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3 Commits
9983b675e7 ... main

Author SHA1 Message Date
zhaojingkui
cb25840296 8.21调试完成 2025-08-12 18:51:50 +08:00
zhaojingkui
fce40a81d0 修改速度 2025-08-12 15:14:21 +08:00
zhaojingkui
9c7b1d3ae2 a 2025-08-12 13:27:14 +08:00
19 changed files with 280 additions and 214 deletions
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1
.gitignore vendored
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@@ -17,6 +17,7 @@
*.so *.so
*.dylib *.dylib
*.dll *.dll
*.db
# Fortran module files # Fortran module files
*.mod *.mod

BIN
data/AUV150_20250812_130701.db
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BIN
data/AUV150_20250812_132129.db
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26
missions/auv150/alpha_shoreside.moos
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@@ -77,7 +77,29 @@ ProcessConfig = pMarineViewer
hash_shade = 0.4 hash_shade = 0.4
hash_viewable = true 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 configuration
appcast_height = 75 appcast_height = 75
@@ -92,7 +114,7 @@ ProcessConfig = pMarineViewer
BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
BUTTON_TWO = RETURN # RETURN=true BUTTON_TWO = RETURN # RETURN=true
BUTTON_Three = PZ # PZ=true BUTTON_Three = PZ # PZ=true
BUTTON_Four = LED # LED=on BUTTON_Four = LED # LED=on

6
missions/auv150/alpha_vehicle.moos
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@@ -67,11 +67,11 @@ ProcessConfig = pHelmIvP
AppTick = 4 AppTick = 4
CommsTick = 4 CommsTick = 4
Behaviors = gly_1.bhv Behaviors = gly_2.bhv
Verbose = quiet Verbose = quiet
Domain = course:0:359:360 Domain = course:0:359:360
Domain = speed:0:4:21 Domain = speed:0:2.5:21
Domain = depth:0:100:101 Domain = depth:0:10:101
//IVP_BEHAVIOR_DIR = ../../lib //IVP_BEHAVIOR_DIR = ../../lib

2
missions/auv150/gly_1.bhv
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@@ -36,7 +36,7 @@ Behavior = BHV_Waypoint
lead = 8 lead = 8
lead_damper = 1 lead_damper = 1
lead_to_start = true lead_to_start = true
speed = 2 // meters per second speed = 2 // meters per second
capture_line = true capture_line = true
capture_radius = 5.0 capture_radius = 5.0
slip_radius = 15.0 slip_radius = 15.0

128
missions/auv150/gly_2.bhv Normal file → Executable file
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@@ -1,60 +1,38 @@
//-------- FILE: gly_1.bhv ------------- //-------- FILE: gly_2.bhv -------------
initialize DEPLOY = false initialize DEPLOY = false
initialize RETURN = false initialize RETURN = false
set MODE = ACTIVE {
DEPLOY = true
} INACTIVE
set MODE = Const {
MODE = ACTIVE
RETURN != true
}
set MODE = RETURNING {
MODE = ACTIVE
RETURN = true
}
//---------------------------------------------- //----------------------------------------------
Behavior = BHV_Waypoint Behavior = BHV_ConstantHeading
{ {
name = waypt_survey // General Behavior Parameters
pwt = 100 name = const_hdg // example
condition = RETURN = false pwt = 100 // default
condition = DEPLOY = true condition = MODE == Const
//endflag = RETURN = true updates = CONST_HDG_UPDATES // example
endflag = MISSION = complete
configflag = CRUISE_SPD = $[SPEED] // Parameters specific to this behavior
//configflag = OSPOS = $[OSX],$[OSY] basewidth = 10 // default
duration = 100
activeflag = INFO=$[OWNSHIP] heading = 270
activeflag = INFO=$[BHVNAME] heading_mismatch_var = HDG_DIFF // example
activeflag = INFO=$[BHVTYPE] peakwidth = 10 // default
summitdelta = 25 // default
cycleflag = CINFO=$[OSX],$[OSY]
wptflag = PREV=$(PX),$(PY)
wptflag = NEXT=$(NX),$(NY)
wptflag = TEST=$(X),$(Y)
wptflag = OSPOS=$(OSX),$(OSY)
wptflag_on_start = true
updates = WPT_UPDATE
// perpetual = true
speed_alt = 1.2
use_alt_speed = true
lead = 8
lead_damper = 1
lead_to_start = true
speed = 2 // meters per second
capture_line = true
capture_radius = 5.0
slip_radius = 15.0
efficiency_measure = all
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
// polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
polygon = -50,-100: 0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
// polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
// polygon = -50,-100: -50,-300
order = normal
repeat = 0
visual_hints = nextpt_color=yellow
visual_hints = nextpt_vertex_size=8
visual_hints = nextpt_lcolor=gray70
visual_hints = vertex_color=dodger_blue, edge_color=white
visual_hints = vertex_size=5, edge_size=1
} }
//---------------------------------------------- //----------------------------------------------
@@ -62,13 +40,47 @@ Behavior = BHV_ConstantDepth
{ {
name = bhv_const_depth name = bhv_const_depth
pwt = 100 pwt = 100
condition = DEPLOY = true duration = 100
perpetual = true condition = MODE == Const
updates = DEPTH_VALUE updates = DEPTH_VALUE
depth = 2 depth = 10
duration = no-time-limit
peakwidth = 8 peakwidth = 8
basewidth = 12 basewidth = 12
summitdelta = 10 summitdelta = 10
} }
//----------------------------------------------
Behavior = BHV_ConstantSpeed
{
// General Behavior Parameters
name = const_spd_transit // example
pwt = 100 // default
condition = MODE==Const
updates = CONST_SPD_UPDATES // example
// Parameters specific to this behavior
basewidth = 0.2 // default
duration = 100
speed = 0.5
speed_mismatch_var = SPEED_DIFF // example
peakwidth = 0 // default
summitdelta = 0 // default
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_return
priority = 100
perpetual = true
updates = RETURN_UPDATES
condition = MODE==RETURNING
endflag = RETURN = false
speed = 1
radius = 3.0
nm_radius = 15.0
point = x=-50, y=-100
}

37
src/pAUV150/AUV150.cpp
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@@ -128,7 +128,7 @@ AUV150::AUV150() : m_sqlite("AUV150.db")
if (!m_sqlite.createTable()) { if (!m_sqlite.createTable()) {
std::cerr << "Failed to create database tables" << std::endl; std::cerr << "Failed to create database tables" << std::endl;
} }
m_TcpSocket = new XPCTcpSocket(8150L); m_TcpSocket = new XPCTcpSocket(7007L);
m_real_read_freq = 0; m_real_read_freq = 0;
m_real_write_freq = 0; m_real_write_freq = 0;
m_counter = 0; m_counter = 0;
@@ -258,6 +258,33 @@ bool AUV150::Iterate()
m_sqlite.insertData(m_status); m_sqlite.insertData(m_status);
m_sqlite.insertData(m_CommandFrame); m_sqlite.insertData(m_CommandFrame);
m_sqlite.insertData(m_FeedbackFrame); m_sqlite.insertData(m_FeedbackFrame);
// 发送状态
// 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(); AppCastingMOOSApp::PostReport();
return(true); return(true);
@@ -417,10 +444,10 @@ bool AUV150::ListenLoop()
m_control.rtU.y = m_status.y; m_control.rtU.y = m_status.y;
m_control.rtU.z = m_status.z; m_control.rtU.z = m_status.z;
m_control.step(); m_control.step();
m_CommandFrame.rudderUp = encodeDoubleToUint8WithSign(m_control.rtY.DirectUpperRudderServoAngleCmd,30); m_CommandFrame.rudderUp = encodeDoubleToUint8WithSign(-m_control.rtY.DirectUpperRudderServoAngleCmd,30);
m_CommandFrame.rudderDown = encodeDoubleToUint8WithSign(m_control.rtY.DirectLowerRudderServoAngleCmd,30); m_CommandFrame.rudderDown = encodeDoubleToUint8WithSign(-m_control.rtY.DirectLowerRudderServoAngleCmd,30);
m_CommandFrame.rudderLeft = encodeDoubleToUint8WithSign(m_control.rtY.DirectLeftRudderServoAngleCmd,30); m_CommandFrame.rudderLeft = encodeDoubleToUint8WithSign(-m_control.rtY.DirectLeftRudderServoAngleCmd,30);
m_CommandFrame.rudderRight = encodeDoubleToUint8WithSign(m_control.rtY.DirectRightRudderServoAngleCmd,30); m_CommandFrame.rudderRight = encodeDoubleToUint8WithSign(-m_control.rtY.DirectRightRudderServoAngleCmd,30);
m_CommandFrame.mainThruster = encodeDoubleToUint8WithSign(m_control.rtY.MainThrusterSpeedCmd,100); m_CommandFrame.mainThruster = encodeDoubleToUint8WithSign(m_control.rtY.MainThrusterSpeedCmd,100);
m_status.depth_error = m_control.rtY.depth_error; m_status.depth_error = m_control.rtY.depth_error;
m_status.heading_error = m_control.rtY.heading_error; m_status.heading_error = m_control.rtY.heading_error;

2
src/pAUV150/AUV150.h
View File

@@ -181,7 +181,9 @@ private: // State variables
bool m_bConnected; bool m_bConnected;
std::set<unsigned char> m_faultCodes; std::set<unsigned char> m_faultCodes;
unsigned long int m_counter; unsigned long int m_counter;
SQLite m_sqlite; SQLite m_sqlite;
//导航相关 //导航相关
CMOOSGeodesy m_geodesy; CMOOSGeodesy m_geodesy;

12
src/pAUV150/Controler/Controler.cpp Normal file → Executable file
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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)
@@ -261,12 +261,14 @@ void Controler::step()
// Update for DiscreteIntegrator: '<S36>/Filter' // Update for DiscreteIntegrator: '<S36>/Filter'
rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_a; rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_a;
// End of Outputs for SubSystem: '<Root>/Controler'
// Outport: '<Root>/MainThrusterSpeedCmd' incorporates: // Outport: '<Root>/MainThrusterSpeedCmd' incorporates:
// Constant: '<S1>/Constant1' // Constant: '<S1>/Constant1'
// Inport: '<Root>/speed_cmd'
// Product: '<S1>/Divide'
rtY.MainThrusterSpeedCmd = 100.0; rtY.MainThrusterSpeedCmd = rtU.speed_cmd / 0.025;
// End of Outputs for SubSystem: '<Root>/Controler'
// Outport: '<Root>/DirectUpperRudderServoAngleCmd' // Outport: '<Root>/DirectUpperRudderServoAngleCmd'
rtY.DirectUpperRudderServoAngleCmd = rtb_Integrator_l; rtY.DirectUpperRudderServoAngleCmd = rtb_Integrator_l;

234
src/pAUV150/Controler/Controler.h Normal file → Executable file
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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)
@@ -169,124 +169,124 @@ 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_S3/Controler') - opens subsystem SimModel0621_S3/Controler // hilite_system('SimModel0621_S4/Controler') - opens subsystem SimModel0621_S4/Controler
// hilite_system('SimModel0621_S3/Controler/Kp') - opens and selects block Kp // hilite_system('SimModel0621_S4/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_S3' // '<Root>' : 'SimModel0621_S4'
// '<S1>' : 'SimModel0621_S3/Controler' // '<S1>' : 'SimModel0621_S4/Controler'
// '<S2>' : 'SimModel0621_S3/Controler/MATLAB Function1' // '<S2>' : 'SimModel0621_S4/Controler/MATLAB Function1'
// '<S3>' : 'SimModel0621_S3/Controler/PID Controller1' // '<S3>' : 'SimModel0621_S4/Controler/PID Controller1'
// '<S4>' : 'SimModel0621_S3/Controler/PID Controller3' // '<S4>' : 'SimModel0621_S4/Controler/PID Controller3'
// '<S5>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup' // '<S5>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup'
// '<S6>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain' // '<S6>' : 'SimModel0621_S4/Controler/PID Controller1/D Gain'
// '<S7>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative' // '<S7>' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative'
// '<S8>' : 'SimModel0621_S3/Controler/PID Controller1/Filter' // '<S8>' : 'SimModel0621_S4/Controler/PID Controller1/Filter'
// '<S9>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs' // '<S9>' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs'
// '<S10>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain' // '<S10>' : 'SimModel0621_S4/Controler/PID Controller1/I Gain'
// '<S11>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain' // '<S11>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain'
// '<S12>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk' // '<S12>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk'
// '<S13>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator' // '<S13>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator'
// '<S14>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs' // '<S14>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs'
// '<S15>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy' // '<S15>' : 'SimModel0621_S4/Controler/PID Controller1/N Copy'
// '<S16>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain' // '<S16>' : 'SimModel0621_S4/Controler/PID Controller1/N Gain'
// '<S17>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy' // '<S17>' : 'SimModel0621_S4/Controler/PID Controller1/P Copy'
// '<S18>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain' // '<S18>' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain'
// '<S19>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal' // '<S19>' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal'
// '<S20>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation' // '<S20>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation'
// '<S21>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk' // '<S21>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk'
// '<S22>' : 'SimModel0621_S3/Controler/PID Controller1/Sum' // '<S22>' : 'SimModel0621_S4/Controler/PID Controller1/Sum'
// '<S23>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk' // '<S23>' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk'
// '<S24>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode' // '<S24>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode'
// '<S25>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum' // '<S25>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum'
// '<S26>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral' // '<S26>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral'
// '<S27>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain' // '<S27>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain'
// '<S28>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal' // '<S28>' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal'
// '<S29>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal' // '<S29>' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal'
// '<S30>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal' // '<S30>' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal'
// '<S31>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel' // '<S31>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
// '<S32>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone' // '<S32>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
// '<S33>' : 'SimModel0621_S3/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' // '<S33>' : 'SimModel0621_S4/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
// '<S34>' : 'SimModel0621_S3/Controler/PID Controller1/D Gain/Internal Parameters' // '<S34>' : 'SimModel0621_S4/Controler/PID Controller1/D Gain/Internal Parameters'
// '<S35>' : 'SimModel0621_S3/Controler/PID Controller1/External Derivative/Error' // '<S35>' : 'SimModel0621_S4/Controler/PID Controller1/External Derivative/Error'
// '<S36>' : 'SimModel0621_S3/Controler/PID Controller1/Filter/Disc. Forward Euler Filter' // '<S36>' : 'SimModel0621_S4/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
// '<S37>' : 'SimModel0621_S3/Controler/PID Controller1/Filter ICs/Internal IC - Filter' // '<S37>' : 'SimModel0621_S4/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
// '<S38>' : 'SimModel0621_S3/Controler/PID Controller1/I Gain/Internal Parameters' // '<S38>' : 'SimModel0621_S4/Controler/PID Controller1/I Gain/Internal Parameters'
// '<S39>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain/Passthrough' // '<S39>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain/Passthrough'
// '<S40>' : 'SimModel0621_S3/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled' // '<S40>' : 'SimModel0621_S4/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
// '<S41>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator/Discrete' // '<S41>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator/Discrete'
// '<S42>' : 'SimModel0621_S3/Controler/PID Controller1/Integrator ICs/Internal IC' // '<S42>' : 'SimModel0621_S4/Controler/PID Controller1/Integrator ICs/Internal IC'
// '<S43>' : 'SimModel0621_S3/Controler/PID Controller1/N Copy/Disabled' // '<S43>' : 'SimModel0621_S4/Controler/PID Controller1/N Copy/Disabled'
// '<S44>' : 'SimModel0621_S3/Controler/PID Controller1/N Gain/Internal Parameters' // '<S44>' : 'SimModel0621_S4/Controler/PID Controller1/N Gain/Internal Parameters'
// '<S45>' : 'SimModel0621_S3/Controler/PID Controller1/P Copy/Disabled' // '<S45>' : 'SimModel0621_S4/Controler/PID Controller1/P Copy/Disabled'
// '<S46>' : 'SimModel0621_S3/Controler/PID Controller1/Parallel P Gain/Internal Parameters' // '<S46>' : 'SimModel0621_S4/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
// '<S47>' : 'SimModel0621_S3/Controler/PID Controller1/Reset Signal/Disabled' // '<S47>' : 'SimModel0621_S4/Controler/PID Controller1/Reset Signal/Disabled'
// '<S48>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation/Enabled' // '<S48>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation/Enabled'
// '<S49>' : 'SimModel0621_S3/Controler/PID Controller1/Saturation Fdbk/Disabled' // '<S49>' : 'SimModel0621_S4/Controler/PID Controller1/Saturation Fdbk/Disabled'
// '<S50>' : 'SimModel0621_S3/Controler/PID Controller1/Sum/Sum_PID' // '<S50>' : 'SimModel0621_S4/Controler/PID Controller1/Sum/Sum_PID'
// '<S51>' : 'SimModel0621_S3/Controler/PID Controller1/Sum Fdbk/Disabled' // '<S51>' : 'SimModel0621_S4/Controler/PID Controller1/Sum Fdbk/Disabled'
// '<S52>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode/Disabled' // '<S52>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode/Disabled'
// '<S53>' : 'SimModel0621_S3/Controler/PID Controller1/Tracking Mode Sum/Passthrough' // '<S53>' : 'SimModel0621_S4/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
// '<S54>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification' // '<S54>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
// '<S55>' : 'SimModel0621_S3/Controler/PID Controller1/Tsamp - Ngain/Passthrough' // '<S55>' : 'SimModel0621_S4/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
// '<S56>' : 'SimModel0621_S3/Controler/PID Controller1/postSat Signal/Forward_Path' // '<S56>' : 'SimModel0621_S4/Controler/PID Controller1/postSat Signal/Forward_Path'
// '<S57>' : 'SimModel0621_S3/Controler/PID Controller1/preInt Signal/Internal PreInt' // '<S57>' : 'SimModel0621_S4/Controler/PID Controller1/preInt Signal/Internal PreInt'
// '<S58>' : 'SimModel0621_S3/Controler/PID Controller1/preSat Signal/Forward_Path' // '<S58>' : 'SimModel0621_S4/Controler/PID Controller1/preSat Signal/Forward_Path'
// '<S59>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup' // '<S59>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup'
// '<S60>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain' // '<S60>' : 'SimModel0621_S4/Controler/PID Controller3/D Gain'
// '<S61>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative' // '<S61>' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative'
// '<S62>' : 'SimModel0621_S3/Controler/PID Controller3/Filter' // '<S62>' : 'SimModel0621_S4/Controler/PID Controller3/Filter'
// '<S63>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs' // '<S63>' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs'
// '<S64>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain' // '<S64>' : 'SimModel0621_S4/Controler/PID Controller3/I Gain'
// '<S65>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain' // '<S65>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain'
// '<S66>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk' // '<S66>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk'
// '<S67>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator' // '<S67>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator'
// '<S68>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs' // '<S68>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs'
// '<S69>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy' // '<S69>' : 'SimModel0621_S4/Controler/PID Controller3/N Copy'
// '<S70>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain' // '<S70>' : 'SimModel0621_S4/Controler/PID Controller3/N Gain'
// '<S71>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy' // '<S71>' : 'SimModel0621_S4/Controler/PID Controller3/P Copy'
// '<S72>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain' // '<S72>' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain'
// '<S73>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal' // '<S73>' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal'
// '<S74>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation' // '<S74>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation'
// '<S75>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk' // '<S75>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk'
// '<S76>' : 'SimModel0621_S3/Controler/PID Controller3/Sum' // '<S76>' : 'SimModel0621_S4/Controler/PID Controller3/Sum'
// '<S77>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk' // '<S77>' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk'
// '<S78>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode' // '<S78>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode'
// '<S79>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum' // '<S79>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum'
// '<S80>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral' // '<S80>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral'
// '<S81>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain' // '<S81>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain'
// '<S82>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal' // '<S82>' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal'
// '<S83>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal' // '<S83>' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal'
// '<S84>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal' // '<S84>' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal'
// '<S85>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel' // '<S85>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel'
// '<S86>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone' // '<S86>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone'
// '<S87>' : 'SimModel0621_S3/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled' // '<S87>' : 'SimModel0621_S4/Controler/PID Controller3/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
// '<S88>' : 'SimModel0621_S3/Controler/PID Controller3/D Gain/Internal Parameters' // '<S88>' : 'SimModel0621_S4/Controler/PID Controller3/D Gain/Internal Parameters'
// '<S89>' : 'SimModel0621_S3/Controler/PID Controller3/External Derivative/Error' // '<S89>' : 'SimModel0621_S4/Controler/PID Controller3/External Derivative/Error'
// '<S90>' : 'SimModel0621_S3/Controler/PID Controller3/Filter/Disc. Forward Euler Filter' // '<S90>' : 'SimModel0621_S4/Controler/PID Controller3/Filter/Disc. Forward Euler Filter'
// '<S91>' : 'SimModel0621_S3/Controler/PID Controller3/Filter ICs/Internal IC - Filter' // '<S91>' : 'SimModel0621_S4/Controler/PID Controller3/Filter ICs/Internal IC - Filter'
// '<S92>' : 'SimModel0621_S3/Controler/PID Controller3/I Gain/Internal Parameters' // '<S92>' : 'SimModel0621_S4/Controler/PID Controller3/I Gain/Internal Parameters'
// '<S93>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain/Passthrough' // '<S93>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain/Passthrough'
// '<S94>' : 'SimModel0621_S3/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled' // '<S94>' : 'SimModel0621_S4/Controler/PID Controller3/Ideal P Gain Fdbk/Disabled'
// '<S95>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator/Discrete' // '<S95>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator/Discrete'
// '<S96>' : 'SimModel0621_S3/Controler/PID Controller3/Integrator ICs/Internal IC' // '<S96>' : 'SimModel0621_S4/Controler/PID Controller3/Integrator ICs/Internal IC'
// '<S97>' : 'SimModel0621_S3/Controler/PID Controller3/N Copy/Disabled' // '<S97>' : 'SimModel0621_S4/Controler/PID Controller3/N Copy/Disabled'
// '<S98>' : 'SimModel0621_S3/Controler/PID Controller3/N Gain/Internal Parameters' // '<S98>' : 'SimModel0621_S4/Controler/PID Controller3/N Gain/Internal Parameters'
// '<S99>' : 'SimModel0621_S3/Controler/PID Controller3/P Copy/Disabled' // '<S99>' : 'SimModel0621_S4/Controler/PID Controller3/P Copy/Disabled'
// '<S100>' : 'SimModel0621_S3/Controler/PID Controller3/Parallel P Gain/Internal Parameters' // '<S100>' : 'SimModel0621_S4/Controler/PID Controller3/Parallel P Gain/Internal Parameters'
// '<S101>' : 'SimModel0621_S3/Controler/PID Controller3/Reset Signal/Disabled' // '<S101>' : 'SimModel0621_S4/Controler/PID Controller3/Reset Signal/Disabled'
// '<S102>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation/Enabled' // '<S102>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation/Enabled'
// '<S103>' : 'SimModel0621_S3/Controler/PID Controller3/Saturation Fdbk/Disabled' // '<S103>' : 'SimModel0621_S4/Controler/PID Controller3/Saturation Fdbk/Disabled'
// '<S104>' : 'SimModel0621_S3/Controler/PID Controller3/Sum/Sum_PID' // '<S104>' : 'SimModel0621_S4/Controler/PID Controller3/Sum/Sum_PID'
// '<S105>' : 'SimModel0621_S3/Controler/PID Controller3/Sum Fdbk/Disabled' // '<S105>' : 'SimModel0621_S4/Controler/PID Controller3/Sum Fdbk/Disabled'
// '<S106>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode/Disabled' // '<S106>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode/Disabled'
// '<S107>' : 'SimModel0621_S3/Controler/PID Controller3/Tracking Mode Sum/Passthrough' // '<S107>' : 'SimModel0621_S4/Controler/PID Controller3/Tracking Mode Sum/Passthrough'
// '<S108>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification' // '<S108>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Integral/TsSignalSpecification'
// '<S109>' : 'SimModel0621_S3/Controler/PID Controller3/Tsamp - Ngain/Passthrough' // '<S109>' : 'SimModel0621_S4/Controler/PID Controller3/Tsamp - Ngain/Passthrough'
// '<S110>' : 'SimModel0621_S3/Controler/PID Controller3/postSat Signal/Forward_Path' // '<S110>' : 'SimModel0621_S4/Controler/PID Controller3/postSat Signal/Forward_Path'
// '<S111>' : 'SimModel0621_S3/Controler/PID Controller3/preInt Signal/Internal PreInt' // '<S111>' : 'SimModel0621_S4/Controler/PID Controller3/preInt Signal/Internal PreInt'
// '<S112>' : 'SimModel0621_S3/Controler/PID Controller3/preSat Signal/Forward_Path' // '<S112>' : 'SimModel0621_S4/Controler/PID Controller3/preSat Signal/Forward_Path'
#endif // Controler_h_ #endif // Controler_h_

16
src/pAUV150/Controler/Controler_data.cpp Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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)
@@ -30,10 +30,10 @@ Controler::P Controler::rtP{
// '<S46>/Proportional Gain' // '<S46>/Proportional Gain'
{ {
1, 10.0,
0.01, 0.0,
3, 0.0,
5.0 10.0
}, },
// Variable: pid_heading // Variable: pid_heading
@@ -45,8 +45,8 @@ Controler::P Controler::rtP{
{ {
0.5, 0.5,
0.01, 0.0,
0.1, 0.0,
10.0 10.0
} }
}; };

4
src/pAUV150/Controler/Controler_private.h Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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 Normal file → Executable file
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@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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 Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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 Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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 Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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 Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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)

6
src/pAUV150/Controler/rtwtypes.h Normal file → Executable file
View File

@@ -7,9 +7,9 @@
// //
// Code generated for Simulink model 'Controler'. // Code generated for Simulink model 'Controler'.
// //
// Model version : 5.105 // Model version : 5.115
// 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 Jul 3 16:12:45 2025 // C/C++ source code generated on : Tue Aug 12 11:26:01 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)
@@ -103,4 +103,4 @@ typedef void * pointer_T;
// File trailer for generated code. // File trailer for generated code.
// //
// [EOF] // [EOF]
// //