From fce40a81d0da5f9ad72766182dd4c797a401a487 Mon Sep 17 00:00:00 2001 From: zhaojingkui <1553836110@qq.com> Date: Tue, 12 Aug 2025 15:14:21 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E9=80=9F=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- missions/auv150/alpha_shoreside.moos | 26 ++- missions/auv150/gly_1.bhv | 2 +- src/pAUV150/AUV150.cpp | 61 ++++++ src/pAUV150/AUV150.h | 2 + src/pAUV150/Controler/Controler.cpp | 12 +- src/pAUV150/Controler/Controler.h | 234 +++++++++++----------- src/pAUV150/Controler/Controler_data.cpp | 16 +- src/pAUV150/Controler/Controler_private.h | 4 +- src/pAUV150/Controler/Controler_types.h | 4 +- src/pAUV150/Controler/rtGetNaN.cpp | 4 +- src/pAUV150/Controler/rtGetNaN.h | 4 +- src/pAUV150/Controler/rt_nonfinite.cpp | 4 +- src/pAUV150/Controler/rt_nonfinite.h | 4 +- src/pAUV150/Controler/rtwtypes.h | 6 +- 14 files changed, 235 insertions(+), 148 deletions(-) mode change 100644 => 100755 src/pAUV150/Controler/Controler.cpp mode change 100644 => 100755 src/pAUV150/Controler/Controler.h mode change 100644 => 100755 src/pAUV150/Controler/Controler_data.cpp mode change 100644 => 100755 src/pAUV150/Controler/Controler_private.h mode change 100644 => 100755 src/pAUV150/Controler/Controler_types.h mode change 100644 => 100755 src/pAUV150/Controler/rtGetNaN.cpp mode change 100644 => 100755 src/pAUV150/Controler/rtGetNaN.h mode change 100644 => 100755 src/pAUV150/Controler/rt_nonfinite.cpp mode change 100644 => 100755 src/pAUV150/Controler/rt_nonfinite.h mode change 100644 => 100755 src/pAUV150/Controler/rtwtypes.h diff --git a/missions/auv150/alpha_shoreside.moos b/missions/auv150/alpha_shoreside.moos index 48f91a1..1c19a61 100644 --- a/missions/auv150/alpha_shoreside.moos +++ b/missions/auv150/alpha_shoreside.moos @@ -77,7 +77,29 @@ ProcessConfig = pMarineViewer hash_shade = 0.4 hash_viewable = true - scope = ODOMETRY_DIST + scope = rtU_speed_cmd + scope = rtU_u + scope = rtU_v + scope = rtU_w + scope = rtU_phi + scope = rtU_theta + scope = rtU_psi + scope = rtU_x + scope = rtU_y + scope = rtU_z + scope = rtU_dx + scope = rtU_dy + scope = rtU_dz + scope = rtU_heading_cmd + scope = rtU_depth_cmd + scope = rtY_MainThrusterSpeedCmd + scope = rtY_DirectUpperRudderServoAngleCmd + scope = rtY_DirectLowerRudderServoAngleCmd + scope = rtY_DirectLeftRudderServoAngleCmd + scope = rtY_DirectRightRudderServoAngleCmd + scope = rtY_heading_error + scope = rtY_pitch_error + scope = rtY_depth_error // Appcast configuration appcast_height = 75 @@ -92,7 +114,7 @@ ProcessConfig = pMarineViewer BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false BUTTON_TWO = RETURN # RETURN=true - + BUTTON_Three = PZ # PZ=true BUTTON_Four = LED # LED=on diff --git a/missions/auv150/gly_1.bhv b/missions/auv150/gly_1.bhv index 1c1865f..fe9a4d1 100644 --- a/missions/auv150/gly_1.bhv +++ b/missions/auv150/gly_1.bhv @@ -36,7 +36,7 @@ Behavior = BHV_Waypoint lead = 8 lead_damper = 1 lead_to_start = true - speed = 2 // meters per second + speed = 2 // meters per second capture_line = true capture_radius = 5.0 slip_radius = 15.0 diff --git a/src/pAUV150/AUV150.cpp b/src/pAUV150/AUV150.cpp index 74f608b..7a35e0a 100644 --- a/src/pAUV150/AUV150.cpp +++ b/src/pAUV150/AUV150.cpp @@ -258,7 +258,68 @@ bool AUV150::Iterate() m_sqlite.insertData(m_status); m_sqlite.insertData(m_CommandFrame); m_sqlite.insertData(m_FeedbackFrame); + // 发送状态 + // ExtU rtU; + // External outputs + // ExtY rtY; + // Notify all ExtU variables + // string sU; + // sU.append("u=" + to_string(m_control.rtU.u)); + // sU.append(",v=" + to_string(m_control.rtU.v)); + // sU.append(",w=" + to_string(m_control.rtU.w)); + // sU.append(",phi=" + to_string(m_control.rtU.phi)); + // sU.append(",theta=" + to_string(m_control.rtU.theta)); + // sU.append(",psi=" + to_string(m_control.rtU.psi)); + // sU.append(",x=" + to_string(m_control.rtU.x)); + // sU.append(",y=" + to_string(m_control.rtU.y)); + // sU.append(",z=" + to_string(m_control.rtU.z)); + // sU.append(",dx=" + to_string(m_control.rtU.dx)); + // sU.append(",dy=" + to_string(m_control.rtU.dy)); + // sU.append(",dz=" + to_string(m_control.rtU.dz)); + // sU.append(",speed_cmd=" + to_string(m_control.rtU.speed_cmd)); + // sU.append(",heading_cmd=" + to_string(m_control.rtU.heading_cmd)); + // sU.append(",depth_cmd=" + to_string(m_control.rtU.depth_cmd)); + // Notify("rtU", sU); + // // Notify all ExtY variables + // string sY; + // sY.append("MainThrusterSpeedCmd=" + to_string(m_control.rtY.MainThrusterSpeedCmd)); + // sY.append(",DirectUpperRudderServoAngleCmd=" + to_string(m_control.rtY.DirectUpperRudderServoAngleCmd)); + // sY.append(",DirectLowerRudderServoAngleCmd=" + to_string(m_control.rtY.DirectLowerRudderServoAngleCmd)); + // sY.append(",DirectLeftRudderServoAngleCmd=" + to_string(m_control.rtY.DirectLeftRudderServoAngleCmd)); + // sY.append(",DirectRightRudderServoAngleCmd=" + to_string(m_control.rtY.DirectRightRudderServoAngleCmd)); + // sY.append(",heading_error=" + to_string(m_control.rtY.heading_error)); + // sY.append(",pitch_error=" + to_string(m_control.rtY.pitch_error)); + // sY.append(",depth_error=" + to_string(m_control.rtY.depth_error)); + // Notify("rtY", sY); + + // Notify individual variables for easier parsing + Notify("rtU_u", m_control.rtU.u); + Notify("rtU_v", m_control.rtU.v); + Notify("rtU_w", m_control.rtU.w); + Notify("rtU_phi", m_control.rtU.phi); + Notify("rtU_theta", m_control.rtU.theta); + Notify("rtU_psi", m_control.rtU.psi); + Notify("rtU_x", m_control.rtU.x); + Notify("rtU_y", m_control.rtU.y); + Notify("rtU_z", m_control.rtU.z); + Notify("rtU_dx", m_control.rtU.dx); + Notify("rtU_dy", m_control.rtU.dy); + Notify("rtU_dz", m_control.rtU.dz); + Notify("rtU_speed_cmd", m_control.rtU.speed_cmd); + Notify("rtU_heading_cmd", m_control.rtU.heading_cmd); + Notify("rtU_depth_cmd", m_control.rtU.depth_cmd); + + Notify("rtY_MainThrusterSpeedCmd", m_control.rtY.MainThrusterSpeedCmd); + Notify("rtY_DirectUpperRudderServoAngleCmd", m_control.rtY.DirectUpperRudderServoAngleCmd); + Notify("rtY_DirectLowerRudderServoAngleCmd", m_control.rtY.DirectLowerRudderServoAngleCmd); + Notify("rtY_DirectLeftRudderServoAngleCmd", m_control.rtY.DirectLeftRudderServoAngleCmd); + Notify("rtY_DirectRightRudderServoAngleCmd", m_control.rtY.DirectRightRudderServoAngleCmd); + Notify("rtY_heading_error", m_control.rtY.heading_error); + Notify("rtY_pitch_error", m_control.rtY.pitch_error); + Notify("rtY_depth_error", m_control.rtY.depth_error); + + AppCastingMOOSApp::PostReport(); return(true); } diff --git a/src/pAUV150/AUV150.h b/src/pAUV150/AUV150.h index 6f9ab39..44a569e 100644 --- a/src/pAUV150/AUV150.h +++ b/src/pAUV150/AUV150.h @@ -181,7 +181,9 @@ private: // State variables bool m_bConnected; std::set m_faultCodes; unsigned long int m_counter; + SQLite m_sqlite; + //导航相关 CMOOSGeodesy m_geodesy; diff --git a/src/pAUV150/Controler/Controler.cpp b/src/pAUV150/Controler/Controler.cpp old mode 100644 new mode 100755 index e289d1e..a6e2e39 --- a/src/pAUV150/Controler/Controler.cpp +++ b/src/pAUV150/Controler/Controler.cpp @@ -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) @@ -261,12 +261,14 @@ void Controler::step() // Update for DiscreteIntegrator: '/Filter' rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_a; - // End of Outputs for SubSystem: '/Controler' - // Outport: '/MainThrusterSpeedCmd' incorporates: // Constant: '/Constant1' + // Inport: '/speed_cmd' + // Product: '/Divide' - rtY.MainThrusterSpeedCmd = 100.0; + rtY.MainThrusterSpeedCmd = rtU.speed_cmd / 0.025; + + // End of Outputs for SubSystem: '/Controler' // Outport: '/DirectUpperRudderServoAngleCmd' rtY.DirectUpperRudderServoAngleCmd = rtb_Integrator_l; diff --git a/src/pAUV150/Controler/Controler.h b/src/pAUV150/Controler/Controler.h old mode 100644 new mode 100755 index 1f8dc36..7d2a7ef --- a/src/pAUV150/Controler/Controler.h +++ b/src/pAUV150/Controler/Controler.h @@ -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) @@ -169,124 +169,124 @@ class Controler final // MATLAB hilite_system command to trace the generated code back // to the parent model. For example, // -// hilite_system('SimModel0621_S3/Controler') - opens subsystem SimModel0621_S3/Controler -// hilite_system('SimModel0621_S3/Controler/Kp') - opens and selects block Kp +// hilite_system('SimModel0621_S4/Controler') - opens subsystem SimModel0621_S4/Controler +// hilite_system('SimModel0621_S4/Controler/Kp') - opens and selects block Kp // // Here is the system hierarchy for this model // -// '' : 'SimModel0621_S3' -// '' : 'SimModel0621_S3/Controler' -// '' : 'SimModel0621_S3/Controler/MATLAB Function1' -// '' : 'SimModel0621_S3/Controler/PID Controller1' -// '' : 'SimModel0621_S3/Controler/PID Controller3' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup' -// '' : 'SimModel0621_S3/Controler/PID Controller1/D Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs' -// '' : 'SimModel0621_S3/Controler/PID Controller1/I Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Integrator' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs' -// '' : 'SimModel0621_S3/Controler/PID Controller1/N Copy' -// '' : 'SimModel0621_S3/Controler/PID Controller1/N Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/P Copy' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Saturation' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Sum' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain' -// '' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/D Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative/Error' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Filter/Disc. Forward Euler Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs/Internal IC - Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller1/I Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Integrator/Discrete' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs/Internal IC' -// '' : 'SimModel0621_S3/Controler/PID Controller1/N Copy/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/N Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller1/P Copy/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Saturation/Enabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Sum/Sum_PID' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification' -// '' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal/Forward_Path' -// '' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal/Internal PreInt' -// '' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal/Forward_Path' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup' -// '' : 'SimModel0621_S3/Controler/PID Controller3/D Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs' -// '' : 'SimModel0621_S3/Controler/PID Controller3/I Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Integrator' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs' -// '' : 'SimModel0621_S3/Controler/PID Controller3/N Copy' -// '' : 'SimModel0621_S3/Controler/PID Controller3/N Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/P Copy' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Saturation' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Sum' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain' -// '' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/D Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative/Error' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Filter/Disc. Forward Euler Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs/Internal IC - Filter' -// '' : 'SimModel0621_S3/Controler/PID Controller3/I Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Integrator/Discrete' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs/Internal IC' -// '' : 'SimModel0621_S3/Controler/PID Controller3/N Copy/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/N Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller3/P Copy/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain/Internal Parameters' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Saturation/Enabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Sum/Sum_PID' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode/Disabled' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification' -// '' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain/Passthrough' -// '' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal/Forward_Path' -// '' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal/Internal PreInt' -// '' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal/Forward_Path' +// '' : 'SimModel0621_S4' +// '' : 'SimModel0621_S4/Controler' +// '' : 'SimModel0621_S4/Controler/MATLAB Function1' +// '' : 'SimModel0621_S4/Controler/PID Controller1' +// '' : 'SimModel0621_S4/Controler/PID Controller3' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup' +// '' : 'SimModel0621_S4/Controler/PID Controller1/D Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs' +// '' : 'SimModel0621_S4/Controler/PID Controller1/I Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Integrator' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs' +// '' : 'SimModel0621_S4/Controler/PID Controller1/N Copy' +// '' : 'SimModel0621_S4/Controler/PID Controller1/N Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/P Copy' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Saturation' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Sum' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain' +// '' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/D Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative/Error' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Filter/Disc. Forward Euler Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs/Internal IC - Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller1/I Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Integrator/Discrete' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs/Internal IC' +// '' : 'SimModel0621_S4/Controler/PID Controller1/N Copy/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/N Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller1/P Copy/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Saturation/Enabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Sum/Sum_PID' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification' +// '' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal/Forward_Path' +// '' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal/Internal PreInt' +// '' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal/Forward_Path' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup' +// '' : 'SimModel0621_S4/Controler/PID Controller3/D Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs' +// '' : 'SimModel0621_S4/Controler/PID Controller3/I Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Integrator' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs' +// '' : 'SimModel0621_S4/Controler/PID Controller3/N Copy' +// '' : 'SimModel0621_S4/Controler/PID Controller3/N Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/P Copy' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Saturation' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Sum' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain' +// '' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/D Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative/Error' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Filter/Disc. Forward Euler Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs/Internal IC - Filter' +// '' : 'SimModel0621_S4/Controler/PID Controller3/I Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Integrator/Discrete' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs/Internal IC' +// '' : 'SimModel0621_S4/Controler/PID Controller3/N Copy/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/N Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller3/P Copy/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain/Internal Parameters' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Saturation/Enabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Sum/Sum_PID' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode/Disabled' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification' +// '' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain/Passthrough' +// '' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal/Forward_Path' +// '' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal/Internal PreInt' +// '' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal/Forward_Path' #endif // Controler_h_ diff --git a/src/pAUV150/Controler/Controler_data.cpp b/src/pAUV150/Controler/Controler_data.cpp old mode 100644 new mode 100755 index d813643..0e9246b --- a/src/pAUV150/Controler/Controler_data.cpp +++ b/src/pAUV150/Controler/Controler_data.cpp @@ -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{ // '/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{ // '/Proportional Gain' { - 0.5, - 0.01, - 0.1, + 10.0, + 1.0, + 5.0, 10.0 } }; diff --git a/src/pAUV150/Controler/Controler_private.h b/src/pAUV150/Controler/Controler_private.h old mode 100644 new mode 100755 index 2191a71..12644d1 --- a/src/pAUV150/Controler/Controler_private.h +++ b/src/pAUV150/Controler/Controler_private.h @@ -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) diff --git a/src/pAUV150/Controler/Controler_types.h b/src/pAUV150/Controler/Controler_types.h old mode 100644 new mode 100755 index f4cf45d..98c1d1c --- a/src/pAUV150/Controler/Controler_types.h +++ b/src/pAUV150/Controler/Controler_types.h @@ -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) diff --git a/src/pAUV150/Controler/rtGetNaN.cpp b/src/pAUV150/Controler/rtGetNaN.cpp old mode 100644 new mode 100755 index 4e38dda..c527b27 --- a/src/pAUV150/Controler/rtGetNaN.cpp +++ b/src/pAUV150/Controler/rtGetNaN.cpp @@ -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) diff --git a/src/pAUV150/Controler/rtGetNaN.h b/src/pAUV150/Controler/rtGetNaN.h old mode 100644 new mode 100755 index f32d095..9bc62f1 --- a/src/pAUV150/Controler/rtGetNaN.h +++ b/src/pAUV150/Controler/rtGetNaN.h @@ -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) diff --git a/src/pAUV150/Controler/rt_nonfinite.cpp b/src/pAUV150/Controler/rt_nonfinite.cpp old mode 100644 new mode 100755 index 30ec920..403cf84 --- a/src/pAUV150/Controler/rt_nonfinite.cpp +++ b/src/pAUV150/Controler/rt_nonfinite.cpp @@ -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) diff --git a/src/pAUV150/Controler/rt_nonfinite.h b/src/pAUV150/Controler/rt_nonfinite.h old mode 100644 new mode 100755 index 066834b..8727e06 --- a/src/pAUV150/Controler/rt_nonfinite.h +++ b/src/pAUV150/Controler/rt_nonfinite.h @@ -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) diff --git a/src/pAUV150/Controler/rtwtypes.h b/src/pAUV150/Controler/rtwtypes.h old mode 100644 new mode 100755 index 8d4a12d..71cf0db --- a/src/pAUV150/Controler/rtwtypes.h +++ b/src/pAUV150/Controler/rtwtypes.h @@ -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] -// \ No newline at end of file +//