修改速度
This commit is contained in:
@@ -77,7 +77,29 @@ ProcessConfig = pMarineViewer
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hash_shade = 0.4
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hash_viewable = true
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scope = ODOMETRY_DIST
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scope = rtU_speed_cmd
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scope = rtU_u
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scope = rtU_v
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scope = rtU_w
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scope = rtU_phi
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scope = rtU_theta
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scope = rtU_psi
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scope = rtU_x
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scope = rtU_y
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scope = rtU_z
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scope = rtU_dx
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scope = rtU_dy
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scope = rtU_dz
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scope = rtU_heading_cmd
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scope = rtU_depth_cmd
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scope = rtY_MainThrusterSpeedCmd
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scope = rtY_DirectUpperRudderServoAngleCmd
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scope = rtY_DirectLowerRudderServoAngleCmd
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scope = rtY_DirectLeftRudderServoAngleCmd
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scope = rtY_DirectRightRudderServoAngleCmd
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scope = rtY_heading_error
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scope = rtY_pitch_error
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scope = rtY_depth_error
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// Appcast configuration
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appcast_height = 75
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@@ -92,7 +114,7 @@ ProcessConfig = pMarineViewer
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BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
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BUTTON_TWO = RETURN # RETURN=true
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BUTTON_Three = PZ # PZ=true
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BUTTON_Four = LED # LED=on
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@@ -36,7 +36,7 @@ Behavior = BHV_Waypoint
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 2 // meters per second
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speed = 2 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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@@ -258,7 +258,68 @@ bool AUV150::Iterate()
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m_sqlite.insertData(m_status);
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m_sqlite.insertData(m_CommandFrame);
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m_sqlite.insertData(m_FeedbackFrame);
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// 发送状态
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// ExtU rtU;
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// External outputs
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// ExtY rtY;
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// Notify all ExtU variables
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// string sU;
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// sU.append("u=" + to_string(m_control.rtU.u));
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// sU.append(",v=" + to_string(m_control.rtU.v));
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// sU.append(",w=" + to_string(m_control.rtU.w));
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// sU.append(",phi=" + to_string(m_control.rtU.phi));
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// sU.append(",theta=" + to_string(m_control.rtU.theta));
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// sU.append(",psi=" + to_string(m_control.rtU.psi));
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// sU.append(",x=" + to_string(m_control.rtU.x));
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// sU.append(",y=" + to_string(m_control.rtU.y));
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// sU.append(",z=" + to_string(m_control.rtU.z));
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// sU.append(",dx=" + to_string(m_control.rtU.dx));
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// sU.append(",dy=" + to_string(m_control.rtU.dy));
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// sU.append(",dz=" + to_string(m_control.rtU.dz));
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// sU.append(",speed_cmd=" + to_string(m_control.rtU.speed_cmd));
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// sU.append(",heading_cmd=" + to_string(m_control.rtU.heading_cmd));
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// sU.append(",depth_cmd=" + to_string(m_control.rtU.depth_cmd));
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// Notify("rtU", sU);
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// // Notify all ExtY variables
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// string sY;
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// sY.append("MainThrusterSpeedCmd=" + to_string(m_control.rtY.MainThrusterSpeedCmd));
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// sY.append(",DirectUpperRudderServoAngleCmd=" + to_string(m_control.rtY.DirectUpperRudderServoAngleCmd));
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// sY.append(",DirectLowerRudderServoAngleCmd=" + to_string(m_control.rtY.DirectLowerRudderServoAngleCmd));
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// sY.append(",DirectLeftRudderServoAngleCmd=" + to_string(m_control.rtY.DirectLeftRudderServoAngleCmd));
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// sY.append(",DirectRightRudderServoAngleCmd=" + to_string(m_control.rtY.DirectRightRudderServoAngleCmd));
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// sY.append(",heading_error=" + to_string(m_control.rtY.heading_error));
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// sY.append(",pitch_error=" + to_string(m_control.rtY.pitch_error));
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// sY.append(",depth_error=" + to_string(m_control.rtY.depth_error));
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// Notify("rtY", sY);
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// Notify individual variables for easier parsing
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Notify("rtU_u", m_control.rtU.u);
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Notify("rtU_v", m_control.rtU.v);
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Notify("rtU_w", m_control.rtU.w);
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Notify("rtU_phi", m_control.rtU.phi);
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Notify("rtU_theta", m_control.rtU.theta);
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Notify("rtU_psi", m_control.rtU.psi);
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Notify("rtU_x", m_control.rtU.x);
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Notify("rtU_y", m_control.rtU.y);
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Notify("rtU_z", m_control.rtU.z);
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Notify("rtU_dx", m_control.rtU.dx);
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Notify("rtU_dy", m_control.rtU.dy);
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Notify("rtU_dz", m_control.rtU.dz);
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Notify("rtU_speed_cmd", m_control.rtU.speed_cmd);
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Notify("rtU_heading_cmd", m_control.rtU.heading_cmd);
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Notify("rtU_depth_cmd", m_control.rtU.depth_cmd);
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Notify("rtY_MainThrusterSpeedCmd", m_control.rtY.MainThrusterSpeedCmd);
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Notify("rtY_DirectUpperRudderServoAngleCmd", m_control.rtY.DirectUpperRudderServoAngleCmd);
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Notify("rtY_DirectLowerRudderServoAngleCmd", m_control.rtY.DirectLowerRudderServoAngleCmd);
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Notify("rtY_DirectLeftRudderServoAngleCmd", m_control.rtY.DirectLeftRudderServoAngleCmd);
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Notify("rtY_DirectRightRudderServoAngleCmd", m_control.rtY.DirectRightRudderServoAngleCmd);
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Notify("rtY_heading_error", m_control.rtY.heading_error);
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Notify("rtY_pitch_error", m_control.rtY.pitch_error);
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Notify("rtY_depth_error", m_control.rtY.depth_error);
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AppCastingMOOSApp::PostReport();
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return(true);
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}
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@@ -181,7 +181,9 @@ private: // State variables
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bool m_bConnected;
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std::set<unsigned char> m_faultCodes;
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unsigned long int m_counter;
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SQLite m_sqlite;
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//导航相关
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CMOOSGeodesy m_geodesy;
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12
src/pAUV150/Controler/Controler.cpp
Normal file → Executable file
12
src/pAUV150/Controler/Controler.cpp
Normal file → Executable file
@@ -7,9 +7,9 @@
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//
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// Code generated for Simulink model 'Controler'.
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//
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// Model version : 5.105
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// Model version : 5.115
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// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
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// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
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// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
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//
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// Target selection: ert.tlc
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// Embedded hardware selection: Intel->x86-64 (Linux 64)
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@@ -261,12 +261,14 @@ void Controler::step()
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// Update for DiscreteIntegrator: '<S36>/Filter'
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rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_a;
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// End of Outputs for SubSystem: '<Root>/Controler'
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// Outport: '<Root>/MainThrusterSpeedCmd' incorporates:
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// Constant: '<S1>/Constant1'
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// Inport: '<Root>/speed_cmd'
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// Product: '<S1>/Divide'
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rtY.MainThrusterSpeedCmd = 100.0;
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rtY.MainThrusterSpeedCmd = rtU.speed_cmd / 0.025;
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// End of Outputs for SubSystem: '<Root>/Controler'
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// Outport: '<Root>/DirectUpperRudderServoAngleCmd'
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rtY.DirectUpperRudderServoAngleCmd = rtb_Integrator_l;
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234
src/pAUV150/Controler/Controler.h
Normal file → Executable file
234
src/pAUV150/Controler/Controler.h
Normal file → Executable file
@@ -7,9 +7,9 @@
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//
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// Code generated for Simulink model 'Controler'.
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//
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// Model version : 5.105
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// Model version : 5.115
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// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
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// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
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// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
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//
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// Target selection: ert.tlc
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// Embedded hardware selection: Intel->x86-64 (Linux 64)
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@@ -169,124 +169,124 @@ class Controler final
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// MATLAB hilite_system command to trace the generated code back
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// to the parent model. For example,
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//
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// hilite_system('SimModel0621_S3/Controler') - opens subsystem SimModel0621_S3/Controler
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// hilite_system('SimModel0621_S3/Controler/Kp') - opens and selects block Kp
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// hilite_system('SimModel0621_S4/Controler') - opens subsystem SimModel0621_S4/Controler
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// hilite_system('SimModel0621_S4/Controler/Kp') - opens and selects block Kp
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//
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// Here is the system hierarchy for this model
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//
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// '<Root>' : 'SimModel0621_S3'
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// '<S1>' : 'SimModel0621_S3/Controler'
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// '<S2>' : 'SimModel0621_S3/Controler/MATLAB Function1'
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// '<S3>' : 'SimModel0621_S3/Controler/PID Controller1'
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// '<S4>' : 'SimModel0621_S3/Controler/PID Controller3'
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// '<S5>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup'
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// '<S6>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain'
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// '<S7>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative'
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// '<S8>' : 'SimModel0621_S3/Controler/PID Controller1/Filter'
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// '<S9>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs'
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// '<S10>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain'
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// '<S11>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain'
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// '<S12>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk'
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// '<S13>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator'
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// '<S14>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs'
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// '<S15>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy'
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// '<S16>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain'
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// '<S17>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy'
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// '<S18>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain'
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// '<S19>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal'
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// '<S20>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation'
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// '<S21>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk'
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// '<S22>' : 'SimModel0621_S3/Controler/PID Controller1/Sum'
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// '<S23>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk'
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// '<S24>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode'
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// '<S25>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum'
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// '<S26>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral'
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// '<S27>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain'
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// '<S28>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal'
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// '<S29>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal'
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// '<S30>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal'
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// '<S31>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
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// '<S32>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
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// '<S33>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
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// '<S34>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain/Internal Parameters'
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// '<S35>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative/Error'
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// '<S36>' : 'SimModel0621_S3/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
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// '<S37>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
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// '<S38>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain/Internal Parameters'
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// '<S39>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain/Passthrough'
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// '<S40>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
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// '<S41>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator/Discrete'
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// '<S42>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs/Internal IC'
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// '<S43>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy/Disabled'
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// '<S44>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain/Internal Parameters'
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// '<S45>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy/Disabled'
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// '<S46>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
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// '<S47>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal/Disabled'
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// '<S48>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation/Enabled'
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// '<S49>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk/Disabled'
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// '<S50>' : 'SimModel0621_S3/Controler/PID Controller1/Sum/Sum_PID'
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// '<S51>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk/Disabled'
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// '<S52>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode/Disabled'
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// '<S53>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
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// '<S54>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
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// '<S55>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
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// '<S56>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal/Forward_Path'
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// '<S57>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal/Internal PreInt'
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// '<S58>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal/Forward_Path'
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// '<S59>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup'
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// '<S60>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain'
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// '<S61>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative'
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// '<S62>' : 'SimModel0621_S3/Controler/PID Controller3/Filter'
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// '<S63>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs'
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// '<S64>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain'
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// '<S65>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain'
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// '<S66>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk'
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// '<S67>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator'
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// '<S68>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs'
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// '<S69>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy'
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// '<S70>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain'
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// '<S71>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy'
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// '<S72>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain'
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// '<S73>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal'
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// '<S74>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation'
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// '<S75>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk'
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// '<S76>' : 'SimModel0621_S3/Controler/PID Controller3/Sum'
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// '<S77>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk'
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// '<S78>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode'
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// '<S79>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum'
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// '<S80>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral'
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// '<S81>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain'
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// '<S82>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal'
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// '<S83>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal'
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// '<S84>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal'
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// '<S85>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel'
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// '<S86>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone'
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// '<S87>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
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// '<S88>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain/Internal Parameters'
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// '<S89>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative/Error'
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// '<S90>' : 'SimModel0621_S3/Controler/PID Controller3/Filter/Disc. Forward Euler Filter'
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// '<S91>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs/Internal IC - Filter'
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// '<S92>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain/Internal Parameters'
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// '<S93>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain/Passthrough'
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// '<S94>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled'
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// '<S95>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator/Discrete'
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// '<S96>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs/Internal IC'
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// '<S97>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy/Disabled'
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// '<S98>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain/Internal Parameters'
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// '<S99>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy/Disabled'
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// '<S100>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain/Internal Parameters'
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// '<S101>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal/Disabled'
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// '<S102>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation/Enabled'
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// '<S103>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk/Disabled'
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// '<S104>' : 'SimModel0621_S3/Controler/PID Controller3/Sum/Sum_PID'
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// '<S105>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk/Disabled'
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// '<S106>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode/Disabled'
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// '<S107>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum/Passthrough'
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// '<S108>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification'
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// '<S109>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain/Passthrough'
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// '<S110>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal/Forward_Path'
|
||||
// '<S111>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal/Internal PreInt'
|
||||
// '<S112>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal/Forward_Path'
|
||||
// '<Root>' : 'SimModel0621_S4'
|
||||
// '<S1>' : 'SimModel0621_S4/Controler'
|
||||
// '<S2>' : 'SimModel0621_S4/Controler/MATLAB Function1'
|
||||
// '<S3>' : 'SimModel0621_S4/Controler/PID Controller1'
|
||||
// '<S4>' : 'SimModel0621_S4/Controler/PID Controller3'
|
||||
// '<S5>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup'
|
||||
// '<S6>' : 'SimModel0621_S4/Controler/PID Controller1/D Gain'
|
||||
// '<S7>' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative'
|
||||
// '<S8>' : 'SimModel0621_S4/Controler/PID Controller1/Filter'
|
||||
// '<S9>' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs'
|
||||
// '<S10>' : 'SimModel0621_S4/Controler/PID Controller1/I Gain'
|
||||
// '<S11>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain'
|
||||
// '<S12>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk'
|
||||
// '<S13>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator'
|
||||
// '<S14>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs'
|
||||
// '<S15>' : 'SimModel0621_S4/Controler/PID Controller1/N Copy'
|
||||
// '<S16>' : 'SimModel0621_S4/Controler/PID Controller1/N Gain'
|
||||
// '<S17>' : 'SimModel0621_S4/Controler/PID Controller1/P Copy'
|
||||
// '<S18>' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain'
|
||||
// '<S19>' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal'
|
||||
// '<S20>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation'
|
||||
// '<S21>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk'
|
||||
// '<S22>' : 'SimModel0621_S4/Controler/PID Controller1/Sum'
|
||||
// '<S23>' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk'
|
||||
// '<S24>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode'
|
||||
// '<S25>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum'
|
||||
// '<S26>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral'
|
||||
// '<S27>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain'
|
||||
// '<S28>' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal'
|
||||
// '<S29>' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal'
|
||||
// '<S30>' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal'
|
||||
// '<S31>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S32>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S33>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S34>' : 'SimModel0621_S4/Controler/PID Controller1/D Gain/Internal Parameters'
|
||||
// '<S35>' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative/Error'
|
||||
// '<S36>' : 'SimModel0621_S4/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
|
||||
// '<S37>' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
|
||||
// '<S38>' : 'SimModel0621_S4/Controler/PID Controller1/I Gain/Internal Parameters'
|
||||
// '<S39>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain/Passthrough'
|
||||
// '<S40>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S41>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator/Discrete'
|
||||
// '<S42>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs/Internal IC'
|
||||
// '<S43>' : 'SimModel0621_S4/Controler/PID Controller1/N Copy/Disabled'
|
||||
// '<S44>' : 'SimModel0621_S4/Controler/PID Controller1/N Gain/Internal Parameters'
|
||||
// '<S45>' : 'SimModel0621_S4/Controler/PID Controller1/P Copy/Disabled'
|
||||
// '<S46>' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
|
||||
// '<S47>' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal/Disabled'
|
||||
// '<S48>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation/Enabled'
|
||||
// '<S49>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk/Disabled'
|
||||
// '<S50>' : 'SimModel0621_S4/Controler/PID Controller1/Sum/Sum_PID'
|
||||
// '<S51>' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk/Disabled'
|
||||
// '<S52>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode/Disabled'
|
||||
// '<S53>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
|
||||
// '<S54>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S55>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
|
||||
// '<S56>' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal/Forward_Path'
|
||||
// '<S57>' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal/Internal PreInt'
|
||||
// '<S58>' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal/Forward_Path'
|
||||
// '<S59>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup'
|
||||
// '<S60>' : 'SimModel0621_S4/Controler/PID Controller3/D Gain'
|
||||
// '<S61>' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative'
|
||||
// '<S62>' : 'SimModel0621_S4/Controler/PID Controller3/Filter'
|
||||
// '<S63>' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs'
|
||||
// '<S64>' : 'SimModel0621_S4/Controler/PID Controller3/I Gain'
|
||||
// '<S65>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain'
|
||||
// '<S66>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk'
|
||||
// '<S67>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator'
|
||||
// '<S68>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs'
|
||||
// '<S69>' : 'SimModel0621_S4/Controler/PID Controller3/N Copy'
|
||||
// '<S70>' : 'SimModel0621_S4/Controler/PID Controller3/N Gain'
|
||||
// '<S71>' : 'SimModel0621_S4/Controler/PID Controller3/P Copy'
|
||||
// '<S72>' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain'
|
||||
// '<S73>' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal'
|
||||
// '<S74>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation'
|
||||
// '<S75>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk'
|
||||
// '<S76>' : 'SimModel0621_S4/Controler/PID Controller3/Sum'
|
||||
// '<S77>' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk'
|
||||
// '<S78>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode'
|
||||
// '<S79>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum'
|
||||
// '<S80>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral'
|
||||
// '<S81>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain'
|
||||
// '<S82>' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal'
|
||||
// '<S83>' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal'
|
||||
// '<S84>' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal'
|
||||
// '<S85>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S86>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S87>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S88>' : 'SimModel0621_S4/Controler/PID Controller3/D Gain/Internal Parameters'
|
||||
// '<S89>' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative/Error'
|
||||
// '<S90>' : 'SimModel0621_S4/Controler/PID Controller3/Filter/Disc. Forward Euler Filter'
|
||||
// '<S91>' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs/Internal IC - Filter'
|
||||
// '<S92>' : 'SimModel0621_S4/Controler/PID Controller3/I Gain/Internal Parameters'
|
||||
// '<S93>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain/Passthrough'
|
||||
// '<S94>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S95>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator/Discrete'
|
||||
// '<S96>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs/Internal IC'
|
||||
// '<S97>' : 'SimModel0621_S4/Controler/PID Controller3/N Copy/Disabled'
|
||||
// '<S98>' : 'SimModel0621_S4/Controler/PID Controller3/N Gain/Internal Parameters'
|
||||
// '<S99>' : 'SimModel0621_S4/Controler/PID Controller3/P Copy/Disabled'
|
||||
// '<S100>' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain/Internal Parameters'
|
||||
// '<S101>' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal/Disabled'
|
||||
// '<S102>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation/Enabled'
|
||||
// '<S103>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk/Disabled'
|
||||
// '<S104>' : 'SimModel0621_S4/Controler/PID Controller3/Sum/Sum_PID'
|
||||
// '<S105>' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk/Disabled'
|
||||
// '<S106>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode/Disabled'
|
||||
// '<S107>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum/Passthrough'
|
||||
// '<S108>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S109>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain/Passthrough'
|
||||
// '<S110>' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal/Forward_Path'
|
||||
// '<S111>' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal/Internal PreInt'
|
||||
// '<S112>' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal/Forward_Path'
|
||||
|
||||
#endif // Controler_h_
|
||||
|
||||
|
||||
16
src/pAUV150/Controler/Controler_data.cpp
Normal file → Executable file
16
src/pAUV150/Controler/Controler_data.cpp
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
@@ -30,10 +30,10 @@ Controler::P Controler::rtP{
|
||||
// '<S46>/Proportional Gain'
|
||||
|
||||
{
|
||||
1,
|
||||
1.0,
|
||||
0.01,
|
||||
3,
|
||||
5.0
|
||||
0.01,
|
||||
10.0
|
||||
},
|
||||
|
||||
// Variable: pid_heading
|
||||
@@ -44,9 +44,9 @@ Controler::P Controler::rtP{
|
||||
// '<S100>/Proportional Gain'
|
||||
|
||||
{
|
||||
0.5,
|
||||
0.01,
|
||||
0.1,
|
||||
10.0,
|
||||
1.0,
|
||||
5.0,
|
||||
10.0
|
||||
}
|
||||
};
|
||||
|
||||
4
src/pAUV150/Controler/Controler_private.h
Normal file → Executable file
4
src/pAUV150/Controler/Controler_private.h
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
4
src/pAUV150/Controler/Controler_types.h
Normal file → Executable file
4
src/pAUV150/Controler/Controler_types.h
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
4
src/pAUV150/Controler/rtGetNaN.cpp
Normal file → Executable file
4
src/pAUV150/Controler/rtGetNaN.cpp
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
4
src/pAUV150/Controler/rtGetNaN.h
Normal file → Executable file
4
src/pAUV150/Controler/rtGetNaN.h
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
4
src/pAUV150/Controler/rt_nonfinite.cpp
Normal file → Executable file
4
src/pAUV150/Controler/rt_nonfinite.cpp
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
4
src/pAUV150/Controler/rt_nonfinite.h
Normal file → Executable file
4
src/pAUV150/Controler/rt_nonfinite.h
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
6
src/pAUV150/Controler/rtwtypes.h
Normal file → Executable file
6
src/pAUV150/Controler/rtwtypes.h
Normal file → Executable file
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.105
|
||||
// Model version : 5.115
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jul 3 16:12:45 2025
|
||||
// C/C++ source code generated on : Tue Aug 12 11:26:01 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
@@ -103,4 +103,4 @@ typedef void * pointer_T;
|
||||
// File trailer for generated code.
|
||||
//
|
||||
// [EOF]
|
||||
//
|
||||
//
|
||||
|
||||
Reference in New Issue
Block a user