = rtb_ref_i2_d;
// Update for Delay: '<S171>/Delay1' incorporates:
// Inport: '<Root>/psi'
rtDW.Delay1_DSTATE_o = rtU.psi;
// Update for Delay: '<S171>/Delay6'
rtDW.Delay6_DSTATE_k = rtb_Delay1_d;
// Update for Delay: '<S171>/Delay7'
rtDW.Delay7_DSTATE_o = rtb_Delay6_c;
// Update for Delay: '<S171>/Delay5'
rtDW.Delay5_DSTATE_d = rtb_Delay7_c;
// Update for Delay: '<S171>/Delay9' incorporates:
// Delay: '<S171>/Delay4'
rtDW.Delay9_DSTATE_m = rtDW.Delay4_DSTATE_a;
// Update for Delay: '<S171>/Delay4' incorporates:
// Delay: '<S171>/Delay3'
rtDW.Delay4_DSTATE_a = rtDW.Delay3_DSTATE_f;
// Update for Delay: '<S171>/Delay3' incorporates:
// Delay: '<S171>/Delay2'
rtDW.Delay3_DSTATE_f = rtDW.Delay2_DSTATE_g;
// Update for Delay: '<S171>/Delay2' incorporates:
// Inport: '<Root>/heading_cmd'
rtDW.Delay2_DSTATE_g = rtU.heading_cmd;
// Switch: '<S34>/Switch2' incorporates:
// Constant: '<S34>/Clamping_zero'
// Constant: '<S34>/Constant3'
// Constant: '<S34>/Constant4'
// RelationalOperator: '<S34>/fix for DT propagation issue1'
if (rtb_IntegralGain > 0.0) { if (rtb_IntegralGain > 0.0) {
tmp = 1; tmp = 1;
@@ -672,53 +338,55 @@ void Controler::step()
tmp = -1; tmp = -1;
} }
// Switch: '<S34>/Switch' incorporates: // Switch: '<S86>/Switch' incorporates:
// Constant: '<S34>/Constant1' // Constant: '<S86>/Constant1'
// Logic: '<S34>/AND3' // Logic: '<S86>/AND3'
// RelationalOperator: '<S34>/Equal1' // RelationalOperator: '<S86>/Equal1'
// Switch: '<S34>/Switch2' // Switch: '<S86>/Switch2'
if (rtb_RelationalOperator && (rtb_Switch1 == tmp)) { if (rtb_RelationalOperator && (rtb_Switch1 == tmp)) {
rtb_IntegralGain = 0.0; rtb_IntegralGain = 0.0;
} }
// Update for DiscreteIntegrator: '<S44>/Integrator' incorporates: // Update for DiscreteIntegrator: '<S96>/Integrator' incorporates:
// Switch: '<S34>/Switch' // Switch: '<S86>/Switch'
rtDW.Integrator_DSTATE_b += rtb_IntegralGain; rtDW.Integrator_DSTATE_f += rtb_IntegralGain;
if (rtDW.Integrator_DSTATE_b > 15.0) { if (rtDW.Integrator_DSTATE_f > 15.0) {
rtDW.Integrator_DSTATE_b = 15.0; rtDW.Integrator_DSTATE_f = 15.0;
} else if (rtDW.Integrator_DSTATE_b < -15.0) { } else if (rtDW.Integrator_DSTATE_f < -15.0) {
rtDW.Integrator_DSTATE_b = -15.0; rtDW.Integrator_DSTATE_f = -15.0;
} }
// End of Update for DiscreteIntegrator: '<S44>/Integrator' // End of Update for DiscreteIntegrator: '<S96>/Integrator'
// Update for DiscreteIntegrator: '<S39>/Filter' // Update for DiscreteIntegrator: '<S91>/Filter'
rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_l; rtDW.Filter_DSTATE_l += 0.1 * rtb_FilterCoefficient_a;
// End of Outputs for SubSystem: '<Root>/Controler' // End of Outputs for SubSystem: '<Root>/Controler'
// Outport: '<Root>/MainThrusterSpeedCmd' incorporates: // Outport: '<Root>/MainThrusterSpeedCmd' incorporates:
// Constant: '<S1>/Constant' // Constant: '<S1>/Constant1'
rtY.MainThrusterSpeedCmd = 100.0; rtY.MainThrusterSpeedCmd = 100.0;
// Outport: '<Root>/DirectLowerRudderServoAngleCmd' incorporates: // Outport: '<Root>/DirectUpperRudderServoAngleCmd'
// Constant: '<S1>/Constant2' rtY.DirectUpperRudderServoAngleCmd = rtb_Integrator_l;
rtY.DirectLowerRudderServoAngleCmd = 1.0; // Outport: '<Root>/DirectLowerRudderServoAngleCmd'
rtY.DirectLowerRudderServoAngleCmd = rtb_Integrator_l;
// Outport: '<Root>/DirectRightRudderServoAngleCmd' incorporates: // Outport: '<Root>/DirectLeftRudderServoAngleCmd'
// Constant: '<S1>/Constant4' rtY.DirectLeftRudderServoAngleCmd = rtb_Sum;
rtY.DirectRightRudderServoAngleCmd = 1.0; // Outport: '<Root>/DirectRightRudderServoAngleCmd'
rtY.DirectRightRudderServoAngleCmd = rtb_Sum;
// Outport: '<Root>/heading_error' // Outport: '<Root>/heading_error'
rtY.heading_error = mod_error; rtY.heading_error = mod_error;
// Outport: '<Root>/pitch_error' // Outport: '<Root>/pitch_error'
rtY.pitch_error = rtb_pitch_error; rtY.pitch_error = rtb_Filter_b;
// Outport: '<Root>/depth_error' // Outport: '<Root>/depth_error'
rtY.depth_error = rtb_depth_error; rtY.depth_error = rtb_depth_error;

431
src/pAUV150/Controler/Controler.h
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)
@@ -32,8 +32,6 @@ extern "C"
} }
#define Controler_M (rtM)
// Class declaration for model Controler // Class declaration for model Controler
class Controler final class Controler final
{ {
@@ -41,44 +39,12 @@ class Controler final
public: public:
// Block signals and states (default storage) for system '<Root>' // Block signals and states (default storage) for system '<Root>'
struct DW { struct DW {
real_T pos_i1_DSTATE; // '<S6>/pos_i-1' real_T Integrator_DSTATE; // '<S150>/Integrator'
real_T pos_i2_DSTATE; // '<S6>/pos_i-2' real_T Filter_DSTATE; // '<S145>/Filter'
real_T pos_i3_DSTATE; // '<S6>/pos_i-3' real_T Integrator_DSTATE_o; // '<S42>/Integrator'
real_T pos_i4_DSTATE; // '<S6>/pos_i-4' real_T Filter_DSTATE_m; // '<S37>/Filter'
real_T ref_i1_DSTATE; // '<S6>/ref_i-1' real_T Integrator_DSTATE_f; // '<S96>/Integrator'
real_T ref_i2_DSTATE; // '<S6>/ref_i-2' real_T Filter_DSTATE_l; // '<S91>/Filter'
real_T ref_i3_DSTATE; // '<S6>/ref_i-3'
real_T ref_i4_DSTATE; // '<S6>/ref_i-4'
real_T Delay1_DSTATE; // '<S170>/Delay1'
real_T Delay6_DSTATE; // '<S170>/Delay6'
real_T Delay7_DSTATE; // '<S170>/Delay7'
real_T Delay5_DSTATE; // '<S170>/Delay5'
real_T Delay8_DSTATE; // '<S170>/Delay8'
real_T Delay10_DSTATE; // '<S170>/Delay10'
real_T Delay9_DSTATE; // '<S170>/Delay9'
real_T Delay4_DSTATE; // '<S170>/Delay4'
real_T Delay3_DSTATE; // '<S170>/Delay3'
real_T Delay2_DSTATE; // '<S170>/Delay2'
real_T Integrator_DSTATE; // '<S98>/Integrator'
real_T Filter_DSTATE; // '<S93>/Filter'
real_T Integrator_DSTATE_f; // '<S152>/Integrator'
real_T Filter_DSTATE_l; // '<S147>/Filter'
real_T pos_i1_DSTATE_f; // '<S7>/pos_i-1'
real_T pos_i2_DSTATE_n; // '<S7>/pos_i-2'
real_T pos_i3_DSTATE_b; // '<S7>/pos_i-3'
real_T ref_i1_DSTATE_c; // '<S7>/ref_i-1'
real_T ref_i2_DSTATE_m; // '<S7>/ref_i-2'
real_T ref_i3_DSTATE_i; // '<S7>/ref_i-3'
real_T Delay1_DSTATE_o; // '<S171>/Delay1'
real_T Delay6_DSTATE_k; // '<S171>/Delay6'
real_T Delay7_DSTATE_o; // '<S171>/Delay7'
real_T Delay5_DSTATE_d; // '<S171>/Delay5'
real_T Delay9_DSTATE_m; // '<S171>/Delay9'
real_T Delay4_DSTATE_a; // '<S171>/Delay4'
real_T Delay3_DSTATE_f; // '<S171>/Delay3'
real_T Delay2_DSTATE_g; // '<S171>/Delay2'
real_T Integrator_DSTATE_b; // '<S44>/Integrator'
real_T Filter_DSTATE_m; // '<S39>/Filter'
}; };
// External inputs (root inport signals with default storage) // External inputs (root inport signals with default storage)
@@ -120,30 +86,24 @@ class Controler final
struct P { struct P {
struct_n3jlyiLoC0PV1TieyhpPwD pid_depth;// Variable: pid_depth struct_n3jlyiLoC0PV1TieyhpPwD pid_depth;// Variable: pid_depth
// Referenced by: // Referenced by:
// '<S91>/Derivative Gain' // '<S35>/Derivative Gain'
// '<S95>/Integral Gain' // '<S39>/Integral Gain'
// '<S101>/Filter Coefficient' // '<S45>/Filter Coefficient'
// '<S103>/Proportional Gain' // '<S47>/Proportional Gain'
struct_n3jlyiLoC0PV1TieyhpPwD pid_heading;// Variable: pid_heading struct_n3jlyiLoC0PV1TieyhpPwD pid_heading;// Variable: pid_heading
// Referenced by: // Referenced by:
// '<S37>/Derivative Gain' // '<S143>/Derivative Gain'
// '<S41>/Integral Gain' // '<S147>/Integral Gain'
// '<S47>/Filter Coefficient' // '<S153>/Filter Coefficient'
// '<S49>/Proportional Gain' // '<S155>/Proportional Gain'
struct_n3jlyiLoC0PV1TieyhpPwD pid_pitch;// Variable: pid_pitch struct_n3jlyiLoC0PV1TieyhpPwD pid_pitch;// Variable: pid_pitch
// Referenced by: // Referenced by:
// '<S145>/Derivative Gain' // '<S89>/Derivative Gain'
// '<S149>/Integral Gain' // '<S93>/Integral Gain'
// '<S155>/Filter Coefficient' // '<S99>/Filter Coefficient'
// '<S157>/Proportional Gain' // '<S101>/Proportional Gain'
real_T gamma_depth; // Variable: gamma_depth
// Referenced by: '<S6>/Compensation Gain'
real_T gamma_heading; // Variable: gamma_heading
// Referenced by: '<S7>/Compensation Gain'
}; };
@@ -199,6 +159,13 @@ class Controler final
RT_MODEL rtM; RT_MODEL rtM;
}; };
//-
// These blocks were eliminated from the model due to optimizations:
//
// Block '<S1>/Gain' : Eliminated nontunable gain of 1
// Block '<S1>/Gain1' : Eliminated nontunable gain of 1
//- //-
// The generated code includes comments that allow you to trace directly // The generated code includes comments that allow you to trace directly
// back to the appropriate location in the model. The basic format // back to the appropriate location in the model. The basic format
@@ -211,183 +178,179 @@ class Controler final
// MATLAB hilite_system command to trace the generated code back // MATLAB hilite_system command to trace the generated code back
// to the parent model. For example, // to the parent model. For example,
// //
// hilite_system('SimModel0621/Controler') - opens subsystem SimModel0621/Controler // hilite_system('SimModel0621_S3/Controler') - opens subsystem SimModel0621_S3/Controler
// hilite_system('SimModel0621/Controler/Kp') - opens and selects block Kp // hilite_system('SimModel0621_S3/Controler/Kp') - opens and selects block Kp
// //
// Here is the system hierarchy for this model // Here is the system hierarchy for this model
// //
// '<Root>' : 'SimModel0621' // '<Root>' : 'SimModel0621_S3'
// '<S1>' : 'SimModel0621/Controler' // '<S1>' : 'SimModel0621_S3/Controler'
// '<S2>' : 'SimModel0621/Controler/MATLAB Function' // '<S2>' : 'SimModel0621_S3/Controler/MATLAB Function1'
// '<S3>' : 'SimModel0621/Controler/PID Controller' // '<S3>' : 'SimModel0621_S3/Controler/PID Controller1'
// '<S4>' : 'SimModel0621/Controler/PID Controller1' // '<S4>' : 'SimModel0621_S3/Controler/PID Controller2'
// '<S5>' : 'SimModel0621/Controler/PID Controller2' // '<S5>' : 'SimModel0621_S3/Controler/PID Controller3'
// '<S6>' : 'SimModel0621/Controler/Pred_Depth' // '<S6>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup'
// '<S7>' : 'SimModel0621/Controler/Pred_Steering' // '<S7>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain'
// '<S8>' : 'SimModel0621/Controler/PID Controller/Anti-windup' // '<S8>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative'
// '<S9>' : 'SimModel0621/Controler/PID Controller/D Gain' // '<S9>' : 'SimModel0621_S3/Controler/PID Controller1/Filter'
// '<S10>' : 'SimModel0621/Controler/PID Controller/External Derivative' // '<S10>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs'
// '<S11>' : 'SimModel0621/Controler/PID Controller/Filter' // '<S11>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain'
// '<S12>' : 'SimModel0621/Controler/PID Controller/Filter ICs' // '<S12>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain'
// '<S13>' : 'SimModel0621/Controler/PID Controller/I Gain' // '<S13>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk'
// '<S14>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain' // '<S14>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator'
// '<S15>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain Fdbk' // '<S15>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs'
// '<S16>' : 'SimModel0621/Controler/PID Controller/Integrator' // '<S16>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy'
// '<S17>' : 'SimModel0621/Controler/PID Controller/Integrator ICs' // '<S17>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain'
// '<S18>' : 'SimModel0621/Controler/PID Controller/N Copy' // '<S18>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy'
// '<S19>' : 'SimModel0621/Controler/PID Controller/N Gain' // '<S19>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain'
// '<S20>' : 'SimModel0621/Controler/PID Controller/P Copy' // '<S20>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal'
// '<S21>' : 'SimModel0621/Controler/PID Controller/Parallel P Gain' // '<S21>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation'
// '<S22>' : 'SimModel0621/Controler/PID Controller/Reset Signal' // '<S22>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk'
// '<S23>' : 'SimModel0621/Controler/PID Controller/Saturation' // '<S23>' : 'SimModel0621_S3/Controler/PID Controller1/Sum'
// '<S24>' : 'SimModel0621/Controler/PID Controller/Saturation Fdbk' // '<S24>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk'
// '<S25>' : 'SimModel0621/Controler/PID Controller/Sum' // '<S25>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode'
// '<S26>' : 'SimModel0621/Controler/PID Controller/Sum Fdbk' // '<S26>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum'
// '<S27>' : 'SimModel0621/Controler/PID Controller/Tracking Mode' // '<S27>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral'
// '<S28>' : 'SimModel0621/Controler/PID Controller/Tracking Mode Sum' // '<S28>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain'
// '<S29>' : 'SimModel0621/Controler/PID Controller/Tsamp - Integral' // '<S29>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal'
// '<S30>' : 'SimModel0621/Controler/PID Controller/Tsamp - Ngain' // '<S30>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal'
// '<S31>' : 'SimModel0621/Controler/PID Controller/postSat Signal' // '<S31>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal'
// '<S32>' : 'SimModel0621/Controler/PID Controller/preInt Signal' // '<S32>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
// '<S33>' : 'SimModel0621/Controler/PID Controller/preSat Signal' // '<S33>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
// '<S34>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel' // '<S34>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
// '<S35>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone' // '<S35>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain/Internal Parameters'
// '<S36>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' // '<S36>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative/Error'
// '<S37>' : 'SimModel0621/Controler/PID Controller/D Gain/Internal Parameters' // '<S37>' : 'SimModel0621_S3/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
// '<S38>' : 'SimModel0621/Controler/PID Controller/External Derivative/Error' // '<S38>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
// '<S39>' : 'SimModel0621/Controler/PID Controller/Filter/Disc. Forward Euler Filter' // '<S39>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain/Internal Parameters'
// '<S40>' : 'SimModel0621/Controler/PID Controller/Filter ICs/Internal IC - Filter' // '<S40>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain/Passthrough'
// '<S41>' : 'SimModel0621/Controler/PID Controller/I Gain/Internal Parameters' // '<S41>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
// '<S42>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain/Passthrough' // '<S42>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator/Discrete'
// '<S43>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain Fdbk/Disabled' // '<S43>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs/Internal IC'
// '<S44>' : 'SimModel0621/Controler/PID Controller/Integrator/Discrete' // '<S44>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy/Disabled'
// '<S45>' : 'SimModel0621/Controler/PID Controller/Integrator ICs/Internal IC' // '<S45>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain/Internal Parameters'
// '<S46>' : 'SimModel0621/Controler/PID Controller/N Copy/Disabled' // '<S46>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy/Disabled'
// '<S47>' : 'SimModel0621/Controler/PID Controller/N Gain/Internal Parameters' // '<S47>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
// '<S48>' : 'SimModel0621/Controler/PID Controller/P Copy/Disabled' // '<S48>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal/Disabled'
// '<S49>' : 'SimModel0621/Controler/PID Controller/Parallel P Gain/Internal Parameters' // '<S49>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation/Enabled'
// '<S50>' : 'SimModel0621/Controler/PID Controller/Reset Signal/Disabled' // '<S50>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk/Disabled'
// '<S51>' : 'SimModel0621/Controler/PID Controller/Saturation/Enabled' // '<S51>' : 'SimModel0621_S3/Controler/PID Controller1/Sum/Sum_PID'
// '<S52>' : 'SimModel0621/Controler/PID Controller/Saturation Fdbk/Disabled' // '<S52>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk/Disabled'
// '<S53>' : 'SimModel0621/Controler/PID Controller/Sum/Sum_PID' // '<S53>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode/Disabled'
// '<S54>' : 'SimModel0621/Controler/PID Controller/Sum Fdbk/Disabled' // '<S54>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
// '<S55>' : 'SimModel0621/Controler/PID Controller/Tracking Mode/Disabled' // '<S55>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
// '<S56>' : 'SimModel0621/Controler/PID Controller/Tracking Mode Sum/Passthrough' // '<S56>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
// '<S57>' : 'SimModel0621/Controler/PID Controller/Tsamp - Integral/TsSignalSpecification' // '<S57>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal/Forward_Path'
// '<S58>' : 'SimModel0621/Controler/PID Controller/Tsamp - Ngain/Passthrough' // '<S58>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal/Internal PreInt'
// '<S59>' : 'SimModel0621/Controler/PID Controller/postSat Signal/Forward_Path' // '<S59>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal/Forward_Path'
// '<S60>' : 'SimModel0621/Controler/PID Controller/preInt Signal/Internal PreInt' // '<S60>' : 'SimModel0621_S3/Controler/PID Controller2/Anti-windup'
// '<S61>' : 'SimModel0621/Controler/PID Controller/preSat Signal/Forward_Path' // '<S61>' : 'SimModel0621_S3/Controler/PID Controller2/D Gain'
// '<S62>' : 'SimModel0621/Controler/PID Controller1/Anti-windup' // '<S62>' : 'SimModel0621_S3/Controler/PID Controller2/External Derivative'
// '<S63>' : 'SimModel0621/Controler/PID Controller1/D Gain' // '<S63>' : 'SimModel0621_S3/Controler/PID Controller2/Filter'
// '<S64>' : 'SimModel0621/Controler/PID Controller1/External Derivative' // '<S64>' : 'SimModel0621_S3/Controler/PID Controller2/Filter ICs'
// '<S65>' : 'SimModel0621/Controler/PID Controller1/Filter' // '<S65>' : 'SimModel0621_S3/Controler/PID Controller2/I Gain'
// '<S66>' : 'SimModel0621/Controler/PID Controller1/Filter ICs' // '<S66>' : 'SimModel0621_S3/Controler/PID Controller2/Ideal P Gain'
// '<S67>' : 'SimModel0621/Controler/PID Controller1/I Gain' // '<S67>' : 'SimModel0621_S3/Controler/PID Controller2/Ideal P Gain Fdbk'
// '<S68>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain' // '<S68>' : 'SimModel0621_S3/Controler/PID Controller2/Integrator'
// '<S69>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain Fdbk' // '<S69>' : 'SimModel0621_S3/Controler/PID Controller2/Integrator ICs'
// '<S70>' : 'SimModel0621/Controler/PID Controller1/Integrator' // '<S70>' : 'SimModel0621_S3/Controler/PID Controller2/N Copy'
// '<S71>' : 'SimModel0621/Controler/PID Controller1/Integrator ICs' // '<S71>' : 'SimModel0621_S3/Controler/PID Controller2/N Gain'
// '<S72>' : 'SimModel0621/Controler/PID Controller1/N Copy' // '<S72>' : 'SimModel0621_S3/Controler/PID Controller2/P Copy'
// '<S73>' : 'SimModel0621/Controler/PID Controller1/N Gain' // '<S73>' : 'SimModel0621_S3/Controler/PID Controller2/Parallel P Gain'
// '<S74>' : 'SimModel0621/Controler/PID Controller1/P Copy' // '<S74>' : 'SimModel0621_S3/Controler/PID Controller2/Reset Signal'
// '<S75>' : 'SimModel0621/Controler/PID Controller1/Parallel P Gain' // '<S75>' : 'SimModel0621_S3/Controler/PID Controller2/Saturation'
// '<S76>' : 'SimModel0621/Controler/PID Controller1/Reset Signal' // '<S76>' : 'SimModel0621_S3/Controler/PID Controller2/Saturation Fdbk'
// '<S77>' : 'SimModel0621/Controler/PID Controller1/Saturation' // '<S77>' : 'SimModel0621_S3/Controler/PID Controller2/Sum'
// '<S78>' : 'SimModel0621/Controler/PID Controller1/Saturation Fdbk' // '<S78>' : 'SimModel0621_S3/Controler/PID Controller2/Sum Fdbk'
// '<S79>' : 'SimModel0621/Controler/PID Controller1/Sum' // '<S79>' : 'SimModel0621_S3/Controler/PID Controller2/Tracking Mode'
// '<S80>' : 'SimModel0621/Controler/PID Controller1/Sum Fdbk' // '<S80>' : 'SimModel0621_S3/Controler/PID Controller2/Tracking Mode Sum'
// '<S81>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode' // '<S81>' : 'SimModel0621_S3/Controler/PID Controller2/Tsamp - Integral'
// '<S82>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode Sum' // '<S82>' : 'SimModel0621_S3/Controler/PID Controller2/Tsamp - Ngain'
// '<S83>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Integral' // '<S83>' : 'SimModel0621_S3/Controler/PID Controller2/postSat Signal'
// '<S84>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Ngain' // '<S84>' : 'SimModel0621_S3/Controler/PID Controller2/preInt Signal'
// '<S85>' : 'SimModel0621/Controler/PID Controller1/postSat Signal' // '<S85>' : 'SimModel0621_S3/Controler/PID Controller2/preSat Signal'
// '<S86>' : 'SimModel0621/Controler/PID Controller1/preInt Signal' // '<S86>' : 'SimModel0621_S3/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel'
// '<S87>' : 'SimModel0621/Controler/PID Controller1/preSat Signal' // '<S87>' : 'SimModel0621_S3/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone'
// '<S88>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel' // '<S88>' : 'SimModel0621_S3/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
// '<S89>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone' // '<S89>' : 'SimModel0621_S3/Controler/PID Controller2/D Gain/Internal Parameters'
// '<S90>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' // '<S90>' : 'SimModel0621_S3/Controler/PID Controller2/External Derivative/Error'
// '<S91>' : 'SimModel0621/Controler/PID Controller1/D Gain/Internal Parameters' // '<S91>' : 'SimModel0621_S3/Controler/PID Controller2/Filter/Disc. Forward Euler Filter'
// '<S92>' : 'SimModel0621/Controler/PID Controller1/External Derivative/Error' // '<S92>' : 'SimModel0621_S3/Controler/PID Controller2/Filter ICs/Internal IC - Filter'
// '<S93>' : 'SimModel0621/Controler/PID Controller1/Filter/Disc. Forward Euler Filter' // '<S93>' : 'SimModel0621_S3/Controler/PID Controller2/I Gain/Internal Parameters'
// '<S94>' : 'SimModel0621/Controler/PID Controller1/Filter ICs/Internal IC - Filter' // '<S94>' : 'SimModel0621_S3/Controler/PID Controller2/Ideal P Gain/Passthrough'
// '<S95>' : 'SimModel0621/Controler/PID Controller1/I Gain/Internal Parameters' // '<S95>' : 'SimModel0621_S3/Controler/PID Controller2/Ideal P Gain Fdbk/Disabled'
// '<S96>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain/Passthrough' // '<S96>' : 'SimModel0621_S3/Controler/PID Controller2/Integrator/Discrete'
// '<S97>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled' // '<S97>' : 'SimModel0621_S3/Controler/PID Controller2/Integrator ICs/Internal IC'
// '<S98>' : 'SimModel0621/Controler/PID Controller1/Integrator/Discrete' // '<S98>' : 'SimModel0621_S3/Controler/PID Controller2/N Copy/Disabled'
// '<S99>' : 'SimModel0621/Controler/PID Controller1/Integrator ICs/Internal IC' // '<S99>' : 'SimModel0621_S3/Controler/PID Controller2/N Gain/Internal Parameters'
// '<S100>' : 'SimModel0621/Controler/PID Controller1/N Copy/Disabled' // '<S100>' : 'SimModel0621_S3/Controler/PID Controller2/P Copy/Disabled'
// '<S101>' : 'SimModel0621/Controler/PID Controller1/N Gain/Internal Parameters' // '<S101>' : 'SimModel0621_S3/Controler/PID Controller2/Parallel P Gain/Internal Parameters'
// '<S102>' : 'SimModel0621/Controler/PID Controller1/P Copy/Disabled' // '<S102>' : 'SimModel0621_S3/Controler/PID Controller2/Reset Signal/Disabled'
// '<S103>' : 'SimModel0621/Controler/PID Controller1/Parallel P Gain/Internal Parameters' // '<S103>' : 'SimModel0621_S3/Controler/PID Controller2/Saturation/Enabled'
// '<S104>' : 'SimModel0621/Controler/PID Controller1/Reset Signal/Disabled' // '<S104>' : 'SimModel0621_S3/Controler/PID Controller2/Saturation Fdbk/Disabled'
// '<S105>' : 'SimModel0621/Controler/PID Controller1/Saturation/Enabled' // '<S105>' : 'SimModel0621_S3/Controler/PID Controller2/Sum/Sum_PID'
// '<S106>' : 'SimModel0621/Controler/PID Controller1/Saturation Fdbk/Disabled' // '<S106>' : 'SimModel0621_S3/Controler/PID Controller2/Sum Fdbk/Disabled'
// '<S107>' : 'SimModel0621/Controler/PID Controller1/Sum/Sum_PID' // '<S107>' : 'SimModel0621_S3/Controler/PID Controller2/Tracking Mode/Disabled'
// '<S108>' : 'SimModel0621/Controler/PID Controller1/Sum Fdbk/Disabled' // '<S108>' : 'SimModel0621_S3/Controler/PID Controller2/Tracking Mode Sum/Passthrough'
// '<S109>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode/Disabled' // '<S109>' : 'SimModel0621_S3/Controler/PID Controller2/Tsamp - Integral/TsSignalSpecification'
// '<S110>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode Sum/Passthrough' // '<S110>' : 'SimModel0621_S3/Controler/PID Controller2/Tsamp - Ngain/Passthrough'
// '<S111>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification' // '<S111>' : 'SimModel0621_S3/Controler/PID Controller2/postSat Signal/Forward_Path'
// '<S112>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Ngain/Passthrough' // '<S112>' : 'SimModel0621_S3/Controler/PID Controller2/preInt Signal/Internal PreInt'
// '<S113>' : 'SimModel0621/Controler/PID Controller1/postSat Signal/Forward_Path' // '<S113>' : 'SimModel0621_S3/Controler/PID Controller2/preSat Signal/Forward_Path'
// '<S114>' : 'SimModel0621/Controler/PID Controller1/preInt Signal/Internal PreInt' // '<S114>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup'
// '<S115>' : 'SimModel0621/Controler/PID Controller1/preSat Signal/Forward_Path' // '<S115>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain'
// '<S116>' : 'SimModel0621/Controler/PID Controller2/Anti-windup' // '<S116>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative'
// '<S117>' : 'SimModel0621/Controler/PID Controller2/D Gain' // '<S117>' : 'SimModel0621_S3/Controler/PID Controller3/Filter'
// '<S118>' : 'SimModel0621/Controler/PID Controller2/External Derivative' // '<S118>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs'
// '<S119>' : 'SimModel0621/Controler/PID Controller2/Filter' // '<S119>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain'
// '<S120>' : 'SimModel0621/Controler/PID Controller2/Filter ICs' // '<S120>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain'
// '<S121>' : 'SimModel0621/Controler/PID Controller2/I Gain' // '<S121>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk'
// '<S122>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain' // '<S122>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator'
// '<S123>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain Fdbk' // '<S123>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs'
// '<S124>' : 'SimModel0621/Controler/PID Controller2/Integrator' // '<S124>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy'
// '<S125>' : 'SimModel0621/Controler/PID Controller2/Integrator ICs' // '<S125>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain'
// '<S126>' : 'SimModel0621/Controler/PID Controller2/N Copy' // '<S126>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy'
// '<S127>' : 'SimModel0621/Controler/PID Controller2/N Gain' // '<S127>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain'
// '<S128>' : 'SimModel0621/Controler/PID Controller2/P Copy' // '<S128>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal'
// '<S129>' : 'SimModel0621/Controler/PID Controller2/Parallel P Gain' // '<S129>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation'
// '<S130>' : 'SimModel0621/Controler/PID Controller2/Reset Signal' // '<S130>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk'
// '<S131>' : 'SimModel0621/Controler/PID Controller2/Saturation' // '<S131>' : 'SimModel0621_S3/Controler/PID Controller3/Sum'
// '<S132>' : 'SimModel0621/Controler/PID Controller2/Saturation Fdbk' // '<S132>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk'
// '<S133>' : 'SimModel0621/Controler/PID Controller2/Sum' // '<S133>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode'
// '<S134>' : 'SimModel0621/Controler/PID Controller2/Sum Fdbk' // '<S134>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum'
// '<S135>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode' // '<S135>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral'
// '<S136>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode Sum' // '<S136>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain'
// '<S137>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Integral' // '<S137>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal'
// '<S138>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Ngain' // '<S138>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal'
// '<S139>' : 'SimModel0621/Controler/PID Controller2/postSat Signal' // '<S139>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal'
// '<S140>' : 'SimModel0621/Controler/PID Controller2/preInt Signal' // '<S140>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel'
// '<S141>' : 'SimModel0621/Controler/PID Controller2/preSat Signal' // '<S141>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone'
// '<S142>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel' // '<S142>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
// '<S143>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone' // '<S143>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain/Internal Parameters'
// '<S144>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' // '<S144>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative/Error'
// '<S145>' : 'SimModel0621/Controler/PID Controller2/D Gain/Internal Parameters' // '<S145>' : 'SimModel0621_S3/Controler/PID Controller3/Filter/Disc. Forward Euler Filter'
// '<S146>' : 'SimModel0621/Controler/PID Controller2/External Derivative/Error' // '<S146>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs/Internal IC - Filter'
// '<S147>' : 'SimModel0621/Controler/PID Controller2/Filter/Disc. Forward Euler Filter' // '<S147>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain/Internal Parameters'
// '<S148>' : 'SimModel0621/Controler/PID Controller2/Filter ICs/Internal IC - Filter' // '<S148>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain/Passthrough'
// '<S149>' : 'SimModel0621/Controler/PID Controller2/I Gain/Internal Parameters' // '<S149>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled'
// '<S150>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain/Passthrough' // '<S150>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator/Discrete'
// '<S151>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain Fdbk/Disabled' // '<S151>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs/Internal IC'
// '<S152>' : 'SimModel0621/Controler/PID Controller2/Integrator/Discrete' // '<S152>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy/Disabled'
// '<S153>' : 'SimModel0621/Controler/PID Controller2/Integrator ICs/Internal IC' // '<S153>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain/Internal Parameters'
// '<S154>' : 'SimModel0621/Controler/PID Controller2/N Copy/Disabled' // '<S154>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy/Disabled'
// '<S155>' : 'SimModel0621/Controler/PID Controller2/N Gain/Internal Parameters' // '<S155>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain/Internal Parameters'
// '<S156>' : 'SimModel0621/Controler/PID Controller2/P Copy/Disabled' // '<S156>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal/Disabled'
// '<S157>' : 'SimModel0621/Controler/PID Controller2/Parallel P Gain/Internal Parameters' // '<S157>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation/Enabled'
// '<S158>' : 'SimModel0621/Controler/PID Controller2/Reset Signal/Disabled' // '<S158>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk/Disabled'
// '<S159>' : 'SimModel0621/Controler/PID Controller2/Saturation/Enabled' // '<S159>' : 'SimModel0621_S3/Controler/PID Controller3/Sum/Sum_PID'
// '<S160>' : 'SimModel0621/Controler/PID Controller2/Saturation Fdbk/Disabled' // '<S160>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk/Disabled'
// '<S161>' : 'SimModel0621/Controler/PID Controller2/Sum/Sum_PID' // '<S161>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode/Disabled'
// '<S162>' : 'SimModel0621/Controler/PID Controller2/Sum Fdbk/Disabled' // '<S162>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum/Passthrough'
// '<S163>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode/Disabled' // '<S163>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification'
// '<S164>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode Sum/Passthrough' // '<S164>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain/Passthrough'
// '<S165>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Integral/TsSignalSpecification' // '<S165>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal/Forward_Path'
// '<S166>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Ngain/Passthrough' // '<S166>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal/Internal PreInt'
// '<S167>' : 'SimModel0621/Controler/PID Controller2/postSat Signal/Forward_Path' // '<S167>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal/Forward_Path'
// '<S168>' : 'SimModel0621/Controler/PID Controller2/preInt Signal/Internal PreInt'
// '<S169>' : 'SimModel0621/Controler/PID Controller2/preSat Signal/Forward_Path'
// '<S170>' : 'SimModel0621/Controler/Pred_Depth/gamma'
// '<S171>' : 'SimModel0621/Controler/Pred_Steering/gamma'
#endif // Controler_h_ #endif // Controler_h_

52
src/pAUV150/Controler/Controler_data.cpp
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)
@@ -24,55 +24,45 @@
Controler::P Controler::rtP{ Controler::P Controler::rtP{
// Variable: pid_depth // Variable: pid_depth
// Referenced by: // Referenced by:
// '<S91>/Derivative Gain' // '<S35>/Derivative Gain'
// '<S95>/Integral Gain' // '<S39>/Integral Gain'
// '<S101>/Filter Coefficient' // '<S45>/Filter Coefficient'
// '<S103>/Proportional Gain' // '<S47>/Proportional Gain'
{ {
2.0, 10.0,
0.5, 0.1,
0.1, 0.1,
10.0 10.0
}, },
// Variable: pid_heading // Variable: pid_heading
// Referenced by: // Referenced by:
// '<S37>/Derivative Gain' // '<S143>/Derivative Gain'
// '<S41>/Integral Gain' // '<S147>/Integral Gain'
// '<S47>/Filter Coefficient' // '<S153>/Filter Coefficient'
// '<S49>/Proportional Gain' // '<S155>/Proportional Gain'
{ {
5.0, 1,
0.8,
0.01, 0.01,
0.1,
10.0 10.0
}, },
// Variable: pid_pitch // Variable: pid_pitch
// Referenced by: // Referenced by:
// '<S145>/Derivative Gain' // '<S89>/Derivative Gain'
// '<S149>/Integral Gain' // '<S93>/Integral Gain'
// '<S155>/Filter Coefficient' // '<S99>/Filter Coefficient'
// '<S157>/Proportional Gain' // '<S101>/Proportional Gain'
{ {
0.5, 10.0,
0.0, 0.01,
0.1, 0.1,
10.0 10.0
}, }
// Variable: gamma_depth
// Referenced by: '<S6>/Compensation Gain'
5.0,
// Variable: gamma_heading
// Referenced by: '<S7>/Compensation Gain'
1.0
}; };
// //

4
src/pAUV150/Controler/Controler_private.h
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

4
src/pAUV150/Controler/Controler_types.h
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

4
src/pAUV150/Controler/rtGetNaN.cpp
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

4
src/pAUV150/Controler/rtGetNaN.h
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

4
src/pAUV150/Controler/rt_nonfinite.cpp
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

4
src/pAUV150/Controler/rt_nonfinite.h
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)

44
src/pAUV150/Controler/rtmodel.h
View File

@@ -1,44 +0,0 @@
//
// 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: rtmodel.h
//
// Code generated for Simulink model 'Controler'.
//
// Model version : 5.77
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 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 rtmodel_h_
#define rtmodel_h_
#include "Controler.h"
#define MODEL_CLASSNAME Controler
#define MODEL_STEPNAME step
//
// ROOT_IO_FORMAT: 0 (Individual arguments)
// ROOT_IO_FORMAT: 1 (Structure reference)
// ROOT_IO_FORMAT: 2 (Part of model data structure)
#define ROOT_IO_FORMAT 1
// Macros generated for backwards compatibility
#ifndef rtmGetStopRequested
#define rtmGetStopRequested(rtm) ((void*) 0)
#endif
#endif // rtmodel_h_
//
// File trailer for generated code.
//
// [EOF]
//

4
src/pAUV150/Controler/rtwtypes.h
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.77 // Model version : 5.95
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024 // Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025 // C/C++ source code generated on : Tue Jul 1 15:26:11 2025
// //
// Target selection: ert.tlc // Target selection: ert.tlc
// Embedded hardware selection: Intel->x86-64 (Linux 64) // Embedded hardware selection: Intel->x86-64 (Linux 64)