修改了控制器 #1
@@ -21,7 +21,7 @@ ProcessConfig = ANTLER
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pAUV150 @ NewConsole = true
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Run = pAUV150 @ NewConsole = false
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//Run = pMotionControler @ NewConsole = false
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}
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@@ -164,7 +164,7 @@ ProcessConfig = pAUV150
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//server_host = 10.127.0.18
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//server_host = 127.0.0.1
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server_host = 172.18.96.1
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server_host = 172.24.224.1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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@@ -13,7 +13,7 @@
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#include <string>
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#include <iostream>
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#define DEBUG_
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// #define DEBUG_
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using namespace std;
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@@ -145,7 +145,7 @@ bool AUV150::Iterate()
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m_geodesy.LatLong2LocalGrid(m_status.insLatitude, m_status.insLongitude, m_pos_x, m_pos_y);
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postStatusUpdate("NAV");
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#endif
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// AppCastingMOOSApp::PostReport();
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AppCastingMOOSApp::PostReport();
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return(true);
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}
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@@ -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 : 5.56
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// Model version : 5.77
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// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
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// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
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// C/C++ source code generated on : Thu Jun 26 20:56:30 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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@@ -27,25 +27,365 @@
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void Controler::step()
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{
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real_T mod_error;
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real_T rtb_Delay1;
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real_T rtb_Delay1_d;
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real_T rtb_Delay5;
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real_T rtb_Delay6;
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real_T rtb_Delay6_c;
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real_T rtb_Delay7;
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real_T rtb_Delay7_c;
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real_T rtb_FilterCoefficient;
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real_T rtb_FilterCoefficient_a;
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real_T rtb_FilterCoefficient_lc;
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real_T rtb_Filter_b;
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real_T rtb_FilterCoefficient_g;
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real_T rtb_FilterCoefficient_l;
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real_T rtb_Filter_k;
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real_T rtb_IntegralGain;
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real_T rtb_Integrator_d;
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real_T rtb_Switch;
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real_T rtb_depth_error;
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real_T rtb_pitch_error;
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real_T rtb_pos_i1;
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real_T rtb_pos_i1_k;
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real_T rtb_pos_i2;
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real_T rtb_pos_i2_l;
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real_T rtb_pos_i3;
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real_T rtb_ref_i1;
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real_T rtb_ref_i1_p;
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real_T rtb_ref_i2;
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real_T rtb_ref_i2_d;
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real_T rtb_ref_i3;
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int8_T rtb_Switch1;
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int8_T tmp;
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int8_T tmp_0;
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boolean_T rtb_RelationalOperator;
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boolean_T rtb_fixforDTpropagationissue;
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// Outputs for Atomic SubSystem: '<Root>/Controler'
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// Delay: '<S6>/pos_i-1'
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rtb_pos_i1 = rtDW.pos_i1_DSTATE;
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// Delay: '<S6>/pos_i-2'
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rtb_pos_i2 = rtDW.pos_i2_DSTATE;
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// Delay: '<S6>/pos_i-3'
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rtb_pos_i3 = rtDW.pos_i3_DSTATE;
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// Delay: '<S6>/ref_i-1'
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rtb_ref_i1 = rtDW.ref_i1_DSTATE;
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// Delay: '<S6>/ref_i-2'
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rtb_ref_i2 = rtDW.ref_i2_DSTATE;
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// Delay: '<S6>/ref_i-3'
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rtb_ref_i3 = rtDW.ref_i3_DSTATE;
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// Delay: '<S170>/Delay1'
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rtb_Delay1 = rtDW.Delay1_DSTATE;
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// Delay: '<S170>/Delay6'
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rtb_Delay6 = rtDW.Delay6_DSTATE;
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// Delay: '<S170>/Delay7'
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rtb_Delay7 = rtDW.Delay7_DSTATE;
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// Delay: '<S170>/Delay5'
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rtb_Delay5 = rtDW.Delay5_DSTATE;
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// Sum: '<S1>/Sum1' incorporates:
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// Delay: '<S170>/Delay1'
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// Delay: '<S170>/Delay10'
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// Delay: '<S170>/Delay2'
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// Delay: '<S170>/Delay3'
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// Delay: '<S170>/Delay4'
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// Delay: '<S170>/Delay5'
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// Delay: '<S170>/Delay6'
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// Delay: '<S170>/Delay7'
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// Delay: '<S170>/Delay8'
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// Delay: '<S170>/Delay9'
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// Delay: '<S6>/pos_i-1'
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// Delay: '<S6>/pos_i-2'
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// Delay: '<S6>/pos_i-3'
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// Delay: '<S6>/pos_i-4'
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// Delay: '<S6>/ref_i-1'
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// Delay: '<S6>/ref_i-2'
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// Delay: '<S6>/ref_i-3'
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// Delay: '<S6>/ref_i-4'
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// Gain: '<S170>/Gain1'
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// Gain: '<S170>/Gain10'
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// Gain: '<S170>/Gain11'
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// Gain: '<S170>/Gain2'
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// Gain: '<S170>/Gain3'
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// Gain: '<S170>/Gain4'
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// Gain: '<S170>/Gain5'
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// Gain: '<S170>/Gain6'
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// Gain: '<S170>/Gain7'
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// Gain: '<S170>/Gain9'
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// Gain: '<S6>/Compensation Gain'
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// Gain: '<S6>/Gain'
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// Gain: '<S6>/Gain1'
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// Gain: '<S6>/Gain10'
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// Gain: '<S6>/Gain11'
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// Gain: '<S6>/Gain12'
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// Gain: '<S6>/Gain13'
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// Gain: '<S6>/Gain14'
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// Gain: '<S6>/Gain15'
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// Gain: '<S6>/Gain16'
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// Gain: '<S6>/Gain17'
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// Gain: '<S6>/Gain18'
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// Gain: '<S6>/Gain19'
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// Gain: '<S6>/Gain2'
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// Gain: '<S6>/Gain3'
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// Gain: '<S6>/Gain4'
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// Gain: '<S6>/Gain5'
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// Gain: '<S6>/Gain6'
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// Gain: '<S6>/Gain7'
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// Gain: '<S6>/Gain8'
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// Gain: '<S6>/Gain9'
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// Inport: '<Root>/depth_cmd'
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// Inport: '<Root>/z'
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// Sum: '<S170>/Add2'
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// Sum: '<S1>/Add'
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// Sum: '<S6>/Add'
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// Sum: '<S6>/Add1'
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// Sum: '<S6>/predict_error_(i+2)'
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rtb_depth_error = rtU.z - ((rtU.depth_cmd - ((((((((((((((((((((rtU.z -
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4.96546716 * rtDW.Delay1_DSTATE) - -9.86401854 * rtDW.Delay6_DSTATE) -
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9.7928555 * rtDW.Delay7_DSTATE) - -4.85552402 * rtDW.Delay5_DSTATE) -
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0.9612199 * rtDW.Delay8_DSTATE) - -0.0031985800000000021 *
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rtDW.Delay10_DSTATE) - 0.0095957400000000071 * rtDW.Delay9_DSTATE) -
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-0.0031985800000000073 * rtDW.Delay4_DSTATE) - -0.0095957399999999984 *
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rtDW.Delay3_DSTATE) - 0.0063971600000000007 * rtDW.Delay2_DSTATE) +
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(((((((((4.96546716 * rtU.z + -9.86401854 * rtDW.pos_i1_DSTATE) + 9.7928555 *
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rtDW.pos_i2_DSTATE) + -4.85552402 * rtDW.pos_i3_DSTATE) + 0.9612199 *
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rtDW.pos_i4_DSTATE) + 0.0063971600000000007 * rtU.depth_cmd) +
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-0.0095957399999999984 * rtDW.ref_i1_DSTATE) + -0.0031985800000000073 *
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rtDW.ref_i2_DSTATE) + 0.0095957400000000071 * rtDW.ref_i3_DSTATE) +
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-0.0031985800000000021 * rtDW.ref_i4_DSTATE)) * 4.96546716 + -9.86401854 *
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rtU.z) + 9.7928555 * rtDW.pos_i1_DSTATE) + -4.85552402 * rtDW.pos_i2_DSTATE)
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+ 0.9612199 * rtDW.pos_i3_DSTATE) + 0.0063971600000000007 * rtU.depth_cmd) +
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-0.0095957399999999984 * rtU.depth_cmd) + -0.0031985800000000073 *
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rtDW.ref_i1_DSTATE) + 0.0095957400000000071 * rtDW.ref_i2_DSTATE) +
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-0.0031985800000000021 * rtDW.ref_i3_DSTATE)) * rtP.gamma_depth +
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rtU.depth_cmd);
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// Gain: '<S101>/Filter Coefficient' incorporates:
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// DiscreteIntegrator: '<S93>/Filter'
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// Gain: '<S91>/Derivative Gain'
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// Sum: '<S93>/SumD'
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rtb_FilterCoefficient = (rtP.pid_depth.D * rtb_depth_error -
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rtDW.Filter_DSTATE) * rtP.pid_depth.N;
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// Sum: '<S107>/Sum' incorporates:
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// DiscreteIntegrator: '<S98>/Integrator'
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// Gain: '<S103>/Proportional Gain'
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rtb_Filter_k = (rtP.pid_depth.P * rtb_depth_error + rtDW.Integrator_DSTATE) +
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rtb_FilterCoefficient;
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// Saturate: '<S105>/Saturation'
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if (rtb_Filter_k > 30.0) {
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rtb_pitch_error = 30.0;
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} else if (rtb_Filter_k < -30.0) {
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rtb_pitch_error = -30.0;
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} else {
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rtb_pitch_error = rtb_Filter_k;
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}
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// Sum: '<S1>/Sum2' incorporates:
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// Inport: '<Root>/theta'
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// Saturate: '<S105>/Saturation'
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rtb_pitch_error -= rtU.theta;
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// Gain: '<S155>/Filter Coefficient' incorporates:
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// DiscreteIntegrator: '<S147>/Filter'
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// Gain: '<S145>/Derivative Gain'
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// Sum: '<S147>/SumD'
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rtb_FilterCoefficient_g = (rtP.pid_pitch.D * rtb_pitch_error -
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rtDW.Filter_DSTATE_l) * rtP.pid_pitch.N;
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// Sum: '<S161>/Sum' incorporates:
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// DiscreteIntegrator: '<S152>/Integrator'
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// Gain: '<S157>/Proportional Gain'
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rtb_Integrator_d = (rtP.pid_pitch.P * rtb_pitch_error +
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rtDW.Integrator_DSTATE_f) + rtb_FilterCoefficient_g;
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// Saturate: '<S159>/Saturation' incorporates:
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// DeadZone: '<S144>/DeadZone'
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if (rtb_Integrator_d > 35.0) {
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// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
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rtY.DirectLeftRudderServoAngleCmd = 35.0;
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rtb_Integrator_d -= 35.0;
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} else {
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if (rtb_Integrator_d < -35.0) {
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// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
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rtY.DirectLeftRudderServoAngleCmd = -35.0;
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} else {
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// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
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rtY.DirectLeftRudderServoAngleCmd = rtb_Integrator_d;
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}
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if (rtb_Integrator_d >= -35.0) {
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rtb_Integrator_d = 0.0;
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} else {
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rtb_Integrator_d -= -35.0;
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}
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}
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// End of Saturate: '<S159>/Saturation'
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// RelationalOperator: '<S142>/Relational Operator' incorporates:
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// Constant: '<S142>/Clamping_zero'
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rtb_RelationalOperator = (rtb_Integrator_d != 0.0);
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// RelationalOperator: '<S142>/fix for DT propagation issue' incorporates:
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// Constant: '<S142>/Clamping_zero'
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rtb_fixforDTpropagationissue = (rtb_Integrator_d > 0.0);
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// Gain: '<S149>/Integral Gain'
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rtb_Integrator_d = rtP.pid_pitch.I * rtb_pitch_error;
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// Switch: '<S142>/Switch1' incorporates:
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// Constant: '<S142>/Constant'
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// Constant: '<S142>/Constant2'
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if (rtb_fixforDTpropagationissue) {
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tmp = 1;
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} else {
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tmp = -1;
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}
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// Switch: '<S142>/Switch2' incorporates:
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// Constant: '<S142>/Clamping_zero'
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// Constant: '<S142>/Constant3'
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// Constant: '<S142>/Constant4'
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// RelationalOperator: '<S142>/fix for DT propagation issue1'
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if (rtb_Integrator_d > 0.0) {
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tmp_0 = 1;
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} else {
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tmp_0 = -1;
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}
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// Switch: '<S142>/Switch' incorporates:
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// Constant: '<S142>/Constant1'
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// Logic: '<S142>/AND3'
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// RelationalOperator: '<S142>/Equal1'
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// Switch: '<S142>/Switch1'
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// Switch: '<S142>/Switch2'
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if (rtb_RelationalOperator && (tmp == tmp_0)) {
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rtb_Switch = 0.0;
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} else {
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rtb_Switch = rtb_Integrator_d;
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}
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// End of Switch: '<S142>/Switch'
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// DeadZone: '<S90>/DeadZone'
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if (rtb_Filter_k > 30.0) {
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rtb_Filter_k -= 30.0;
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} else if (rtb_Filter_k >= -30.0) {
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rtb_Filter_k = 0.0;
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} else {
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rtb_Filter_k -= -30.0;
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}
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// End of DeadZone: '<S90>/DeadZone'
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// Gain: '<S95>/Integral Gain'
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rtb_Integrator_d = rtP.pid_depth.I * rtb_depth_error;
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// Delay: '<S7>/pos_i-1'
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rtb_pos_i1_k = rtDW.pos_i1_DSTATE_f;
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// Delay: '<S7>/pos_i-2'
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rtb_pos_i2_l = rtDW.pos_i2_DSTATE_n;
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// Delay: '<S7>/ref_i-1'
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rtb_ref_i1_p = rtDW.ref_i1_DSTATE_c;
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// Delay: '<S7>/ref_i-2'
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rtb_ref_i2_d = rtDW.ref_i2_DSTATE_m;
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// Delay: '<S171>/Delay1'
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rtb_Delay1_d = rtDW.Delay1_DSTATE_o;
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// Delay: '<S171>/Delay6'
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rtb_Delay6_c = rtDW.Delay6_DSTATE_k;
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// Delay: '<S171>/Delay7'
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rtb_Delay7_c = rtDW.Delay7_DSTATE_o;
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// MATLAB Function: '<S1>/MATLAB Function' incorporates:
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// Delay: '<S171>/Delay1'
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// Delay: '<S171>/Delay2'
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// Delay: '<S171>/Delay3'
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// Delay: '<S171>/Delay4'
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// Delay: '<S171>/Delay5'
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// Delay: '<S171>/Delay6'
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// Delay: '<S171>/Delay7'
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// Delay: '<S171>/Delay9'
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// Delay: '<S7>/pos_i-1'
|
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// Delay: '<S7>/pos_i-2'
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||||
// Delay: '<S7>/pos_i-3'
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// Delay: '<S7>/ref_i-1'
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// Delay: '<S7>/ref_i-2'
|
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// Delay: '<S7>/ref_i-3'
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// Gain: '<S171>/Gain1'
|
||||
// Gain: '<S171>/Gain10'
|
||||
// Gain: '<S171>/Gain11'
|
||||
// Gain: '<S171>/Gain2'
|
||||
// Gain: '<S171>/Gain3'
|
||||
// Gain: '<S171>/Gain4'
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||||
// Gain: '<S171>/Gain7'
|
||||
// Gain: '<S171>/Gain9'
|
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// Gain: '<S7>/Compensation Gain'
|
||||
// Gain: '<S7>/Gain'
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||||
// Gain: '<S7>/Gain1'
|
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// Gain: '<S7>/Gain10'
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// Gain: '<S7>/Gain11'
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||||
// Gain: '<S7>/Gain12'
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// Gain: '<S7>/Gain14'
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// Gain: '<S7>/Gain15'
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||||
// Gain: '<S7>/Gain16'
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||||
// Gain: '<S7>/Gain2'
|
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// Gain: '<S7>/Gain3'
|
||||
// Gain: '<S7>/Gain4'
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||||
// Gain: '<S7>/Gain5'
|
||||
// Gain: '<S7>/Gain6'
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// Gain: '<S7>/Gain7'
|
||||
// Gain: '<S7>/Gain8'
|
||||
// Gain: '<S7>/Gain9'
|
||||
// Inport: '<Root>/heading_cmd'
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||||
// Inport: '<Root>/psi'
|
||||
// Sum: '<S171>/Add2'
|
||||
// Sum: '<S1>/Add1'
|
||||
// Sum: '<S7>/Add'
|
||||
// Sum: '<S7>/Add1'
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||||
// Sum: '<S7>/predict_error_(i+2)'
|
||||
|
||||
mod_error = rtU.heading_cmd - rtU.psi;
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||||
mod_error = ((rtU.heading_cmd - ((((((((((((((((rtU.psi - 3.828503 *
|
||||
rtDW.Delay1_DSTATE_o) - -5.5210193 * rtDW.Delay6_DSTATE_k) - 3.5572363 *
|
||||
rtDW.Delay7_DSTATE_o) - -0.86472 * rtDW.Delay5_DSTATE_d) -
|
||||
-7.589415207398531E-19 * rtDW.Delay9_DSTATE_m) - -0.0032962999999999985 *
|
||||
rtDW.Delay4_DSTATE_a) - 0.0072993 * rtDW.Delay3_DSTATE_f) -
|
||||
-0.0040030000000000005 * rtDW.Delay2_DSTATE_g) + (((((((3.828503 * rtU.psi +
|
||||
-5.5210193 * rtDW.pos_i1_DSTATE_f) + 3.5572363 * rtDW.pos_i2_DSTATE_n) +
|
||||
-0.86472 * rtDW.pos_i3_DSTATE_b) + -0.0040030000000000005 * rtU.heading_cmd)
|
||||
+ 0.0072993 * rtDW.ref_i1_DSTATE_c) + -0.0032962999999999985 *
|
||||
rtDW.ref_i2_DSTATE_m) + -7.589415207398531E-19 * rtDW.ref_i3_DSTATE_i)) *
|
||||
3.828503 + -5.5210193 * rtU.psi) + 3.5572363 * rtDW.pos_i1_DSTATE_f) +
|
||||
-0.86472 * rtDW.pos_i2_DSTATE_n) + -0.0040030000000000005 * rtU.heading_cmd)
|
||||
+ 0.0072993 * rtU.heading_cmd) + -0.0032962999999999985 *
|
||||
rtDW.ref_i1_DSTATE_c) + -7.589415207398531E-19 * rtDW.ref_i2_DSTATE_m)) *
|
||||
rtP.gamma_heading + rtU.heading_cmd) - rtU.psi;
|
||||
if (!std::isnan(mod_error)) {
|
||||
if (std::isinf(mod_error)) {
|
||||
mod_error = (rtNaN);
|
||||
@@ -67,23 +407,23 @@ void Controler::step()
|
||||
|
||||
// End of MATLAB Function: '<S1>/MATLAB Function'
|
||||
|
||||
// Gain: '<S45>/Filter Coefficient' incorporates:
|
||||
// DiscreteIntegrator: '<S37>/Filter'
|
||||
// Gain: '<S35>/Derivative Gain'
|
||||
// Sum: '<S37>/SumD'
|
||||
// Gain: '<S47>/Filter Coefficient' incorporates:
|
||||
// DiscreteIntegrator: '<S39>/Filter'
|
||||
// Gain: '<S37>/Derivative Gain'
|
||||
// Sum: '<S39>/SumD'
|
||||
|
||||
rtb_FilterCoefficient = (rtP.pid_heading.D * mod_error - rtDW.Filter_DSTATE) *
|
||||
rtP.pid_heading.N;
|
||||
rtb_FilterCoefficient_l = (rtP.pid_heading.D * mod_error -
|
||||
rtDW.Filter_DSTATE_m) * rtP.pid_heading.N;
|
||||
|
||||
// Sum: '<S51>/Sum' incorporates:
|
||||
// DiscreteIntegrator: '<S42>/Integrator'
|
||||
// Gain: '<S47>/Proportional Gain'
|
||||
// Sum: '<S53>/Sum' incorporates:
|
||||
// DiscreteIntegrator: '<S44>/Integrator'
|
||||
// Gain: '<S49>/Proportional Gain'
|
||||
|
||||
rtb_IntegralGain = (rtP.pid_heading.P * mod_error + rtDW.Integrator_DSTATE) +
|
||||
rtb_FilterCoefficient;
|
||||
rtb_IntegralGain = (rtP.pid_heading.P * mod_error + rtDW.Integrator_DSTATE_b)
|
||||
+ rtb_FilterCoefficient_l;
|
||||
|
||||
// Saturate: '<S49>/Saturation' incorporates:
|
||||
// DeadZone: '<S34>/DeadZone'
|
||||
// Saturate: '<S51>/Saturation' incorporates:
|
||||
// DeadZone: '<S36>/DeadZone'
|
||||
|
||||
if (rtb_IntegralGain > 35.0) {
|
||||
// Outport: '<Root>/DirectUpperRudderServoAngleCmd'
|
||||
@@ -105,271 +445,257 @@ void Controler::step()
|
||||
}
|
||||
}
|
||||
|
||||
// End of Saturate: '<S49>/Saturation'
|
||||
// End of Saturate: '<S51>/Saturation'
|
||||
|
||||
// RelationalOperator: '<S32>/Relational Operator' incorporates:
|
||||
// Constant: '<S32>/Clamping_zero'
|
||||
// RelationalOperator: '<S34>/Relational Operator' incorporates:
|
||||
// Constant: '<S34>/Clamping_zero'
|
||||
|
||||
rtb_RelationalOperator = (rtb_IntegralGain != 0.0);
|
||||
|
||||
// RelationalOperator: '<S32>/fix for DT propagation issue' incorporates:
|
||||
// Constant: '<S32>/Clamping_zero'
|
||||
// Switch: '<S34>/Switch1' incorporates:
|
||||
// Constant: '<S34>/Clamping_zero'
|
||||
// Constant: '<S34>/Constant'
|
||||
// Constant: '<S34>/Constant2'
|
||||
// RelationalOperator: '<S34>/fix for DT propagation issue'
|
||||
|
||||
rtb_fixforDTpropagationissue = (rtb_IntegralGain > 0.0);
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
rtb_Switch1 = 1;
|
||||
} else {
|
||||
rtb_Switch1 = -1;
|
||||
}
|
||||
|
||||
// Gain: '<S39>/Integral Gain'
|
||||
// End of Switch: '<S34>/Switch1'
|
||||
|
||||
// Gain: '<S41>/Integral Gain'
|
||||
rtb_IntegralGain = rtP.pid_heading.I * mod_error;
|
||||
|
||||
// Switch: '<S32>/Switch1' incorporates:
|
||||
// Constant: '<S32>/Constant'
|
||||
// Constant: '<S32>/Constant2'
|
||||
|
||||
if (rtb_fixforDTpropagationissue) {
|
||||
tmp = 1;
|
||||
} else {
|
||||
tmp = -1;
|
||||
}
|
||||
|
||||
// Switch: '<S32>/Switch2' incorporates:
|
||||
// Constant: '<S32>/Clamping_zero'
|
||||
// Constant: '<S32>/Constant3'
|
||||
// Constant: '<S32>/Constant4'
|
||||
// RelationalOperator: '<S32>/fix for DT propagation issue1'
|
||||
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
rtb_Switch1 = 1;
|
||||
} else {
|
||||
rtb_Switch1 = -1;
|
||||
}
|
||||
|
||||
// Switch: '<S32>/Switch' incorporates:
|
||||
// Constant: '<S32>/Constant1'
|
||||
// Logic: '<S32>/AND3'
|
||||
// RelationalOperator: '<S32>/Equal1'
|
||||
// Switch: '<S32>/Switch1'
|
||||
// Switch: '<S32>/Switch2'
|
||||
|
||||
if (rtb_RelationalOperator && (tmp == rtb_Switch1)) {
|
||||
rtb_Switch = 0.0;
|
||||
} else {
|
||||
rtb_Switch = rtb_IntegralGain;
|
||||
}
|
||||
|
||||
// End of Switch: '<S32>/Switch'
|
||||
|
||||
// Sum: '<S1>/Sum1' incorporates:
|
||||
// Inport: '<Root>/depth_cmd'
|
||||
// Update for Delay: '<S6>/pos_i-1' incorporates:
|
||||
// Inport: '<Root>/z'
|
||||
|
||||
rtb_depth_error = rtU.z - rtU.depth_cmd;
|
||||
rtDW.pos_i1_DSTATE = rtU.z;
|
||||
|
||||
// Gain: '<S93>/Integral Gain'
|
||||
rtb_IntegralGain = rtP.pid_depth.I * rtb_depth_error;
|
||||
// Update for Delay: '<S6>/pos_i-2'
|
||||
rtDW.pos_i2_DSTATE = rtb_pos_i1;
|
||||
|
||||
// Gain: '<S99>/Filter Coefficient' incorporates:
|
||||
// DiscreteIntegrator: '<S91>/Filter'
|
||||
// Gain: '<S89>/Derivative Gain'
|
||||
// Sum: '<S91>/SumD'
|
||||
// Update for Delay: '<S6>/pos_i-3'
|
||||
rtDW.pos_i3_DSTATE = rtb_pos_i2;
|
||||
|
||||
rtb_FilterCoefficient_lc = (rtP.pid_depth.D * rtb_depth_error -
|
||||
rtDW.Filter_DSTATE_m) * rtP.pid_depth.N;
|
||||
// Update for Delay: '<S6>/pos_i-4'
|
||||
rtDW.pos_i4_DSTATE = rtb_pos_i3;
|
||||
|
||||
// Sum: '<S105>/Sum' incorporates:
|
||||
// DiscreteIntegrator: '<S96>/Integrator'
|
||||
// Gain: '<S101>/Proportional Gain'
|
||||
// Update for Delay: '<S6>/ref_i-1' incorporates:
|
||||
// Inport: '<Root>/depth_cmd'
|
||||
|
||||
rtb_Filter_b = (rtP.pid_depth.P * rtb_depth_error + rtDW.Integrator_DSTATE_o)
|
||||
+ rtb_FilterCoefficient_lc;
|
||||
rtDW.ref_i1_DSTATE = rtU.depth_cmd;
|
||||
|
||||
// DeadZone: '<S88>/DeadZone'
|
||||
if (rtb_Filter_b > 30.0) {
|
||||
rtb_Integrator_d = rtb_Filter_b - 30.0;
|
||||
// Update for Delay: '<S6>/ref_i-2'
|
||||
rtDW.ref_i2_DSTATE = rtb_ref_i1;
|
||||
|
||||
// Switch: '<S86>/Switch1' incorporates:
|
||||
// Constant: '<S86>/Constant'
|
||||
// Update for Delay: '<S6>/ref_i-3'
|
||||
rtDW.ref_i3_DSTATE = rtb_ref_i2;
|
||||
|
||||
// Update for Delay: '<S6>/ref_i-4'
|
||||
rtDW.ref_i4_DSTATE = rtb_ref_i3;
|
||||
|
||||
// Update for Delay: '<S170>/Delay1' incorporates:
|
||||
// Inport: '<Root>/z'
|
||||
|
||||
rtDW.Delay1_DSTATE = rtU.z;
|
||||
|
||||
// Update for Delay: '<S170>/Delay6'
|
||||
rtDW.Delay6_DSTATE = rtb_Delay1;
|
||||
|
||||
// Update for Delay: '<S170>/Delay7'
|
||||
rtDW.Delay7_DSTATE = rtb_Delay6;
|
||||
|
||||
// Update for Delay: '<S170>/Delay5'
|
||||
rtDW.Delay5_DSTATE = rtb_Delay7;
|
||||
|
||||
// Update for Delay: '<S170>/Delay8'
|
||||
rtDW.Delay8_DSTATE = rtb_Delay5;
|
||||
|
||||
// Update for Delay: '<S170>/Delay10' incorporates:
|
||||
// Delay: '<S170>/Delay9'
|
||||
|
||||
rtDW.Delay10_DSTATE = rtDW.Delay9_DSTATE;
|
||||
|
||||
// Update for Delay: '<S170>/Delay9' incorporates:
|
||||
// Delay: '<S170>/Delay4'
|
||||
|
||||
rtDW.Delay9_DSTATE = rtDW.Delay4_DSTATE;
|
||||
|
||||
// Update for Delay: '<S170>/Delay4' incorporates:
|
||||
// Delay: '<S170>/Delay3'
|
||||
|
||||
rtDW.Delay4_DSTATE = rtDW.Delay3_DSTATE;
|
||||
|
||||
// Update for Delay: '<S170>/Delay3' incorporates:
|
||||
// Delay: '<S170>/Delay2'
|
||||
|
||||
rtDW.Delay3_DSTATE = rtDW.Delay2_DSTATE;
|
||||
|
||||
// Update for Delay: '<S170>/Delay2' incorporates:
|
||||
// Inport: '<Root>/depth_cmd'
|
||||
|
||||
rtDW.Delay2_DSTATE = rtU.depth_cmd;
|
||||
|
||||
// Switch: '<S88>/Switch1' incorporates:
|
||||
// Constant: '<S88>/Clamping_zero'
|
||||
// Constant: '<S88>/Constant'
|
||||
// Constant: '<S88>/Constant2'
|
||||
// RelationalOperator: '<S88>/fix for DT propagation issue'
|
||||
|
||||
if (rtb_Filter_k > 0.0) {
|
||||
tmp = 1;
|
||||
} else {
|
||||
if (rtb_Filter_b >= -30.0) {
|
||||
rtb_Integrator_d = 0.0;
|
||||
} else {
|
||||
rtb_Integrator_d = rtb_Filter_b - -30.0;
|
||||
}
|
||||
|
||||
// Switch: '<S86>/Switch1' incorporates:
|
||||
// Constant: '<S86>/Constant2'
|
||||
|
||||
tmp = -1;
|
||||
}
|
||||
|
||||
// End of DeadZone: '<S88>/DeadZone'
|
||||
// Switch: '<S88>/Switch2' incorporates:
|
||||
// Constant: '<S88>/Clamping_zero'
|
||||
// Constant: '<S88>/Constant3'
|
||||
// Constant: '<S88>/Constant4'
|
||||
// RelationalOperator: '<S88>/fix for DT propagation issue1'
|
||||
|
||||
// Switch: '<S86>/Switch2' incorporates:
|
||||
// Constant: '<S86>/Clamping_zero'
|
||||
// Constant: '<S86>/Constant3'
|
||||
// Constant: '<S86>/Constant4'
|
||||
// RelationalOperator: '<S86>/fix for DT propagation issue1'
|
||||
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
rtb_Switch1 = 1;
|
||||
if (rtb_Integrator_d > 0.0) {
|
||||
tmp_0 = 1;
|
||||
} else {
|
||||
rtb_Switch1 = -1;
|
||||
tmp_0 = -1;
|
||||
}
|
||||
|
||||
// Switch: '<S86>/Switch' incorporates:
|
||||
// Constant: '<S86>/Clamping_zero'
|
||||
// Constant: '<S86>/Constant1'
|
||||
// Logic: '<S86>/AND3'
|
||||
// RelationalOperator: '<S86>/Equal1'
|
||||
// RelationalOperator: '<S86>/Relational Operator'
|
||||
// Switch: '<S86>/Switch1'
|
||||
// Switch: '<S86>/Switch2'
|
||||
// Switch: '<S88>/Switch' incorporates:
|
||||
// Constant: '<S88>/Clamping_zero'
|
||||
// Constant: '<S88>/Constant1'
|
||||
// Logic: '<S88>/AND3'
|
||||
// RelationalOperator: '<S88>/Equal1'
|
||||
// RelationalOperator: '<S88>/Relational Operator'
|
||||
// Switch: '<S88>/Switch1'
|
||||
// Switch: '<S88>/Switch2'
|
||||
|
||||
if ((rtb_Integrator_d != 0.0) && (tmp == rtb_Switch1)) {
|
||||
if ((rtb_Filter_k != 0.0) && (tmp == tmp_0)) {
|
||||
rtb_Integrator_d = 0.0;
|
||||
} else {
|
||||
rtb_Integrator_d = rtb_IntegralGain;
|
||||
}
|
||||
|
||||
// End of Switch: '<S86>/Switch'
|
||||
// Update for DiscreteIntegrator: '<S98>/Integrator' incorporates:
|
||||
// Switch: '<S88>/Switch'
|
||||
|
||||
// Saturate: '<S103>/Saturation'
|
||||
if (rtb_Filter_b > 30.0) {
|
||||
rtb_Filter_b = 30.0;
|
||||
} else if (rtb_Filter_b < -30.0) {
|
||||
rtb_Filter_b = -30.0;
|
||||
rtDW.Integrator_DSTATE += rtb_Integrator_d;
|
||||
if (rtDW.Integrator_DSTATE > 10.0) {
|
||||
rtDW.Integrator_DSTATE = 10.0;
|
||||
} else if (rtDW.Integrator_DSTATE < -10.0) {
|
||||
rtDW.Integrator_DSTATE = -10.0;
|
||||
}
|
||||
|
||||
// Sum: '<S1>/Sum2' incorporates:
|
||||
// Inport: '<Root>/theta'
|
||||
// Saturate: '<S103>/Saturation'
|
||||
// End of Update for DiscreteIntegrator: '<S98>/Integrator'
|
||||
|
||||
rtb_Filter_b -= rtU.theta;
|
||||
|
||||
// Gain: '<S153>/Filter Coefficient' incorporates:
|
||||
// DiscreteIntegrator: '<S145>/Filter'
|
||||
// Gain: '<S143>/Derivative Gain'
|
||||
// Sum: '<S145>/SumD'
|
||||
|
||||
rtb_FilterCoefficient_a = (rtP.pid_pitch.D * rtb_Filter_b -
|
||||
rtDW.Filter_DSTATE_l) * rtP.pid_pitch.N;
|
||||
|
||||
// Sum: '<S159>/Sum' incorporates:
|
||||
// DiscreteIntegrator: '<S150>/Integrator'
|
||||
// Gain: '<S155>/Proportional Gain'
|
||||
|
||||
rtb_IntegralGain = (rtP.pid_pitch.P * rtb_Filter_b + rtDW.Integrator_DSTATE_f)
|
||||
+ rtb_FilterCoefficient_a;
|
||||
|
||||
// Saturate: '<S157>/Saturation' incorporates:
|
||||
// DeadZone: '<S142>/DeadZone'
|
||||
|
||||
if (rtb_IntegralGain > 35.0) {
|
||||
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
|
||||
rtY.DirectLeftRudderServoAngleCmd = 35.0;
|
||||
rtb_IntegralGain -= 35.0;
|
||||
} else {
|
||||
if (rtb_IntegralGain < -35.0) {
|
||||
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
|
||||
rtY.DirectLeftRudderServoAngleCmd = -35.0;
|
||||
} else {
|
||||
// Outport: '<Root>/DirectLeftRudderServoAngleCmd'
|
||||
rtY.DirectLeftRudderServoAngleCmd = rtb_IntegralGain;
|
||||
}
|
||||
|
||||
if (rtb_IntegralGain >= -35.0) {
|
||||
rtb_IntegralGain = 0.0;
|
||||
} else {
|
||||
rtb_IntegralGain -= -35.0;
|
||||
}
|
||||
}
|
||||
|
||||
// End of Saturate: '<S157>/Saturation'
|
||||
|
||||
// RelationalOperator: '<S140>/Relational Operator' incorporates:
|
||||
// Constant: '<S140>/Clamping_zero'
|
||||
|
||||
rtb_RelationalOperator = (rtb_IntegralGain != 0.0);
|
||||
|
||||
// Switch: '<S140>/Switch1' incorporates:
|
||||
// Constant: '<S140>/Clamping_zero'
|
||||
// Constant: '<S140>/Constant'
|
||||
// Constant: '<S140>/Constant2'
|
||||
// RelationalOperator: '<S140>/fix for DT propagation issue'
|
||||
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
rtb_Switch1 = 1;
|
||||
} else {
|
||||
rtb_Switch1 = -1;
|
||||
}
|
||||
|
||||
// End of Switch: '<S140>/Switch1'
|
||||
|
||||
// Gain: '<S147>/Integral Gain'
|
||||
rtb_IntegralGain = rtP.pid_pitch.I * rtb_Filter_b;
|
||||
|
||||
// Update for DiscreteIntegrator: '<S42>/Integrator'
|
||||
rtDW.Integrator_DSTATE += rtb_Switch;
|
||||
if (rtDW.Integrator_DSTATE > 15.0) {
|
||||
rtDW.Integrator_DSTATE = 15.0;
|
||||
} else if (rtDW.Integrator_DSTATE < -15.0) {
|
||||
rtDW.Integrator_DSTATE = -15.0;
|
||||
}
|
||||
|
||||
// End of Update for DiscreteIntegrator: '<S42>/Integrator'
|
||||
|
||||
// Update for DiscreteIntegrator: '<S37>/Filter'
|
||||
// Update for DiscreteIntegrator: '<S93>/Filter'
|
||||
rtDW.Filter_DSTATE += 0.1 * rtb_FilterCoefficient;
|
||||
|
||||
// Update for DiscreteIntegrator: '<S96>/Integrator'
|
||||
rtDW.Integrator_DSTATE_o += rtb_Integrator_d;
|
||||
if (rtDW.Integrator_DSTATE_o > 10.0) {
|
||||
rtDW.Integrator_DSTATE_o = 10.0;
|
||||
} else if (rtDW.Integrator_DSTATE_o < -10.0) {
|
||||
rtDW.Integrator_DSTATE_o = -10.0;
|
||||
}
|
||||
|
||||
// End of Update for DiscreteIntegrator: '<S96>/Integrator'
|
||||
|
||||
// Update for DiscreteIntegrator: '<S91>/Filter'
|
||||
rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_lc;
|
||||
|
||||
// Switch: '<S140>/Switch2' incorporates:
|
||||
// Constant: '<S140>/Clamping_zero'
|
||||
// Constant: '<S140>/Constant3'
|
||||
// Constant: '<S140>/Constant4'
|
||||
// RelationalOperator: '<S140>/fix for DT propagation issue1'
|
||||
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
tmp = 1;
|
||||
} else {
|
||||
tmp = -1;
|
||||
}
|
||||
|
||||
// Switch: '<S140>/Switch' incorporates:
|
||||
// Constant: '<S140>/Constant1'
|
||||
// Logic: '<S140>/AND3'
|
||||
// RelationalOperator: '<S140>/Equal1'
|
||||
// Switch: '<S140>/Switch2'
|
||||
|
||||
if (rtb_RelationalOperator && (rtb_Switch1 == tmp)) {
|
||||
rtb_IntegralGain = 0.0;
|
||||
}
|
||||
|
||||
// Update for DiscreteIntegrator: '<S150>/Integrator' incorporates:
|
||||
// Switch: '<S140>/Switch'
|
||||
|
||||
rtDW.Integrator_DSTATE_f += rtb_IntegralGain;
|
||||
// Update for DiscreteIntegrator: '<S152>/Integrator'
|
||||
rtDW.Integrator_DSTATE_f += rtb_Switch;
|
||||
if (rtDW.Integrator_DSTATE_f > 15.0) {
|
||||
rtDW.Integrator_DSTATE_f = 15.0;
|
||||
} else if (rtDW.Integrator_DSTATE_f < -15.0) {
|
||||
rtDW.Integrator_DSTATE_f = -15.0;
|
||||
}
|
||||
|
||||
// End of Update for DiscreteIntegrator: '<S150>/Integrator'
|
||||
// End of Update for DiscreteIntegrator: '<S152>/Integrator'
|
||||
|
||||
// Update for DiscreteIntegrator: '<S145>/Filter'
|
||||
rtDW.Filter_DSTATE_l += 0.1 * rtb_FilterCoefficient_a;
|
||||
// Update for DiscreteIntegrator: '<S147>/Filter'
|
||||
rtDW.Filter_DSTATE_l += 0.1 * rtb_FilterCoefficient_g;
|
||||
|
||||
// Update for Delay: '<S7>/pos_i-1' incorporates:
|
||||
// Inport: '<Root>/psi'
|
||||
|
||||
rtDW.pos_i1_DSTATE_f = rtU.psi;
|
||||
|
||||
// Update for Delay: '<S7>/pos_i-2'
|
||||
rtDW.pos_i2_DSTATE_n = rtb_pos_i1_k;
|
||||
|
||||
// Update for Delay: '<S7>/pos_i-3'
|
||||
rtDW.pos_i3_DSTATE_b = rtb_pos_i2_l;
|
||||
|
||||
// Update for Delay: '<S7>/ref_i-1' incorporates:
|
||||
// Inport: '<Root>/heading_cmd'
|
||||
|
||||
rtDW.ref_i1_DSTATE_c = rtU.heading_cmd;
|
||||
|
||||
// Update for Delay: '<S7>/ref_i-2'
|
||||
rtDW.ref_i2_DSTATE_m = rtb_ref_i1_p;
|
||||
|
||||
// Update for Delay: '<S7>/ref_i-3'
|
||||
rtDW.ref_i3_DSTATE_i = rtb_ref_i2_d;
|
||||
|
||||
// Update for Delay: '<S171>/Delay1' incorporates:
|
||||
// Inport: '<Root>/psi'
|
||||
|
||||
rtDW.Delay1_DSTATE_o = rtU.psi;
|
||||
|
||||
// Update for Delay: '<S171>/Delay6'
|
||||
rtDW.Delay6_DSTATE_k = rtb_Delay1_d;
|
||||
|
||||
// Update for Delay: '<S171>/Delay7'
|
||||
rtDW.Delay7_DSTATE_o = rtb_Delay6_c;
|
||||
|
||||
// Update for Delay: '<S171>/Delay5'
|
||||
rtDW.Delay5_DSTATE_d = rtb_Delay7_c;
|
||||
|
||||
// Update for Delay: '<S171>/Delay9' incorporates:
|
||||
// Delay: '<S171>/Delay4'
|
||||
|
||||
rtDW.Delay9_DSTATE_m = rtDW.Delay4_DSTATE_a;
|
||||
|
||||
// Update for Delay: '<S171>/Delay4' incorporates:
|
||||
// Delay: '<S171>/Delay3'
|
||||
|
||||
rtDW.Delay4_DSTATE_a = rtDW.Delay3_DSTATE_f;
|
||||
|
||||
// Update for Delay: '<S171>/Delay3' incorporates:
|
||||
// Delay: '<S171>/Delay2'
|
||||
|
||||
rtDW.Delay3_DSTATE_f = rtDW.Delay2_DSTATE_g;
|
||||
|
||||
// Update for Delay: '<S171>/Delay2' incorporates:
|
||||
// Inport: '<Root>/heading_cmd'
|
||||
|
||||
rtDW.Delay2_DSTATE_g = rtU.heading_cmd;
|
||||
|
||||
// Switch: '<S34>/Switch2' incorporates:
|
||||
// Constant: '<S34>/Clamping_zero'
|
||||
// Constant: '<S34>/Constant3'
|
||||
// Constant: '<S34>/Constant4'
|
||||
// RelationalOperator: '<S34>/fix for DT propagation issue1'
|
||||
|
||||
if (rtb_IntegralGain > 0.0) {
|
||||
tmp = 1;
|
||||
} else {
|
||||
tmp = -1;
|
||||
}
|
||||
|
||||
// Switch: '<S34>/Switch' incorporates:
|
||||
// Constant: '<S34>/Constant1'
|
||||
// Logic: '<S34>/AND3'
|
||||
// RelationalOperator: '<S34>/Equal1'
|
||||
// Switch: '<S34>/Switch2'
|
||||
|
||||
if (rtb_RelationalOperator && (rtb_Switch1 == tmp)) {
|
||||
rtb_IntegralGain = 0.0;
|
||||
}
|
||||
|
||||
// Update for DiscreteIntegrator: '<S44>/Integrator' incorporates:
|
||||
// Switch: '<S34>/Switch'
|
||||
|
||||
rtDW.Integrator_DSTATE_b += rtb_IntegralGain;
|
||||
if (rtDW.Integrator_DSTATE_b > 15.0) {
|
||||
rtDW.Integrator_DSTATE_b = 15.0;
|
||||
} else if (rtDW.Integrator_DSTATE_b < -15.0) {
|
||||
rtDW.Integrator_DSTATE_b = -15.0;
|
||||
}
|
||||
|
||||
// End of Update for DiscreteIntegrator: '<S44>/Integrator'
|
||||
|
||||
// Update for DiscreteIntegrator: '<S39>/Filter'
|
||||
rtDW.Filter_DSTATE_m += 0.1 * rtb_FilterCoefficient_l;
|
||||
|
||||
// End of Outputs for SubSystem: '<Root>/Controler'
|
||||
|
||||
@@ -392,7 +718,7 @@ void Controler::step()
|
||||
rtY.heading_error = mod_error;
|
||||
|
||||
// Outport: '<Root>/pitch_error'
|
||||
rtY.pitch_error = rtb_Filter_b;
|
||||
rtY.pitch_error = rtb_pitch_error;
|
||||
|
||||
// Outport: '<Root>/depth_error'
|
||||
rtY.depth_error = rtb_depth_error;
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
@@ -32,6 +32,8 @@ extern "C"
|
||||
|
||||
}
|
||||
|
||||
#define Controler_M (rtM)
|
||||
|
||||
// Class declaration for model Controler
|
||||
class Controler final
|
||||
{
|
||||
@@ -39,12 +41,44 @@ class Controler final
|
||||
public:
|
||||
// Block signals and states (default storage) for system '<Root>'
|
||||
struct DW {
|
||||
real_T Integrator_DSTATE; // '<S42>/Integrator'
|
||||
real_T Filter_DSTATE; // '<S37>/Filter'
|
||||
real_T Integrator_DSTATE_o; // '<S96>/Integrator'
|
||||
real_T Filter_DSTATE_m; // '<S91>/Filter'
|
||||
real_T Integrator_DSTATE_f; // '<S150>/Integrator'
|
||||
real_T Filter_DSTATE_l; // '<S145>/Filter'
|
||||
real_T pos_i1_DSTATE; // '<S6>/pos_i-1'
|
||||
real_T pos_i2_DSTATE; // '<S6>/pos_i-2'
|
||||
real_T pos_i3_DSTATE; // '<S6>/pos_i-3'
|
||||
real_T pos_i4_DSTATE; // '<S6>/pos_i-4'
|
||||
real_T ref_i1_DSTATE; // '<S6>/ref_i-1'
|
||||
real_T ref_i2_DSTATE; // '<S6>/ref_i-2'
|
||||
real_T ref_i3_DSTATE; // '<S6>/ref_i-3'
|
||||
real_T ref_i4_DSTATE; // '<S6>/ref_i-4'
|
||||
real_T Delay1_DSTATE; // '<S170>/Delay1'
|
||||
real_T Delay6_DSTATE; // '<S170>/Delay6'
|
||||
real_T Delay7_DSTATE; // '<S170>/Delay7'
|
||||
real_T Delay5_DSTATE; // '<S170>/Delay5'
|
||||
real_T Delay8_DSTATE; // '<S170>/Delay8'
|
||||
real_T Delay10_DSTATE; // '<S170>/Delay10'
|
||||
real_T Delay9_DSTATE; // '<S170>/Delay9'
|
||||
real_T Delay4_DSTATE; // '<S170>/Delay4'
|
||||
real_T Delay3_DSTATE; // '<S170>/Delay3'
|
||||
real_T Delay2_DSTATE; // '<S170>/Delay2'
|
||||
real_T Integrator_DSTATE; // '<S98>/Integrator'
|
||||
real_T Filter_DSTATE; // '<S93>/Filter'
|
||||
real_T Integrator_DSTATE_f; // '<S152>/Integrator'
|
||||
real_T Filter_DSTATE_l; // '<S147>/Filter'
|
||||
real_T pos_i1_DSTATE_f; // '<S7>/pos_i-1'
|
||||
real_T pos_i2_DSTATE_n; // '<S7>/pos_i-2'
|
||||
real_T pos_i3_DSTATE_b; // '<S7>/pos_i-3'
|
||||
real_T ref_i1_DSTATE_c; // '<S7>/ref_i-1'
|
||||
real_T ref_i2_DSTATE_m; // '<S7>/ref_i-2'
|
||||
real_T ref_i3_DSTATE_i; // '<S7>/ref_i-3'
|
||||
real_T Delay1_DSTATE_o; // '<S171>/Delay1'
|
||||
real_T Delay6_DSTATE_k; // '<S171>/Delay6'
|
||||
real_T Delay7_DSTATE_o; // '<S171>/Delay7'
|
||||
real_T Delay5_DSTATE_d; // '<S171>/Delay5'
|
||||
real_T Delay9_DSTATE_m; // '<S171>/Delay9'
|
||||
real_T Delay4_DSTATE_a; // '<S171>/Delay4'
|
||||
real_T Delay3_DSTATE_f; // '<S171>/Delay3'
|
||||
real_T Delay2_DSTATE_g; // '<S171>/Delay2'
|
||||
real_T Integrator_DSTATE_b; // '<S44>/Integrator'
|
||||
real_T Filter_DSTATE_m; // '<S39>/Filter'
|
||||
};
|
||||
|
||||
// External inputs (root inport signals with default storage)
|
||||
@@ -86,24 +120,30 @@ class Controler final
|
||||
struct P {
|
||||
struct_n3jlyiLoC0PV1TieyhpPwD pid_depth;// Variable: pid_depth
|
||||
// Referenced by:
|
||||
// '<S89>/Derivative Gain'
|
||||
// '<S93>/Integral Gain'
|
||||
// '<S99>/Filter Coefficient'
|
||||
// '<S101>/Proportional Gain'
|
||||
// '<S91>/Derivative Gain'
|
||||
// '<S95>/Integral Gain'
|
||||
// '<S101>/Filter Coefficient'
|
||||
// '<S103>/Proportional Gain'
|
||||
|
||||
struct_n3jlyiLoC0PV1TieyhpPwD pid_heading;// Variable: pid_heading
|
||||
// Referenced by:
|
||||
// '<S35>/Derivative Gain'
|
||||
// '<S39>/Integral Gain'
|
||||
// '<S45>/Filter Coefficient'
|
||||
// '<S47>/Proportional Gain'
|
||||
// '<S37>/Derivative Gain'
|
||||
// '<S41>/Integral Gain'
|
||||
// '<S47>/Filter Coefficient'
|
||||
// '<S49>/Proportional Gain'
|
||||
|
||||
struct_n3jlyiLoC0PV1TieyhpPwD pid_pitch;// Variable: pid_pitch
|
||||
// Referenced by:
|
||||
// '<S143>/Derivative Gain'
|
||||
// '<S147>/Integral Gain'
|
||||
// '<S153>/Filter Coefficient'
|
||||
// '<S155>/Proportional Gain'
|
||||
// '<S145>/Derivative Gain'
|
||||
// '<S149>/Integral Gain'
|
||||
// '<S155>/Filter Coefficient'
|
||||
// '<S157>/Proportional Gain'
|
||||
|
||||
real_T gamma_depth; // Variable: gamma_depth
|
||||
// Referenced by: '<S6>/Compensation Gain'
|
||||
|
||||
real_T gamma_heading; // Variable: gamma_heading
|
||||
// Referenced by: '<S7>/Compensation Gain'
|
||||
|
||||
};
|
||||
|
||||
@@ -159,12 +199,6 @@ class Controler final
|
||||
RT_MODEL rtM;
|
||||
};
|
||||
|
||||
//-
|
||||
// These blocks were eliminated from the model due to optimizations:
|
||||
//
|
||||
// Block '<S1>/Scope' : Unused code path elimination
|
||||
|
||||
|
||||
//-
|
||||
// The generated code includes comments that allow you to trace directly
|
||||
// back to the appropriate location in the model. The basic format
|
||||
@@ -177,179 +211,183 @@ class Controler final
|
||||
// MATLAB hilite_system command to trace the generated code back
|
||||
// to the parent model. For example,
|
||||
//
|
||||
// hilite_system('SimModel0618/Controler') - opens subsystem SimModel0618/Controler
|
||||
// hilite_system('SimModel0618/Controler/Kp') - opens and selects block Kp
|
||||
// hilite_system('SimModel0621/Controler') - opens subsystem SimModel0621/Controler
|
||||
// hilite_system('SimModel0621/Controler/Kp') - opens and selects block Kp
|
||||
//
|
||||
// Here is the system hierarchy for this model
|
||||
//
|
||||
// '<Root>' : 'SimModel0618'
|
||||
// '<S1>' : 'SimModel0618/Controler'
|
||||
// '<S2>' : 'SimModel0618/Controler/MATLAB Function'
|
||||
// '<S3>' : 'SimModel0618/Controler/PID Controller'
|
||||
// '<S4>' : 'SimModel0618/Controler/PID Controller1'
|
||||
// '<S5>' : 'SimModel0618/Controler/PID Controller2'
|
||||
// '<S6>' : 'SimModel0618/Controler/PID Controller/Anti-windup'
|
||||
// '<S7>' : 'SimModel0618/Controler/PID Controller/D Gain'
|
||||
// '<S8>' : 'SimModel0618/Controler/PID Controller/External Derivative'
|
||||
// '<S9>' : 'SimModel0618/Controler/PID Controller/Filter'
|
||||
// '<S10>' : 'SimModel0618/Controler/PID Controller/Filter ICs'
|
||||
// '<S11>' : 'SimModel0618/Controler/PID Controller/I Gain'
|
||||
// '<S12>' : 'SimModel0618/Controler/PID Controller/Ideal P Gain'
|
||||
// '<S13>' : 'SimModel0618/Controler/PID Controller/Ideal P Gain Fdbk'
|
||||
// '<S14>' : 'SimModel0618/Controler/PID Controller/Integrator'
|
||||
// '<S15>' : 'SimModel0618/Controler/PID Controller/Integrator ICs'
|
||||
// '<S16>' : 'SimModel0618/Controler/PID Controller/N Copy'
|
||||
// '<S17>' : 'SimModel0618/Controler/PID Controller/N Gain'
|
||||
// '<S18>' : 'SimModel0618/Controler/PID Controller/P Copy'
|
||||
// '<S19>' : 'SimModel0618/Controler/PID Controller/Parallel P Gain'
|
||||
// '<S20>' : 'SimModel0618/Controler/PID Controller/Reset Signal'
|
||||
// '<S21>' : 'SimModel0618/Controler/PID Controller/Saturation'
|
||||
// '<S22>' : 'SimModel0618/Controler/PID Controller/Saturation Fdbk'
|
||||
// '<S23>' : 'SimModel0618/Controler/PID Controller/Sum'
|
||||
// '<S24>' : 'SimModel0618/Controler/PID Controller/Sum Fdbk'
|
||||
// '<S25>' : 'SimModel0618/Controler/PID Controller/Tracking Mode'
|
||||
// '<S26>' : 'SimModel0618/Controler/PID Controller/Tracking Mode Sum'
|
||||
// '<S27>' : 'SimModel0618/Controler/PID Controller/Tsamp - Integral'
|
||||
// '<S28>' : 'SimModel0618/Controler/PID Controller/Tsamp - Ngain'
|
||||
// '<S29>' : 'SimModel0618/Controler/PID Controller/postSat Signal'
|
||||
// '<S30>' : 'SimModel0618/Controler/PID Controller/preInt Signal'
|
||||
// '<S31>' : 'SimModel0618/Controler/PID Controller/preSat Signal'
|
||||
// '<S32>' : 'SimModel0618/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S33>' : 'SimModel0618/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S34>' : 'SimModel0618/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S35>' : 'SimModel0618/Controler/PID Controller/D Gain/Internal Parameters'
|
||||
// '<S36>' : 'SimModel0618/Controler/PID Controller/External Derivative/Error'
|
||||
// '<S37>' : 'SimModel0618/Controler/PID Controller/Filter/Disc. Forward Euler Filter'
|
||||
// '<S38>' : 'SimModel0618/Controler/PID Controller/Filter ICs/Internal IC - Filter'
|
||||
// '<S39>' : 'SimModel0618/Controler/PID Controller/I Gain/Internal Parameters'
|
||||
// '<S40>' : 'SimModel0618/Controler/PID Controller/Ideal P Gain/Passthrough'
|
||||
// '<S41>' : 'SimModel0618/Controler/PID Controller/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S42>' : 'SimModel0618/Controler/PID Controller/Integrator/Discrete'
|
||||
// '<S43>' : 'SimModel0618/Controler/PID Controller/Integrator ICs/Internal IC'
|
||||
// '<S44>' : 'SimModel0618/Controler/PID Controller/N Copy/Disabled'
|
||||
// '<S45>' : 'SimModel0618/Controler/PID Controller/N Gain/Internal Parameters'
|
||||
// '<S46>' : 'SimModel0618/Controler/PID Controller/P Copy/Disabled'
|
||||
// '<S47>' : 'SimModel0618/Controler/PID Controller/Parallel P Gain/Internal Parameters'
|
||||
// '<S48>' : 'SimModel0618/Controler/PID Controller/Reset Signal/Disabled'
|
||||
// '<S49>' : 'SimModel0618/Controler/PID Controller/Saturation/Enabled'
|
||||
// '<S50>' : 'SimModel0618/Controler/PID Controller/Saturation Fdbk/Disabled'
|
||||
// '<S51>' : 'SimModel0618/Controler/PID Controller/Sum/Sum_PID'
|
||||
// '<S52>' : 'SimModel0618/Controler/PID Controller/Sum Fdbk/Disabled'
|
||||
// '<S53>' : 'SimModel0618/Controler/PID Controller/Tracking Mode/Disabled'
|
||||
// '<S54>' : 'SimModel0618/Controler/PID Controller/Tracking Mode Sum/Passthrough'
|
||||
// '<S55>' : 'SimModel0618/Controler/PID Controller/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S56>' : 'SimModel0618/Controler/PID Controller/Tsamp - Ngain/Passthrough'
|
||||
// '<S57>' : 'SimModel0618/Controler/PID Controller/postSat Signal/Forward_Path'
|
||||
// '<S58>' : 'SimModel0618/Controler/PID Controller/preInt Signal/Internal PreInt'
|
||||
// '<S59>' : 'SimModel0618/Controler/PID Controller/preSat Signal/Forward_Path'
|
||||
// '<S60>' : 'SimModel0618/Controler/PID Controller1/Anti-windup'
|
||||
// '<S61>' : 'SimModel0618/Controler/PID Controller1/D Gain'
|
||||
// '<S62>' : 'SimModel0618/Controler/PID Controller1/External Derivative'
|
||||
// '<S63>' : 'SimModel0618/Controler/PID Controller1/Filter'
|
||||
// '<S64>' : 'SimModel0618/Controler/PID Controller1/Filter ICs'
|
||||
// '<S65>' : 'SimModel0618/Controler/PID Controller1/I Gain'
|
||||
// '<S66>' : 'SimModel0618/Controler/PID Controller1/Ideal P Gain'
|
||||
// '<S67>' : 'SimModel0618/Controler/PID Controller1/Ideal P Gain Fdbk'
|
||||
// '<S68>' : 'SimModel0618/Controler/PID Controller1/Integrator'
|
||||
// '<S69>' : 'SimModel0618/Controler/PID Controller1/Integrator ICs'
|
||||
// '<S70>' : 'SimModel0618/Controler/PID Controller1/N Copy'
|
||||
// '<S71>' : 'SimModel0618/Controler/PID Controller1/N Gain'
|
||||
// '<S72>' : 'SimModel0618/Controler/PID Controller1/P Copy'
|
||||
// '<S73>' : 'SimModel0618/Controler/PID Controller1/Parallel P Gain'
|
||||
// '<S74>' : 'SimModel0618/Controler/PID Controller1/Reset Signal'
|
||||
// '<S75>' : 'SimModel0618/Controler/PID Controller1/Saturation'
|
||||
// '<S76>' : 'SimModel0618/Controler/PID Controller1/Saturation Fdbk'
|
||||
// '<S77>' : 'SimModel0618/Controler/PID Controller1/Sum'
|
||||
// '<S78>' : 'SimModel0618/Controler/PID Controller1/Sum Fdbk'
|
||||
// '<S79>' : 'SimModel0618/Controler/PID Controller1/Tracking Mode'
|
||||
// '<S80>' : 'SimModel0618/Controler/PID Controller1/Tracking Mode Sum'
|
||||
// '<S81>' : 'SimModel0618/Controler/PID Controller1/Tsamp - Integral'
|
||||
// '<S82>' : 'SimModel0618/Controler/PID Controller1/Tsamp - Ngain'
|
||||
// '<S83>' : 'SimModel0618/Controler/PID Controller1/postSat Signal'
|
||||
// '<S84>' : 'SimModel0618/Controler/PID Controller1/preInt Signal'
|
||||
// '<S85>' : 'SimModel0618/Controler/PID Controller1/preSat Signal'
|
||||
// '<S86>' : 'SimModel0618/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S87>' : 'SimModel0618/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S88>' : 'SimModel0618/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S89>' : 'SimModel0618/Controler/PID Controller1/D Gain/Internal Parameters'
|
||||
// '<S90>' : 'SimModel0618/Controler/PID Controller1/External Derivative/Error'
|
||||
// '<S91>' : 'SimModel0618/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
|
||||
// '<S92>' : 'SimModel0618/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
|
||||
// '<S93>' : 'SimModel0618/Controler/PID Controller1/I Gain/Internal Parameters'
|
||||
// '<S94>' : 'SimModel0618/Controler/PID Controller1/Ideal P Gain/Passthrough'
|
||||
// '<S95>' : 'SimModel0618/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S96>' : 'SimModel0618/Controler/PID Controller1/Integrator/Discrete'
|
||||
// '<S97>' : 'SimModel0618/Controler/PID Controller1/Integrator ICs/Internal IC'
|
||||
// '<S98>' : 'SimModel0618/Controler/PID Controller1/N Copy/Disabled'
|
||||
// '<S99>' : 'SimModel0618/Controler/PID Controller1/N Gain/Internal Parameters'
|
||||
// '<S100>' : 'SimModel0618/Controler/PID Controller1/P Copy/Disabled'
|
||||
// '<S101>' : 'SimModel0618/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
|
||||
// '<S102>' : 'SimModel0618/Controler/PID Controller1/Reset Signal/Disabled'
|
||||
// '<S103>' : 'SimModel0618/Controler/PID Controller1/Saturation/Enabled'
|
||||
// '<S104>' : 'SimModel0618/Controler/PID Controller1/Saturation Fdbk/Disabled'
|
||||
// '<S105>' : 'SimModel0618/Controler/PID Controller1/Sum/Sum_PID'
|
||||
// '<S106>' : 'SimModel0618/Controler/PID Controller1/Sum Fdbk/Disabled'
|
||||
// '<S107>' : 'SimModel0618/Controler/PID Controller1/Tracking Mode/Disabled'
|
||||
// '<S108>' : 'SimModel0618/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
|
||||
// '<S109>' : 'SimModel0618/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S110>' : 'SimModel0618/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
|
||||
// '<S111>' : 'SimModel0618/Controler/PID Controller1/postSat Signal/Forward_Path'
|
||||
// '<S112>' : 'SimModel0618/Controler/PID Controller1/preInt Signal/Internal PreInt'
|
||||
// '<S113>' : 'SimModel0618/Controler/PID Controller1/preSat Signal/Forward_Path'
|
||||
// '<S114>' : 'SimModel0618/Controler/PID Controller2/Anti-windup'
|
||||
// '<S115>' : 'SimModel0618/Controler/PID Controller2/D Gain'
|
||||
// '<S116>' : 'SimModel0618/Controler/PID Controller2/External Derivative'
|
||||
// '<S117>' : 'SimModel0618/Controler/PID Controller2/Filter'
|
||||
// '<S118>' : 'SimModel0618/Controler/PID Controller2/Filter ICs'
|
||||
// '<S119>' : 'SimModel0618/Controler/PID Controller2/I Gain'
|
||||
// '<S120>' : 'SimModel0618/Controler/PID Controller2/Ideal P Gain'
|
||||
// '<S121>' : 'SimModel0618/Controler/PID Controller2/Ideal P Gain Fdbk'
|
||||
// '<S122>' : 'SimModel0618/Controler/PID Controller2/Integrator'
|
||||
// '<S123>' : 'SimModel0618/Controler/PID Controller2/Integrator ICs'
|
||||
// '<S124>' : 'SimModel0618/Controler/PID Controller2/N Copy'
|
||||
// '<S125>' : 'SimModel0618/Controler/PID Controller2/N Gain'
|
||||
// '<S126>' : 'SimModel0618/Controler/PID Controller2/P Copy'
|
||||
// '<S127>' : 'SimModel0618/Controler/PID Controller2/Parallel P Gain'
|
||||
// '<S128>' : 'SimModel0618/Controler/PID Controller2/Reset Signal'
|
||||
// '<S129>' : 'SimModel0618/Controler/PID Controller2/Saturation'
|
||||
// '<S130>' : 'SimModel0618/Controler/PID Controller2/Saturation Fdbk'
|
||||
// '<S131>' : 'SimModel0618/Controler/PID Controller2/Sum'
|
||||
// '<S132>' : 'SimModel0618/Controler/PID Controller2/Sum Fdbk'
|
||||
// '<S133>' : 'SimModel0618/Controler/PID Controller2/Tracking Mode'
|
||||
// '<S134>' : 'SimModel0618/Controler/PID Controller2/Tracking Mode Sum'
|
||||
// '<S135>' : 'SimModel0618/Controler/PID Controller2/Tsamp - Integral'
|
||||
// '<S136>' : 'SimModel0618/Controler/PID Controller2/Tsamp - Ngain'
|
||||
// '<S137>' : 'SimModel0618/Controler/PID Controller2/postSat Signal'
|
||||
// '<S138>' : 'SimModel0618/Controler/PID Controller2/preInt Signal'
|
||||
// '<S139>' : 'SimModel0618/Controler/PID Controller2/preSat Signal'
|
||||
// '<S140>' : 'SimModel0618/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S141>' : 'SimModel0618/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S142>' : 'SimModel0618/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S143>' : 'SimModel0618/Controler/PID Controller2/D Gain/Internal Parameters'
|
||||
// '<S144>' : 'SimModel0618/Controler/PID Controller2/External Derivative/Error'
|
||||
// '<S145>' : 'SimModel0618/Controler/PID Controller2/Filter/Disc. Forward Euler Filter'
|
||||
// '<S146>' : 'SimModel0618/Controler/PID Controller2/Filter ICs/Internal IC - Filter'
|
||||
// '<S147>' : 'SimModel0618/Controler/PID Controller2/I Gain/Internal Parameters'
|
||||
// '<S148>' : 'SimModel0618/Controler/PID Controller2/Ideal P Gain/Passthrough'
|
||||
// '<S149>' : 'SimModel0618/Controler/PID Controller2/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S150>' : 'SimModel0618/Controler/PID Controller2/Integrator/Discrete'
|
||||
// '<S151>' : 'SimModel0618/Controler/PID Controller2/Integrator ICs/Internal IC'
|
||||
// '<S152>' : 'SimModel0618/Controler/PID Controller2/N Copy/Disabled'
|
||||
// '<S153>' : 'SimModel0618/Controler/PID Controller2/N Gain/Internal Parameters'
|
||||
// '<S154>' : 'SimModel0618/Controler/PID Controller2/P Copy/Disabled'
|
||||
// '<S155>' : 'SimModel0618/Controler/PID Controller2/Parallel P Gain/Internal Parameters'
|
||||
// '<S156>' : 'SimModel0618/Controler/PID Controller2/Reset Signal/Disabled'
|
||||
// '<S157>' : 'SimModel0618/Controler/PID Controller2/Saturation/Enabled'
|
||||
// '<S158>' : 'SimModel0618/Controler/PID Controller2/Saturation Fdbk/Disabled'
|
||||
// '<S159>' : 'SimModel0618/Controler/PID Controller2/Sum/Sum_PID'
|
||||
// '<S160>' : 'SimModel0618/Controler/PID Controller2/Sum Fdbk/Disabled'
|
||||
// '<S161>' : 'SimModel0618/Controler/PID Controller2/Tracking Mode/Disabled'
|
||||
// '<S162>' : 'SimModel0618/Controler/PID Controller2/Tracking Mode Sum/Passthrough'
|
||||
// '<S163>' : 'SimModel0618/Controler/PID Controller2/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S164>' : 'SimModel0618/Controler/PID Controller2/Tsamp - Ngain/Passthrough'
|
||||
// '<S165>' : 'SimModel0618/Controler/PID Controller2/postSat Signal/Forward_Path'
|
||||
// '<S166>' : 'SimModel0618/Controler/PID Controller2/preInt Signal/Internal PreInt'
|
||||
// '<S167>' : 'SimModel0618/Controler/PID Controller2/preSat Signal/Forward_Path'
|
||||
// '<Root>' : 'SimModel0621'
|
||||
// '<S1>' : 'SimModel0621/Controler'
|
||||
// '<S2>' : 'SimModel0621/Controler/MATLAB Function'
|
||||
// '<S3>' : 'SimModel0621/Controler/PID Controller'
|
||||
// '<S4>' : 'SimModel0621/Controler/PID Controller1'
|
||||
// '<S5>' : 'SimModel0621/Controler/PID Controller2'
|
||||
// '<S6>' : 'SimModel0621/Controler/Pred_Depth'
|
||||
// '<S7>' : 'SimModel0621/Controler/Pred_Steering'
|
||||
// '<S8>' : 'SimModel0621/Controler/PID Controller/Anti-windup'
|
||||
// '<S9>' : 'SimModel0621/Controler/PID Controller/D Gain'
|
||||
// '<S10>' : 'SimModel0621/Controler/PID Controller/External Derivative'
|
||||
// '<S11>' : 'SimModel0621/Controler/PID Controller/Filter'
|
||||
// '<S12>' : 'SimModel0621/Controler/PID Controller/Filter ICs'
|
||||
// '<S13>' : 'SimModel0621/Controler/PID Controller/I Gain'
|
||||
// '<S14>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain'
|
||||
// '<S15>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain Fdbk'
|
||||
// '<S16>' : 'SimModel0621/Controler/PID Controller/Integrator'
|
||||
// '<S17>' : 'SimModel0621/Controler/PID Controller/Integrator ICs'
|
||||
// '<S18>' : 'SimModel0621/Controler/PID Controller/N Copy'
|
||||
// '<S19>' : 'SimModel0621/Controler/PID Controller/N Gain'
|
||||
// '<S20>' : 'SimModel0621/Controler/PID Controller/P Copy'
|
||||
// '<S21>' : 'SimModel0621/Controler/PID Controller/Parallel P Gain'
|
||||
// '<S22>' : 'SimModel0621/Controler/PID Controller/Reset Signal'
|
||||
// '<S23>' : 'SimModel0621/Controler/PID Controller/Saturation'
|
||||
// '<S24>' : 'SimModel0621/Controler/PID Controller/Saturation Fdbk'
|
||||
// '<S25>' : 'SimModel0621/Controler/PID Controller/Sum'
|
||||
// '<S26>' : 'SimModel0621/Controler/PID Controller/Sum Fdbk'
|
||||
// '<S27>' : 'SimModel0621/Controler/PID Controller/Tracking Mode'
|
||||
// '<S28>' : 'SimModel0621/Controler/PID Controller/Tracking Mode Sum'
|
||||
// '<S29>' : 'SimModel0621/Controler/PID Controller/Tsamp - Integral'
|
||||
// '<S30>' : 'SimModel0621/Controler/PID Controller/Tsamp - Ngain'
|
||||
// '<S31>' : 'SimModel0621/Controler/PID Controller/postSat Signal'
|
||||
// '<S32>' : 'SimModel0621/Controler/PID Controller/preInt Signal'
|
||||
// '<S33>' : 'SimModel0621/Controler/PID Controller/preSat Signal'
|
||||
// '<S34>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S35>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S36>' : 'SimModel0621/Controler/PID Controller/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S37>' : 'SimModel0621/Controler/PID Controller/D Gain/Internal Parameters'
|
||||
// '<S38>' : 'SimModel0621/Controler/PID Controller/External Derivative/Error'
|
||||
// '<S39>' : 'SimModel0621/Controler/PID Controller/Filter/Disc. Forward Euler Filter'
|
||||
// '<S40>' : 'SimModel0621/Controler/PID Controller/Filter ICs/Internal IC - Filter'
|
||||
// '<S41>' : 'SimModel0621/Controler/PID Controller/I Gain/Internal Parameters'
|
||||
// '<S42>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain/Passthrough'
|
||||
// '<S43>' : 'SimModel0621/Controler/PID Controller/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S44>' : 'SimModel0621/Controler/PID Controller/Integrator/Discrete'
|
||||
// '<S45>' : 'SimModel0621/Controler/PID Controller/Integrator ICs/Internal IC'
|
||||
// '<S46>' : 'SimModel0621/Controler/PID Controller/N Copy/Disabled'
|
||||
// '<S47>' : 'SimModel0621/Controler/PID Controller/N Gain/Internal Parameters'
|
||||
// '<S48>' : 'SimModel0621/Controler/PID Controller/P Copy/Disabled'
|
||||
// '<S49>' : 'SimModel0621/Controler/PID Controller/Parallel P Gain/Internal Parameters'
|
||||
// '<S50>' : 'SimModel0621/Controler/PID Controller/Reset Signal/Disabled'
|
||||
// '<S51>' : 'SimModel0621/Controler/PID Controller/Saturation/Enabled'
|
||||
// '<S52>' : 'SimModel0621/Controler/PID Controller/Saturation Fdbk/Disabled'
|
||||
// '<S53>' : 'SimModel0621/Controler/PID Controller/Sum/Sum_PID'
|
||||
// '<S54>' : 'SimModel0621/Controler/PID Controller/Sum Fdbk/Disabled'
|
||||
// '<S55>' : 'SimModel0621/Controler/PID Controller/Tracking Mode/Disabled'
|
||||
// '<S56>' : 'SimModel0621/Controler/PID Controller/Tracking Mode Sum/Passthrough'
|
||||
// '<S57>' : 'SimModel0621/Controler/PID Controller/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S58>' : 'SimModel0621/Controler/PID Controller/Tsamp - Ngain/Passthrough'
|
||||
// '<S59>' : 'SimModel0621/Controler/PID Controller/postSat Signal/Forward_Path'
|
||||
// '<S60>' : 'SimModel0621/Controler/PID Controller/preInt Signal/Internal PreInt'
|
||||
// '<S61>' : 'SimModel0621/Controler/PID Controller/preSat Signal/Forward_Path'
|
||||
// '<S62>' : 'SimModel0621/Controler/PID Controller1/Anti-windup'
|
||||
// '<S63>' : 'SimModel0621/Controler/PID Controller1/D Gain'
|
||||
// '<S64>' : 'SimModel0621/Controler/PID Controller1/External Derivative'
|
||||
// '<S65>' : 'SimModel0621/Controler/PID Controller1/Filter'
|
||||
// '<S66>' : 'SimModel0621/Controler/PID Controller1/Filter ICs'
|
||||
// '<S67>' : 'SimModel0621/Controler/PID Controller1/I Gain'
|
||||
// '<S68>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain'
|
||||
// '<S69>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain Fdbk'
|
||||
// '<S70>' : 'SimModel0621/Controler/PID Controller1/Integrator'
|
||||
// '<S71>' : 'SimModel0621/Controler/PID Controller1/Integrator ICs'
|
||||
// '<S72>' : 'SimModel0621/Controler/PID Controller1/N Copy'
|
||||
// '<S73>' : 'SimModel0621/Controler/PID Controller1/N Gain'
|
||||
// '<S74>' : 'SimModel0621/Controler/PID Controller1/P Copy'
|
||||
// '<S75>' : 'SimModel0621/Controler/PID Controller1/Parallel P Gain'
|
||||
// '<S76>' : 'SimModel0621/Controler/PID Controller1/Reset Signal'
|
||||
// '<S77>' : 'SimModel0621/Controler/PID Controller1/Saturation'
|
||||
// '<S78>' : 'SimModel0621/Controler/PID Controller1/Saturation Fdbk'
|
||||
// '<S79>' : 'SimModel0621/Controler/PID Controller1/Sum'
|
||||
// '<S80>' : 'SimModel0621/Controler/PID Controller1/Sum Fdbk'
|
||||
// '<S81>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode'
|
||||
// '<S82>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode Sum'
|
||||
// '<S83>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Integral'
|
||||
// '<S84>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Ngain'
|
||||
// '<S85>' : 'SimModel0621/Controler/PID Controller1/postSat Signal'
|
||||
// '<S86>' : 'SimModel0621/Controler/PID Controller1/preInt Signal'
|
||||
// '<S87>' : 'SimModel0621/Controler/PID Controller1/preSat Signal'
|
||||
// '<S88>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S89>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S90>' : 'SimModel0621/Controler/PID Controller1/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S91>' : 'SimModel0621/Controler/PID Controller1/D Gain/Internal Parameters'
|
||||
// '<S92>' : 'SimModel0621/Controler/PID Controller1/External Derivative/Error'
|
||||
// '<S93>' : 'SimModel0621/Controler/PID Controller1/Filter/Disc. Forward Euler Filter'
|
||||
// '<S94>' : 'SimModel0621/Controler/PID Controller1/Filter ICs/Internal IC - Filter'
|
||||
// '<S95>' : 'SimModel0621/Controler/PID Controller1/I Gain/Internal Parameters'
|
||||
// '<S96>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain/Passthrough'
|
||||
// '<S97>' : 'SimModel0621/Controler/PID Controller1/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S98>' : 'SimModel0621/Controler/PID Controller1/Integrator/Discrete'
|
||||
// '<S99>' : 'SimModel0621/Controler/PID Controller1/Integrator ICs/Internal IC'
|
||||
// '<S100>' : 'SimModel0621/Controler/PID Controller1/N Copy/Disabled'
|
||||
// '<S101>' : 'SimModel0621/Controler/PID Controller1/N Gain/Internal Parameters'
|
||||
// '<S102>' : 'SimModel0621/Controler/PID Controller1/P Copy/Disabled'
|
||||
// '<S103>' : 'SimModel0621/Controler/PID Controller1/Parallel P Gain/Internal Parameters'
|
||||
// '<S104>' : 'SimModel0621/Controler/PID Controller1/Reset Signal/Disabled'
|
||||
// '<S105>' : 'SimModel0621/Controler/PID Controller1/Saturation/Enabled'
|
||||
// '<S106>' : 'SimModel0621/Controler/PID Controller1/Saturation Fdbk/Disabled'
|
||||
// '<S107>' : 'SimModel0621/Controler/PID Controller1/Sum/Sum_PID'
|
||||
// '<S108>' : 'SimModel0621/Controler/PID Controller1/Sum Fdbk/Disabled'
|
||||
// '<S109>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode/Disabled'
|
||||
// '<S110>' : 'SimModel0621/Controler/PID Controller1/Tracking Mode Sum/Passthrough'
|
||||
// '<S111>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S112>' : 'SimModel0621/Controler/PID Controller1/Tsamp - Ngain/Passthrough'
|
||||
// '<S113>' : 'SimModel0621/Controler/PID Controller1/postSat Signal/Forward_Path'
|
||||
// '<S114>' : 'SimModel0621/Controler/PID Controller1/preInt Signal/Internal PreInt'
|
||||
// '<S115>' : 'SimModel0621/Controler/PID Controller1/preSat Signal/Forward_Path'
|
||||
// '<S116>' : 'SimModel0621/Controler/PID Controller2/Anti-windup'
|
||||
// '<S117>' : 'SimModel0621/Controler/PID Controller2/D Gain'
|
||||
// '<S118>' : 'SimModel0621/Controler/PID Controller2/External Derivative'
|
||||
// '<S119>' : 'SimModel0621/Controler/PID Controller2/Filter'
|
||||
// '<S120>' : 'SimModel0621/Controler/PID Controller2/Filter ICs'
|
||||
// '<S121>' : 'SimModel0621/Controler/PID Controller2/I Gain'
|
||||
// '<S122>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain'
|
||||
// '<S123>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain Fdbk'
|
||||
// '<S124>' : 'SimModel0621/Controler/PID Controller2/Integrator'
|
||||
// '<S125>' : 'SimModel0621/Controler/PID Controller2/Integrator ICs'
|
||||
// '<S126>' : 'SimModel0621/Controler/PID Controller2/N Copy'
|
||||
// '<S127>' : 'SimModel0621/Controler/PID Controller2/N Gain'
|
||||
// '<S128>' : 'SimModel0621/Controler/PID Controller2/P Copy'
|
||||
// '<S129>' : 'SimModel0621/Controler/PID Controller2/Parallel P Gain'
|
||||
// '<S130>' : 'SimModel0621/Controler/PID Controller2/Reset Signal'
|
||||
// '<S131>' : 'SimModel0621/Controler/PID Controller2/Saturation'
|
||||
// '<S132>' : 'SimModel0621/Controler/PID Controller2/Saturation Fdbk'
|
||||
// '<S133>' : 'SimModel0621/Controler/PID Controller2/Sum'
|
||||
// '<S134>' : 'SimModel0621/Controler/PID Controller2/Sum Fdbk'
|
||||
// '<S135>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode'
|
||||
// '<S136>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode Sum'
|
||||
// '<S137>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Integral'
|
||||
// '<S138>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Ngain'
|
||||
// '<S139>' : 'SimModel0621/Controler/PID Controller2/postSat Signal'
|
||||
// '<S140>' : 'SimModel0621/Controler/PID Controller2/preInt Signal'
|
||||
// '<S141>' : 'SimModel0621/Controler/PID Controller2/preSat Signal'
|
||||
// '<S142>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel'
|
||||
// '<S143>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone'
|
||||
// '<S144>' : 'SimModel0621/Controler/PID Controller2/Anti-windup/Disc. Clamping Parallel/Dead Zone/Enabled'
|
||||
// '<S145>' : 'SimModel0621/Controler/PID Controller2/D Gain/Internal Parameters'
|
||||
// '<S146>' : 'SimModel0621/Controler/PID Controller2/External Derivative/Error'
|
||||
// '<S147>' : 'SimModel0621/Controler/PID Controller2/Filter/Disc. Forward Euler Filter'
|
||||
// '<S148>' : 'SimModel0621/Controler/PID Controller2/Filter ICs/Internal IC - Filter'
|
||||
// '<S149>' : 'SimModel0621/Controler/PID Controller2/I Gain/Internal Parameters'
|
||||
// '<S150>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain/Passthrough'
|
||||
// '<S151>' : 'SimModel0621/Controler/PID Controller2/Ideal P Gain Fdbk/Disabled'
|
||||
// '<S152>' : 'SimModel0621/Controler/PID Controller2/Integrator/Discrete'
|
||||
// '<S153>' : 'SimModel0621/Controler/PID Controller2/Integrator ICs/Internal IC'
|
||||
// '<S154>' : 'SimModel0621/Controler/PID Controller2/N Copy/Disabled'
|
||||
// '<S155>' : 'SimModel0621/Controler/PID Controller2/N Gain/Internal Parameters'
|
||||
// '<S156>' : 'SimModel0621/Controler/PID Controller2/P Copy/Disabled'
|
||||
// '<S157>' : 'SimModel0621/Controler/PID Controller2/Parallel P Gain/Internal Parameters'
|
||||
// '<S158>' : 'SimModel0621/Controler/PID Controller2/Reset Signal/Disabled'
|
||||
// '<S159>' : 'SimModel0621/Controler/PID Controller2/Saturation/Enabled'
|
||||
// '<S160>' : 'SimModel0621/Controler/PID Controller2/Saturation Fdbk/Disabled'
|
||||
// '<S161>' : 'SimModel0621/Controler/PID Controller2/Sum/Sum_PID'
|
||||
// '<S162>' : 'SimModel0621/Controler/PID Controller2/Sum Fdbk/Disabled'
|
||||
// '<S163>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode/Disabled'
|
||||
// '<S164>' : 'SimModel0621/Controler/PID Controller2/Tracking Mode Sum/Passthrough'
|
||||
// '<S165>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Integral/TsSignalSpecification'
|
||||
// '<S166>' : 'SimModel0621/Controler/PID Controller2/Tsamp - Ngain/Passthrough'
|
||||
// '<S167>' : 'SimModel0621/Controler/PID Controller2/postSat Signal/Forward_Path'
|
||||
// '<S168>' : 'SimModel0621/Controler/PID Controller2/preInt Signal/Internal PreInt'
|
||||
// '<S169>' : 'SimModel0621/Controler/PID Controller2/preSat Signal/Forward_Path'
|
||||
// '<S170>' : 'SimModel0621/Controler/Pred_Depth/gamma'
|
||||
// '<S171>' : 'SimModel0621/Controler/Pred_Steering/gamma'
|
||||
|
||||
#endif // Controler_h_
|
||||
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
@@ -24,45 +24,55 @@
|
||||
Controler::P Controler::rtP{
|
||||
// Variable: pid_depth
|
||||
// Referenced by:
|
||||
// '<S89>/Derivative Gain'
|
||||
// '<S93>/Integral Gain'
|
||||
// '<S99>/Filter Coefficient'
|
||||
// '<S101>/Proportional Gain'
|
||||
// '<S91>/Derivative Gain'
|
||||
// '<S95>/Integral Gain'
|
||||
// '<S101>/Filter Coefficient'
|
||||
// '<S103>/Proportional Gain'
|
||||
|
||||
{
|
||||
2.0,
|
||||
0.0,
|
||||
0.0,
|
||||
0.5,
|
||||
0.1,
|
||||
10.0
|
||||
},
|
||||
|
||||
// Variable: pid_heading
|
||||
// Referenced by:
|
||||
// '<S35>/Derivative Gain'
|
||||
// '<S39>/Integral Gain'
|
||||
// '<S45>/Filter Coefficient'
|
||||
// '<S47>/Proportional Gain'
|
||||
// '<S37>/Derivative Gain'
|
||||
// '<S41>/Integral Gain'
|
||||
// '<S47>/Filter Coefficient'
|
||||
// '<S49>/Proportional Gain'
|
||||
|
||||
{
|
||||
1,
|
||||
0.1,
|
||||
0.8,
|
||||
0.01,
|
||||
10.0
|
||||
},
|
||||
|
||||
// Variable: pid_pitch
|
||||
// Referenced by:
|
||||
// '<S143>/Derivative Gain'
|
||||
// '<S147>/Integral Gain'
|
||||
// '<S153>/Filter Coefficient'
|
||||
// '<S155>/Proportional Gain'
|
||||
// '<S145>/Derivative Gain'
|
||||
// '<S149>/Integral Gain'
|
||||
// '<S155>/Filter Coefficient'
|
||||
// '<S157>/Proportional Gain'
|
||||
|
||||
{
|
||||
0.5,
|
||||
0.0,
|
||||
0.1,
|
||||
10.0
|
||||
}
|
||||
},
|
||||
|
||||
// Variable: gamma_depth
|
||||
// Referenced by: '<S6>/Compensation Gain'
|
||||
|
||||
5.0,
|
||||
|
||||
// Variable: gamma_heading
|
||||
// Referenced by: '<S7>/Compensation Gain'
|
||||
|
||||
1.0
|
||||
};
|
||||
|
||||
//
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
44
src/pAUV150/Controler/rtmodel.h
Normal file
44
src/pAUV150/Controler/rtmodel.h
Normal file
@@ -0,0 +1,44 @@
|
||||
//
|
||||
// Academic License - for use in teaching, academic research, and meeting
|
||||
// course requirements at degree granting institutions only. Not for
|
||||
// government, commercial, or other organizational use.
|
||||
//
|
||||
// File: rtmodel.h
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
// Code generation objectives:
|
||||
// 1. Execution efficiency
|
||||
// 2. RAM efficiency
|
||||
// Validation result: Not run
|
||||
//
|
||||
#ifndef rtmodel_h_
|
||||
#define rtmodel_h_
|
||||
#include "Controler.h"
|
||||
#define MODEL_CLASSNAME Controler
|
||||
#define MODEL_STEPNAME step
|
||||
|
||||
//
|
||||
// ROOT_IO_FORMAT: 0 (Individual arguments)
|
||||
// ROOT_IO_FORMAT: 1 (Structure reference)
|
||||
// ROOT_IO_FORMAT: 2 (Part of model data structure)
|
||||
|
||||
#define ROOT_IO_FORMAT 1
|
||||
|
||||
// Macros generated for backwards compatibility
|
||||
#ifndef rtmGetStopRequested
|
||||
#define rtmGetStopRequested(rtm) ((void*) 0)
|
||||
#endif
|
||||
#endif // rtmodel_h_
|
||||
|
||||
//
|
||||
// File trailer for generated code.
|
||||
//
|
||||
// [EOF]
|
||||
//
|
||||
@@ -7,9 +7,9 @@
|
||||
//
|
||||
// Code generated for Simulink model 'Controler'.
|
||||
//
|
||||
// Model version : 5.56
|
||||
// Model version : 5.77
|
||||
// Simulink Coder version : 24.2 (R2024b) 21-Jun-2024
|
||||
// C/C++ source code generated on : Wed Jun 18 22:52:45 2025
|
||||
// C/C++ source code generated on : Thu Jun 26 20:56:30 2025
|
||||
//
|
||||
// Target selection: ert.tlc
|
||||
// Embedded hardware selection: Intel->x86-64 (Linux 64)
|
||||
|
||||
Reference in New Issue
Block a user