diff --git a/CMakeLists.txt b/CMakeLists.txt index 8bb5882..43a28af 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,8 +67,9 @@ SIL/otherFiles/mav_param_set_decode_wrapper.c SIL/otherFiles/mav_param_value_encode_wrapper.c SIL/otherFiles/mav_parser_wrapper.c SIL/otherFiles/mav_rc_channels_override_decode_wrapper.c -SIL/otherFiles/mav_rc_channels_raw_encode_wrapper.c -SIL/otherFiles/mav_scaled_pressure_encode_wrapper.c +SIL/otherFiles/mav_ins1_encode_wrapper.c +SIL/otherFiles/mav_ins2_encode_wrapper.c +SIL/otherFiles/mav_emb_atmo_com_encode_wrapper.c SIL/otherFiles/mav_servo_output_raw_encode_wrapper.c SIL/otherFiles/mav_set_mode_decode_wrapper.c SIL/otherFiles/mav_sys_status_encode_wrapper.c @@ -86,6 +87,7 @@ SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.c SIL/work/slprj/ert_shrlib/_sharedutils/const_params.c SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.c SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.c +SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.c SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.c SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.c SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.c @@ -125,10 +127,10 @@ if(ANDROID) ) else() add_executable(kb3_sil WIN32 - main.cpp mainwindow.cpp mainwindow.h mainwindow.ui + main.cpp ${SIL_SRC} ) endif() diff --git a/SIL/otherFiles/ardupilotmega.h b/SIL/otherFiles/ardupilotmega.h index 73e901b..65b742d 100644 --- a/SIL/otherFiles/ardupilotmega.h +++ b/SIL/otherFiles/ardupilotmega.h @@ -24,7 +24,7 @@ extern "C" { #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 9, 0, 0, 0}, {1, 124, 31, 31, 0, 0, 0}, {2, 16, 8, 8, 0, 0, 0}, {4, 177, 11, 11, 3, 8, 10}, {5, 162, 29, 29, 1, 0, 0}, {6, 104, 3, 3, 0, 0, 0}, {7, 119, 32, 32, 0, 0, 0}, {8, 79, 32, 32, 0, 0, 0}, {11, 139, 7, 7, 1, 4, 0}, {19, 164, 25, 25, 3, 4, 6}, {20, 196, 21, 21, 3, 0, 4}, {21, 60, 3, 3, 3, 0, 2}, {22, 220, 25, 25, 0, 0, 0}, {23, 32, 24, 24, 3, 4, 6}, {24, 135, 26, 48, 0, 0, 0}, {25, 23, 101, 101, 0, 0, 0}, {26, 170, 22, 24, 0, 0, 0}, {27, 202, 22, 25, 0, 0, 0}, {28, 162, 12, 12, 0, 0, 0}, {29, 115, 14, 16, 0, 0, 0}, {30, 39, 28, 28, 0, 0, 0}, {31, 246, 32, 48, 0, 0, 0}, {32, 185, 28, 28, 0, 0, 0}, {33, 104, 28, 28, 0, 0, 0}, {34, 237, 22, 22, 0, 0, 0}, {35, 244, 22, 38, 0, 0, 0}, {36, 222, 21, 37, 0, 0, 0}, {37, 83, 7, 8, 3, 0, 6}, {38, 249, 7, 8, 3, 0, 6}, {39, 100, 38, 39, 3, 28, 34}, {40, 127, 5, 6, 3, 0, 4}, {41, 55, 5, 5, 3, 0, 4}, {42, 28, 2, 2, 0, 0, 0}, {43, 250, 3, 4, 3, 0, 2}, {44, 18, 5, 6, 3, 0, 4}, {45, 226, 3, 4, 3, 0, 2}, {46, 11, 2, 2, 0, 0, 0}, {47, 108, 4, 5, 3, 0, 2}, {48, 41, 14, 18, 1, 12, 0}, {49, 39, 12, 16, 0, 0, 0}, {50, 219, 38, 38, 3, 16, 20}, {51, 38, 5, 6, 3, 0, 4}, {52, 132, 7, 7, 0, 0, 0}, {54, 249, 28, 28, 3, 24, 26}, {55, 3, 25, 25, 0, 0, 0}, {61, 254, 68, 68, 0, 0, 0}, {62, 183, 26, 26, 0, 0, 0}, {63, 238, 177, 177, 0, 0, 0}, {64, 79, 221, 221, 0, 0, 0}, {65, 118, 42, 42, 0, 0, 0}, {66, 122, 7, 7, 3, 0, 4}, {67, 21, 4, 4, 0, 0, 0}, {69, 243, 11, 11, 1, 10, 0}, {70, 199, 19, 39, 3, 0, 18}, {73, 218, 38, 39, 3, 28, 34}, {74, 20, 20, 20, 0, 0, 0}, {75, 19, 36, 36, 3, 28, 32}, {76, 206, 34, 34, 3, 28, 32}, {77, 143, 3, 11, 3, 8, 10}, {80, 21, 5, 5, 3, 0, 4}, {81, 106, 22, 22, 0, 0, 0}, {82, 143, 40, 40, 3, 36, 38}, {83, 22, 37, 37, 0, 0, 0}, {84, 145, 54, 54, 3, 48, 52}, {85, 140, 51, 51, 0, 0, 0}, {86, 175, 54, 54, 3, 48, 52}, {87, 150, 51, 51, 0, 0, 0}, {89, 231, 28, 28, 0, 0, 0}, {90, 99, 52, 52, 0, 0, 0}, {91, 187, 38, 38, 0, 0, 0}, {92, 160, 29, 29, 0, 0, 0}, {93, 161, 73, 73, 0, 0, 0}, {100, 123, 22, 30, 0, 0, 0}, {101, 246, 28, 113, 0, 0, 0}, {102, 14, 28, 113, 0, 0, 0}, {103, 164, 16, 53, 0, 0, 0}, {104, 168, 28, 112, 0, 0, 0}, {105, 88, 58, 59, 0, 0, 0}, {106, 76, 40, 40, 0, 0, 0}, {107, 105, 60, 61, 0, 0, 0}, {108, 32, 84, 84, 0, 0, 0}, {109, 185, 9, 9, 0, 0, 0}, {110, 134, 255, 255, 3, 0, 3}, {111, 215, 8, 8, 0, 0, 0}, {112, 81, 8, 8, 0, 0, 0}, {113, 84, 32, 35, 0, 0, 0}, {114, 43, 40, 40, 0, 0, 0}, {115, 188, 60, 60, 0, 0, 0}, {116, 76, 22, 24, 0, 0, 0}, {117, 37, 7, 7, 3, 0, 6}, {118, 56, 14, 14, 0, 0, 0}, {119, 92, 13, 13, 3, 8, 12}, {120, 134, 97, 97, 0, 0, 0}, {121, 51, 3, 3, 3, 0, 2}, {122, 1, 3, 3, 3, 0, 2}, {123, 232, 114, 114, 3, 0, 2}, {124, 7, 31, 33, 0, 0, 0}, {125, 203, 6, 6, 0, 0, 0}, {126, 220, 79, 79, 0, 0, 0}, {127, 25, 35, 35, 0, 0, 0}, {128, 226, 35, 35, 0, 0, 0}, {129, 46, 22, 24, 0, 0, 0}, {130, 29, 13, 13, 0, 0, 0}, {131, 223, 255, 255, 0, 0, 0}, {132, 85, 14, 39, 0, 0, 0}, {133, 66, 14, 14, 0, 0, 0}, {134, 229, 43, 43, 0, 0, 0}, {135, 203, 8, 8, 0, 0, 0}, {136, 1, 22, 22, 0, 0, 0}, {137, 195, 14, 16, 0, 0, 0}, {138, 11, 32, 116, 0, 0, 0}, {139, 176, 40, 40, 3, 36, 39}, {140, 74, 37, 37, 0, 0, 0}, {141, 115, 28, 28, 0, 0, 0}, {142, 72, 243, 243, 0, 0, 0}, {143, 131, 14, 16, 0, 0, 0}, {144, 26, 85, 85, 0, 0, 0}, {146, 168, 96, 96, 0, 0, 0}, {147, 154, 36, 49, 0, 0, 0}, {148, 77, 52, 70, 0, 0, 0}, {149, 145, 26, 56, 0, 0, 0}, {150, 134, 42, 42, 0, 0, 0}, {151, 120, 9, 9, 3, 0, 8}, {152, 208, 4, 8, 0, 0, 0}, {153, 188, 12, 12, 0, 0, 0}, {154, 122, 16, 16, 3, 4, 8}, {155, 206, 14, 14, 3, 4, 6}, {156, 167, 7, 7, 3, 0, 2}, {157, 137, 16, 16, 3, 12, 14}, {158, 203, 15, 15, 3, 12, 14}, {160, 192, 13, 13, 3, 8, 10}, {161, 232, 4, 4, 3, 0, 2}, {162, 189, 8, 9, 0, 0, 0}, {163, 127, 28, 28, 0, 0, 0}, {164, 154, 44, 44, 0, 0, 0}, {165, 21, 3, 3, 0, 0, 0}, {166, 21, 9, 9, 0, 0, 0}, {167, 144, 22, 22, 0, 0, 0}, {168, 1, 12, 12, 0, 0, 0}, {169, 234, 18, 18, 0, 0, 0}, {170, 73, 34, 34, 0, 0, 0}, {171, 181, 66, 66, 0, 0, 0}, {172, 22, 98, 98, 0, 0, 0}, {173, 83, 8, 8, 0, 0, 0}, {174, 167, 48, 48, 0, 0, 0}, {175, 248, 20, 20, 3, 8, 16}, {176, 47, 4, 4, 3, 0, 2}, {177, 240, 20, 20, 0, 0, 0}, {178, 47, 24, 24, 0, 0, 0}, {179, 129, 26, 26, 1, 20, 0}, {180, 76, 42, 44, 1, 36, 0}, {181, 174, 4, 4, 0, 0, 0}, {182, 229, 40, 40, 0, 0, 0}, {183, 202, 3, 3, 3, 0, 2}, {184, 60, 207, 207, 3, 4, 6}, {185, 140, 8, 8, 3, 4, 6}, {186, 238, 30, 30, 3, 0, 2}, {191, 92, 27, 27, 0, 0, 0}, {192, 36, 44, 54, 0, 0, 0}, {193, 71, 22, 26, 0, 0, 0}, {194, 98, 25, 25, 0, 0, 0}, {195, 120, 37, 37, 0, 0, 0}, {200, 13, 43, 43, 3, 40, 42}, {201, 8, 15, 15, 3, 12, 14}, {214, 117, 9, 9, 3, 0, 8}, {215, 101, 3, 3, 0, 0, 0}, {216, 124, 4, 4, 3, 0, 2}, {217, 202, 6, 6, 0, 0, 0}, {218, 106, 8, 8, 3, 0, 2}, {219, 162, 2, 2, 0, 0, 0}, {225, 142, 53, 53, 0, 0, 0}, {226, 207, 8, 20, 0, 0, 0}, {230, 237, 38, 38, 0, 0, 0}, {231, 189, 36, 36, 0, 0, 0}, {232, 69, 59, 61, 0, 0, 0}, {233, 35, 182, 182, 0, 0, 0}, {234, 150, 40, 40, 0, 0, 0}, {235, 179, 42, 42, 0, 0, 0}, {241, 201, 28, 28, 0, 0, 0}, {242, 104, 52, 56, 0, 0, 0}, {243, 5, 54, 58, 1, 52, 0}, {244, 95, 6, 6, 0, 0, 0}, {245, 130, 2, 2, 0, 0, 0}, {246, 184, 38, 38, 0, 0, 0}, {247, 81, 19, 19, 0, 0, 0}, {248, 102, 254, 254, 3, 0, 5}, {249, 204, 36, 36, 0, 0, 0}, {250, 94, 26, 26, 0, 0, 0}, {251, 170, 18, 18, 0, 0, 0}, {252, 44, 18, 18, 0, 0, 0}, {253, 83, 51, 54, 0, 0, 0}, {254, 46, 9, 9, 0, 0, 0}, {256, 163, 39, 39, 3, 4, 6}, {257, 131, 9, 9, 0, 0, 0}, {258, 53, 33, 233, 3, 0, 2}, {259, 92, 235, 235, 0, 0, 0}, {260, 146, 5, 13, 0, 0, 0}, {261, 179, 27, 27, 0, 0, 0}, {262, 12, 18, 22, 0, 0, 0}, {263, 2, 251, 251, 0, 0, 0}, {264, 103, 16, 16, 0, 0, 0}, {265, 26, 16, 20, 0, 0, 0}, {266, 72, 255, 255, 3, 0, 4}, {267, 113, 255, 255, 3, 0, 4}, {268, 176, 5, 5, 3, 0, 4}, {269, 109, 213, 213, 0, 0, 0}, {270, 59, 19, 19, 0, 0, 0}, {271, 22, 52, 52, 0, 0, 0}, {275, 126, 31, 31, 0, 0, 0}, {276, 18, 49, 49, 0, 0, 0}, {280, 166, 33, 33, 0, 0, 0}, {281, 0, 9, 9, 0, 0, 0}, {282, 36, 36, 36, 3, 32, 34}, {283, 247, 98, 98, 0, 0, 0}, {284, 101, 33, 33, 3, 28, 32}, {285, 28, 41, 41, 3, 36, 40}, {286, 192, 50, 50, 3, 44, 48}, {287, 138, 24, 24, 3, 20, 22}, {290, 172, 38, 38, 0, 0, 0}, {291, 86, 53, 53, 0, 0, 0}, {299, 19, 96, 98, 0, 0, 0}, {300, 217, 22, 22, 0, 0, 0}, {301, 243, 58, 58, 0, 0, 0}, {310, 69, 13, 13, 0, 0, 0}, {311, 12, 112, 112, 0, 0, 0}, {320, 209, 21, 22, 3, 0, 4}, {321, 211, 3, 4, 3, 0, 2}, {322, 243, 149, 149, 0, 0, 0}, {323, 106, 148, 148, 3, 0, 2}, {324, 132, 146, 146, 0, 0, 0}, {325, 132, 149, 149, 0, 0, 0}, {326, 249, 148, 148, 3, 0, 2}, {327, 129, 146, 146, 0, 0, 0}, {330, 78, 154, 163, 0, 0, 0}, {331, 50, 226, 228, 0, 0, 0}, {332, 199, 235, 235, 0, 0, 0}, {333, 15, 105, 105, 0, 0, 0}, {334, 72, 10, 10, 0, 0, 0}, {335, 246, 16, 16, 0, 0, 0}, {336, 245, 84, 84, 0, 0, 0}, {339, 199, 5, 5, 0, 0, 0}, {340, 201, 66, 66, 0, 0, 0}, {350, 225, 16, 248, 0, 0, 0}, {360, 42, 21, 21, 0, 0, 0}, {370, 98, 73, 73, 0, 0, 0}, {371, 161, 50, 50, 0, 0, 0}, {373, 179, 38, 38, 0, 0, 0}, {375, 248, 136, 136, 0, 0, 0}, {380, 232, 20, 20, 0, 0, 0}, {385, 24, 134, 134, 3, 0, 4}, {390, 159, 234, 234, 0, 0, 0}, {395, 163, 156, 156, 0, 0, 0}, {400, 182, 255, 255, 3, 4, 6}, {401, 108, 7, 7, 3, 4, 6}, {9000, 96, 133, 133, 0, 0, 0}, {9005, 52, 30, 30, 0, 0, 0}, {10001, 209, 20, 20, 0, 0, 0}, {10002, 186, 41, 41, 0, 0, 0}, {10003, 4, 1, 1, 0, 0, 0}, {11000, 193, 52, 52, 3, 4, 6}, {11001, 15, 135, 135, 0, 0, 0}, {11002, 16, 180, 180, 3, 4, 6}, {11003, 64, 5, 5, 0, 0, 0}, {11010, 46, 49, 49, 0, 0, 0}, {11011, 187, 36, 36, 0, 0, 0}, {11020, 26, 12, 12, 0, 0, 0}, {11030, 144, 44, 44, 0, 0, 0}, {11031, 133, 44, 44, 0, 0, 0}, {11032, 85, 44, 44, 0, 0, 0}, {12900, 142, 45, 45, 3, 0, 2}, {12901, 67, 60, 60, 3, 24, 32}, {12902, 227, 54, 54, 3, 4, 6}, {12903, 184, 47, 47, 3, 0, 2}, {12904, 148, 47, 47, 3, 16, 22}, {12905, 164, 44, 44, 3, 0, 2}, {12915, 13, 255, 255, 3, 0, 2}, {20006, 215, 20, 20, 0, 0, 0}, {20007, 204, 6, 6, 0, 0, 0}, {20008, 241, 201, 201, 0, 0, 0}, {20101, 87, 25, 25, 0, 0, 0}, {20102, 128, 10, 10, 0, 0, 0}, {20103, 187, 85, 85, 0, 0, 0}, {20104, 212, 85, 85, 0, 0, 0}, {20105, 92, 13, 13, 0, 0, 0}, {20106, 92, 39, 39, 0, 0, 0}, {20107, 172, 112, 112, 0, 0, 0}, {20108, 18, 24, 24, 0, 0, 0}, {20109, 112, 64, 64, 0, 0, 0}, {20200, 172, 60, 60, 0, 0, 0}, {20201, 234, 24, 24, 0, 0, 0}, {20300, 124, 39, 39, 0, 0, 0}, {20301, 233, 79, 79, 0, 0, 0}, {20302, 5, 25, 25, 0, 0, 0}, {42000, 227, 1, 1, 0, 0, 0}, {42001, 239, 46, 46, 0, 0, 0}} +#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 9, 0, 0, 0}, {1, 124, 31, 31, 0, 0, 0}, {2, 16, 8, 8, 0, 0, 0}, {4, 177, 11, 11, 3, 8, 10}, {5, 162, 29, 29, 1, 0, 0}, {6, 104, 3, 3, 0, 0, 0}, {7, 119, 32, 32, 0, 0, 0}, {8, 79, 32, 32, 0, 0, 0}, {11, 139, 7, 7, 1, 4, 0}, {19, 164, 25, 25, 3, 4, 6}, {20, 196, 21, 21, 3, 0, 4}, {21, 60, 3, 3, 3, 0, 2}, {22, 220, 25, 25, 0, 0, 0}, {23, 32, 24, 24, 3, 4, 6}, {24, 135, 26, 48, 0, 0, 0}, {25, 23, 101, 101, 0, 0, 0}, {26, 170, 22, 24, 0, 0, 0}, {27, 202, 22, 25, 0, 0, 0}, {28, 162, 12, 12, 0, 0, 0}, {29, 115, 14, 16, 0, 0, 0}, {30, 39, 28, 28, 0, 0, 0}, {31, 246, 32, 48, 0, 0, 0}, {32, 185, 28, 28, 0, 0, 0}, {33, 104, 28, 28, 0, 0, 0}, {34, 237, 22, 22, 0, 0, 0}, {35, 244, 22, 38, 0, 0, 0}, {36, 222, 21, 37, 0, 0, 0}, {37, 83, 7, 8, 3, 0, 6}, {38, 249, 7, 8, 3, 0, 6}, {39, 100, 38, 39, 3, 28, 34}, {40, 127, 5, 6, 3, 0, 4}, {41, 55, 5, 5, 3, 0, 4}, {42, 28, 2, 2, 0, 0, 0}, {43, 250, 3, 4, 3, 0, 2}, {44, 18, 5, 6, 3, 0, 4}, {45, 226, 3, 4, 3, 0, 2}, {46, 11, 2, 2, 0, 0, 0}, {47, 108, 4, 5, 3, 0, 2}, {48, 41, 14, 18, 1, 12, 0}, {49, 39, 12, 16, 0, 0, 0}, {50, 219, 38, 38, 3, 16, 20}, {51, 38, 5, 6, 3, 0, 4}, {52, 132, 7, 7, 0, 0, 0}, {54, 249, 28, 28, 3, 24, 26}, {55, 3, 25, 25, 0, 0, 0}, {61, 254, 68, 68, 0, 0, 0}, {62, 183, 26, 26, 0, 0, 0}, {63, 238, 177, 177, 0, 0, 0}, {64, 79, 221, 221, 0, 0, 0}, {65, 118, 42, 42, 0, 0, 0}, {66, 122, 7, 7, 3, 0, 4}, {67, 21, 4, 4, 0, 0, 0}, {69, 243, 11, 11, 1, 10, 0}, {70, 199, 19, 39, 3, 0, 18}, {73, 218, 38, 39, 3, 28, 34}, {74, 20, 20, 20, 0, 0, 0}, {75, 19, 36, 36, 3, 28, 32}, {76, 206, 34, 34, 3, 28, 32}, {77, 143, 3, 11, 3, 8, 10}, {80, 21, 5, 5, 3, 0, 4}, {81, 106, 22, 22, 0, 0, 0}, {82, 143, 40, 40, 3, 36, 38}, {83, 22, 37, 37, 0, 0, 0}, {84, 145, 54, 54, 3, 48, 52}, {85, 140, 51, 51, 0, 0, 0}, {86, 175, 54, 54, 3, 48, 52}, {87, 150, 51, 51, 0, 0, 0}, {89, 231, 28, 28, 0, 0, 0}, {90, 99, 52, 52, 0, 0, 0}, {91, 187, 38, 38, 0, 0, 0}, {92, 160, 29, 29, 0, 0, 0}, {93, 161, 73, 73, 0, 0, 0}, {100, 123, 22, 30, 0, 0, 0}, {101, 246, 28, 113, 0, 0, 0}, {102, 14, 28, 113, 0, 0, 0}, {103, 164, 16, 53, 0, 0, 0}, {104, 168, 28, 112, 0, 0, 0}, {105, 88, 58, 59, 0, 0, 0}, {106, 76, 40, 40, 0, 0, 0}, {107, 105, 60, 61, 0, 0, 0}, {108, 32, 84, 84, 0, 0, 0}, {109, 185, 9, 9, 0, 0, 0}, {110, 134, 255, 255, 3, 0, 3}, {111, 215, 8, 8, 0, 0, 0}, {112, 81, 8, 8, 0, 0, 0}, {113, 84, 32, 35, 0, 0, 0}, {114, 43, 40, 40, 0, 0, 0}, {115, 188, 60, 60, 0, 0, 0}, {116, 76, 22, 24, 0, 0, 0}, {117, 37, 7, 7, 3, 0, 6}, {118, 56, 14, 14, 0, 0, 0}, {119, 92, 13, 13, 3, 8, 12}, {120, 134, 97, 97, 0, 0, 0}, {121, 51, 3, 3, 3, 0, 2}, {122, 1, 3, 3, 3, 0, 2}, {123, 232, 114, 114, 3, 0, 2}, {124, 7, 31, 33, 0, 0, 0}, {125, 203, 6, 6, 0, 0, 0}, {126, 220, 79, 79, 0, 0, 0}, {127, 25, 35, 35, 0, 0, 0}, {128, 226, 35, 35, 0, 0, 0}, {129, 46, 22, 24, 0, 0, 0}, {130, 29, 13, 13, 0, 0, 0}, {131, 223, 255, 255, 0, 0, 0}, {132, 85, 14, 39, 0, 0, 0}, {133, 66, 14, 14, 0, 0, 0}, {134, 229, 43, 43, 0, 0, 0}, {135, 203, 8, 8, 0, 0, 0}, {136, 1, 22, 22, 0, 0, 0}, {137, 195, 14, 16, 0, 0, 0}, {138, 11, 32, 116, 0, 0, 0}, {139, 176, 40, 40, 3, 36, 39}, {140, 74, 37, 37, 0, 0, 0}, {141, 115, 28, 28, 0, 0, 0}, {142, 72, 243, 243, 0, 0, 0}, {143, 131, 14, 16, 0, 0, 0}, {144, 26, 85, 85, 0, 0, 0}, {146, 168, 96, 96, 0, 0, 0}, {147, 154, 36, 49, 0, 0, 0}, {148, 77, 52, 70, 0, 0, 0}, {149, 145, 26, 56, 0, 0, 0}, {150, 134, 42, 42, 0, 0, 0}, {151, 120, 9, 9, 3, 0, 8}, {152, 208, 4, 8, 0, 0, 0}, {153, 188, 12, 12, 0, 0, 0}, {154, 122, 16, 16, 3, 4, 8}, {155, 206, 14, 14, 3, 4, 6}, {156, 167, 7, 7, 3, 0, 2}, {157, 137, 16, 16, 3, 12, 14}, {158, 203, 15, 15, 3, 12, 14}, {160, 192, 13, 13, 3, 8, 10}, {161, 232, 4, 4, 3, 0, 2}, {162, 189, 8, 9, 0, 0, 0}, {163, 127, 28, 28, 0, 0, 0}, {164, 154, 44, 44, 0, 0, 0}, {165, 21, 3, 3, 0, 0, 0}, {166, 21, 9, 9, 0, 0, 0}, {167, 144, 22, 22, 0, 0, 0}, {168, 1, 12, 12, 0, 0, 0}, {169, 234, 18, 18, 0, 0, 0}, {170, 73, 34, 34, 0, 0, 0}, {171, 181, 66, 66, 0, 0, 0}, {172, 22, 98, 98, 0, 0, 0}, {173, 83, 8, 8, 0, 0, 0}, {174, 167, 48, 48, 0, 0, 0}, {175, 248, 20, 20, 3, 8, 16}, {176, 47, 4, 4, 3, 0, 2}, {177, 240, 20, 20, 0, 0, 0}, {178, 47, 24, 24, 0, 0, 0}, {179, 129, 26, 26, 1, 20, 0}, {180, 76, 42, 44, 1, 36, 0}, {181, 174, 4, 4, 0, 0, 0}, {182, 229, 40, 40, 0, 0, 0}, {183, 202, 3, 3, 3, 0, 2}, {184, 60, 207, 207, 3, 4, 6}, {185, 140, 8, 8, 3, 4, 6}, {186, 238, 30, 30, 3, 0, 2}, {191, 92, 27, 27, 0, 0, 0}, {192, 36, 44, 54, 0, 0, 0}, {193, 71, 22, 26, 0, 0, 0}, {194, 98, 25, 25, 0, 0, 0}, {195, 120, 37, 37, 0, 0, 0}, {200, 13, 43, 43, 3, 40, 42}, {201, 8, 15, 15, 3, 12, 14}, {214, 117, 9, 9, 3, 0, 8}, {215, 101, 3, 3, 0, 0, 0}, {216, 124, 4, 4, 3, 0, 2}, {217, 202, 6, 6, 0, 0, 0}, {218, 106, 8, 8, 3, 0, 2}, {219, 162, 2, 2, 0, 0, 0}, {225, 142, 53, 53, 0, 0, 0}, {226, 207, 8, 20, 0, 0, 0}, {230, 237, 38, 38, 0, 0, 0}, {231, 189, 36, 36, 0, 0, 0}, {232, 69, 59, 61, 0, 0, 0}, {233, 35, 182, 182, 0, 0, 0}, {234, 150, 40, 40, 0, 0, 0}, {235, 179, 42, 42, 0, 0, 0}, {241, 201, 28, 28, 0, 0, 0}, {242, 104, 52, 56, 0, 0, 0}, {243, 5, 54, 58, 1, 52, 0}, {244, 95, 6, 6, 0, 0, 0}, {245, 130, 2, 2, 0, 0, 0}, {246, 184, 38, 38, 0, 0, 0}, {247, 81, 19, 19, 0, 0, 0}, {248, 102, 254, 254, 3, 0, 5}, {249, 204, 36, 36, 0, 0, 0}, {250, 94, 26, 26, 0, 0, 0}, {251, 170, 18, 18, 0, 0, 0}, {252, 44, 18, 18, 0, 0, 0}, {253, 83, 51, 54, 0, 0, 0}, {254, 46, 9, 9, 0, 0, 0}, {256, 163, 39, 39, 3, 4, 6}, {257, 131, 9, 9, 0, 0, 0}, {258, 53, 33, 233, 3, 0, 2}, {259, 92, 235, 235, 0, 0, 0}, {260, 146, 5, 13, 0, 0, 0}, {261, 179, 27, 27, 0, 0, 0}, {262, 12, 18, 22, 0, 0, 0}, {263, 2, 251, 251, 0, 0, 0}, {264, 103, 16, 16, 0, 0, 0}, {265, 26, 16, 20, 0, 0, 0}, {266, 72, 255, 255, 3, 0, 4}, {267, 113, 255, 255, 3, 0, 4}, {268, 176, 5, 5, 3, 0, 4}, {269, 109, 213, 213, 0, 0, 0}, {270, 59, 19, 19, 0, 0, 0}, {271, 22, 52, 52, 0, 0, 0}, {275, 126, 31, 31, 0, 0, 0}, {276, 18, 49, 49, 0, 0, 0}, {280, 166, 33, 33, 0, 0, 0}, {281, 0, 9, 9, 0, 0, 0}, {282, 36, 36, 36, 3, 32, 34}, {283, 247, 98, 98, 0, 0, 0}, {284, 101, 33, 33, 3, 28, 32}, {285, 28, 41, 41, 3, 36, 40}, {286, 192, 50, 50, 3, 44, 48}, {287, 138, 24, 24, 3, 20, 22}, {290, 172, 38, 38, 0, 0, 0}, {291, 86, 53, 53, 0, 0, 0}, {299, 19, 96, 98, 0, 0, 0}, {300, 217, 22, 22, 0, 0, 0}, {301, 243, 58, 58, 0, 0, 0}, {310, 69, 13, 13, 0, 0, 0}, {311, 12, 112, 112, 0, 0, 0}, {320, 209, 21, 22, 3, 0, 4}, {321, 211, 3, 4, 3, 0, 2}, {322, 243, 149, 149, 0, 0, 0}, {323, 106, 148, 148, 3, 0, 2}, {324, 132, 146, 146, 0, 0, 0}, {325, 132, 149, 149, 0, 0, 0}, {326, 249, 148, 148, 3, 0, 2}, {327, 129, 146, 146, 0, 0, 0}, {330, 78, 154, 163, 0, 0, 0}, {331, 50, 226, 228, 0, 0, 0}, {332, 199, 235, 235, 0, 0, 0}, {333, 15, 105, 105, 0, 0, 0}, {334, 72, 10, 10, 0, 0, 0}, {335, 246, 16, 16, 0, 0, 0}, {336, 245, 84, 84, 0, 0, 0}, {339, 199, 5, 5, 0, 0, 0}, {340, 201, 66, 66, 0, 0, 0}, {350, 225, 16, 248, 0, 0, 0}, {360, 42, 21, 21, 0, 0, 0}, {370, 98, 73, 73, 0, 0, 0}, {371, 161, 50, 50, 0, 0, 0}, {373, 179, 38, 38, 0, 0, 0}, {375, 248, 136, 136, 0, 0, 0}, {380, 232, 20, 20, 0, 0, 0}, {385, 24, 134, 134, 3, 0, 4}, {390, 159, 234, 234, 0, 0, 0}, {395, 163, 156, 156, 0, 0, 0}, {400, 182, 255, 255, 3, 4, 6}, {401, 108, 7, 7, 3, 4, 6}, {9000, 96, 133, 133, 0, 0, 0}, {9005, 52, 30, 30, 0, 0, 0}, {10001, 209, 20, 20, 0, 0, 0}, {10002, 186, 41, 41, 0, 0, 0}, {10003, 4, 1, 1, 0, 0, 0}, {11000, 193, 52, 52, 3, 4, 6}, {11001, 15, 135, 135, 0, 0, 0}, {11002, 16, 180, 180, 3, 4, 6}, {11003, 64, 5, 5, 0, 0, 0}, {11010, 46, 49, 49, 0, 0, 0}, {11011, 187, 36, 36, 0, 0, 0}, {11020, 26, 12, 12, 0, 0, 0}, {11030, 144, 44, 44, 0, 0, 0}, {11031, 133, 44, 44, 0, 0, 0}, {11032, 85, 44, 44, 0, 0, 0}, {12900, 142, 45, 45, 3, 0, 2}, {12901, 67, 60, 60, 3, 24, 32}, {12902, 227, 54, 54, 3, 4, 6}, {12903, 184, 47, 47, 3, 0, 2}, {12904, 148, 47, 47, 3, 16, 22}, {12905, 164, 44, 44, 3, 0, 2}, {12915, 13, 255, 255, 3, 0, 2}, {20006, 215, 20, 20, 0, 0, 0}, {20007, 204, 6, 6, 0, 0, 0}, {20008, 241, 201, 201, 0, 0, 0}, {20101, 87, 25, 29, 0, 0, 0}, {20102, 128, 10, 10, 0, 0, 0}, {20103, 187, 85, 90, 0, 0, 0}, {20104, 212, 85, 90, 0, 0, 0}, {20105, 92, 13, 13, 0, 0, 0}, {20106, 92, 39, 39, 0, 0, 0}, {20107, 172, 112, 112, 0, 0, 0}, {20108, 18, 24, 24, 0, 0, 0}, {20109, 112, 64, 64, 0, 0, 0}, {20200, 172, 60, 60, 0, 0, 0}, {20201, 234, 24, 24, 0, 0, 0}, {20300, 124, 39, 39, 0, 0, 0}, {20301, 233, 79, 79, 0, 0, 0}, {20302, 5, 25, 25, 0, 0, 0}, {42000, 227, 1, 1, 0, 0, 0}, {42001, 239, 46, 46, 0, 0, 0}} #endif #include "protocol.h" diff --git a/SIL/otherFiles/find_param_val_wrapper.c b/SIL/otherFiles/find_param_val_wrapper.c index 9070f32..6ec98b1 100644 --- a/SIL/otherFiles/find_param_val_wrapper.c +++ b/SIL/otherFiles/find_param_val_wrapper.c @@ -101,13 +101,6 @@ void scan_params(void) prop.typ = PARAM_TYPE_REAL64; } break; - case SS_SINGLE: - { - float *s = &((float *)da[idx])[j]; - prop.val_ptr.s = s; - prop.typ = PARAM_TYPE_REAL32; - } - break; case SS_INT8: case SS_BOOLEAN: { @@ -145,6 +138,12 @@ void scan_params(void) prop.typ = PARAM_TYPE_UINT32; } break; + default: + { + prop.val_ptr.s = &((float *)da[idx])[j]; + prop.typ = PARAM_TYPE_REAL32; + } + break; } strncpy(prop.name, name, 16); if (j > 0) @@ -207,7 +206,7 @@ void find_param_val_Outputs_wrapper(const uint16_T *idx, param_prop * p = param_get_by_idx(idx[0]); if (p) { - memcpy(name, p->name, 16); + strncpy(name, p->name, 16); type[0] = p->typ; param_get_value(p, value); } diff --git a/SIL/otherFiles/hal_api.h b/SIL/otherFiles/hal_api.h index 7258729..222c989 100644 --- a/SIL/otherFiles/hal_api.h +++ b/SIL/otherFiles/hal_api.h @@ -5,6 +5,8 @@ extern "C" { #endif + +#pragma anon_unions #include @@ -231,4 +233,4 @@ extern "C" } #endif -#endif // _HAL_H_ +#endif // _HAL_H_ \ No newline at end of file diff --git a/SIL/otherFiles/mav_rc_channels_raw_encode_wrapper.c b/SIL/otherFiles/mav_emb_atmo_com_encode_wrapper.c similarity index 82% rename from SIL/otherFiles/mav_rc_channels_raw_encode_wrapper.c rename to SIL/otherFiles/mav_emb_atmo_com_encode_wrapper.c index 311538b..2860c56 100644 --- a/SIL/otherFiles/mav_rc_channels_raw_encode_wrapper.c +++ b/SIL/otherFiles/mav_emb_atmo_com_encode_wrapper.c @@ -31,14 +31,14 @@ * Output function * */ -void mav_rc_channels_raw_encode_Outputs_wrapper(const mavlink_rc_channels_raw_t *obj, +void mav_emb_atmo_com_encode_Outputs_wrapper(const mavlink_emb_atmo_com_t *obj, const uint8_T *sys_id, const uint8_T *comp_id, const uint8_T *channel, mavlink_message_t *msg) { /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */ -mavlink_msg_rc_channels_raw_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj); +mavlink_msg_emb_atmo_com_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj); /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */ } diff --git a/SIL/otherFiles/mav_scaled_pressure_encode_wrapper.c b/SIL/otherFiles/mav_ins1_encode_wrapper.c similarity index 82% rename from SIL/otherFiles/mav_scaled_pressure_encode_wrapper.c rename to SIL/otherFiles/mav_ins1_encode_wrapper.c index 9d7c567..c2e6af5 100644 --- a/SIL/otherFiles/mav_scaled_pressure_encode_wrapper.c +++ b/SIL/otherFiles/mav_ins1_encode_wrapper.c @@ -31,14 +31,14 @@ * Output function * */ -void mav_scaled_pressure_encode_Outputs_wrapper(const mavlink_scaled_pressure_t *obj, +void mav_ins1_encode_Outputs_wrapper(const mavlink_ins1_t *obj, const uint8_T *sys_id, const uint8_T *comp_id, const uint8_T *channel, mavlink_message_t *msg) { /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */ -mavlink_msg_scaled_pressure_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj); +mavlink_msg_ins1_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj); /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */ } diff --git a/SIL/otherFiles/mav_ins2_encode_wrapper.c b/SIL/otherFiles/mav_ins2_encode_wrapper.c new file mode 100644 index 0000000..8005b9c --- /dev/null +++ b/SIL/otherFiles/mav_ins2_encode_wrapper.c @@ -0,0 +1,45 @@ + +/* + * Include Files + * + */ +#if defined(MATLAB_MEX_FILE) +#include "tmwtypes.h" +#include "simstruc_types.h" +#else +#include "rtwtypes.h" +#endif + +#include "mav_stat_def.h" + + +/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */ + +/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */ +#define u_width 1 +#define y_width 1 + +/* + * Create external references here. + * + */ +/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */ + +/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */ + +/* + * Output function + * + */ +void mav_ins2_encode_Outputs_wrapper(const mavlink_ins2_t *obj, + const uint8_T *sys_id, + const uint8_T *comp_id, + const uint8_T *channel, + mavlink_message_t *msg) +{ +/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */ +mavlink_msg_ins2_encode_chan(sys_id[0], comp_id[0], channel[0], msg, obj); +/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */ +} + + diff --git a/SIL/otherFiles/mavlink_msg_emb_atmo_com.h b/SIL/otherFiles/mavlink_msg_emb_atmo_com.h index edf85f4..76f7676 100644 --- a/SIL/otherFiles/mavlink_msg_emb_atmo_com.h +++ b/SIL/otherFiles/mavlink_msg_emb_atmo_com.h @@ -3,7 +3,7 @@ #define MAVLINK_MSG_ID_EMB_ATMO_COM 20101 - +MAVPACKED( typedef struct __mavlink_emb_atmo_com_t { uint32_t time_boot_ms; /*< [ms] Timestamp (milliseconds since system boot)*/ float Airspeed; /*< Magnitude of air velocity [m/s]*/ @@ -12,11 +12,12 @@ typedef struct __mavlink_emb_atmo_com_t { float ps; /*< Static pressure [Pa]*/ float qbar; /*< Dynamic pressure [Pa]*/ uint8_t seq; /*< sequeue index*/ -} mavlink_emb_atmo_com_t; + float mach; /*< Mach*/ +}) mavlink_emb_atmo_com_t; -#define MAVLINK_MSG_ID_EMB_ATMO_COM_LEN 25 +#define MAVLINK_MSG_ID_EMB_ATMO_COM_LEN 29 #define MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN 25 -#define MAVLINK_MSG_ID_20101_LEN 25 +#define MAVLINK_MSG_ID_20101_LEN 29 #define MAVLINK_MSG_ID_20101_MIN_LEN 25 #define MAVLINK_MSG_ID_EMB_ATMO_COM_CRC 87 @@ -28,7 +29,7 @@ typedef struct __mavlink_emb_atmo_com_t { #define MAVLINK_MESSAGE_INFO_EMB_ATMO_COM { \ 20101, \ "EMB_ATMO_COM", \ - 7, \ + 8, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_emb_atmo_com_t, time_boot_ms) }, \ { "Airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_emb_atmo_com_t, Airspeed) }, \ { "beta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_emb_atmo_com_t, beta) }, \ @@ -36,12 +37,13 @@ typedef struct __mavlink_emb_atmo_com_t { { "ps", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_emb_atmo_com_t, ps) }, \ { "qbar", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_emb_atmo_com_t, qbar) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_emb_atmo_com_t, seq) }, \ + { "mach", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_emb_atmo_com_t, mach) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_EMB_ATMO_COM { \ "EMB_ATMO_COM", \ - 7, \ + 8, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_emb_atmo_com_t, time_boot_ms) }, \ { "Airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_emb_atmo_com_t, Airspeed) }, \ { "beta", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_emb_atmo_com_t, beta) }, \ @@ -49,6 +51,7 @@ typedef struct __mavlink_emb_atmo_com_t { { "ps", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_emb_atmo_com_t, ps) }, \ { "qbar", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_emb_atmo_com_t, qbar) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_emb_atmo_com_t, seq) }, \ + { "mach", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_emb_atmo_com_t, mach) }, \ } \ } #endif @@ -66,10 +69,11 @@ typedef struct __mavlink_emb_atmo_com_t { * @param ps Static pressure [Pa] * @param qbar Dynamic pressure [Pa] * @param seq sequeue index + * @param mach Mach * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_emb_atmo_com_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq) + uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq, float mach) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_EMB_ATMO_COM_LEN]; @@ -80,6 +84,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack(uint16_t system_id, uint8_t _mav_put_float(buf, 16, ps); _mav_put_float(buf, 20, qbar); _mav_put_uint8_t(buf, 24, seq); + _mav_put_float(buf, 25, mach); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN); #else @@ -91,6 +96,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack(uint16_t system_id, uint8_t packet.ps = ps; packet.qbar = qbar; packet.seq = seq; + packet.mach = mach; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN); #endif @@ -112,11 +118,12 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack(uint16_t system_id, uint8_t * @param ps Static pressure [Pa] * @param qbar Dynamic pressure [Pa] * @param seq sequeue index + * @param mach Mach * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_emb_atmo_com_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint32_t time_boot_ms,float Airspeed,float beta,float alpha,float ps,float qbar,uint8_t seq) + uint32_t time_boot_ms,float Airspeed,float beta,float alpha,float ps,float qbar,uint8_t seq,float mach) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_EMB_ATMO_COM_LEN]; @@ -127,6 +134,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack_chan(uint16_t system_id, ui _mav_put_float(buf, 16, ps); _mav_put_float(buf, 20, qbar); _mav_put_uint8_t(buf, 24, seq); + _mav_put_float(buf, 25, mach); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN); #else @@ -138,6 +146,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack_chan(uint16_t system_id, ui packet.ps = ps; packet.qbar = qbar; packet.seq = seq; + packet.mach = mach; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN); #endif @@ -156,7 +165,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_pack_chan(uint16_t system_id, ui */ static inline uint16_t mavlink_msg_emb_atmo_com_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_emb_atmo_com_t* emb_atmo_com) { - return mavlink_msg_emb_atmo_com_pack(system_id, component_id, msg, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq); + return mavlink_msg_emb_atmo_com_pack(system_id, component_id, msg, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq, emb_atmo_com->mach); } /** @@ -170,7 +179,7 @@ static inline uint16_t mavlink_msg_emb_atmo_com_encode(uint16_t system_id, uint8 */ static inline uint16_t mavlink_msg_emb_atmo_com_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_emb_atmo_com_t* emb_atmo_com) { - return mavlink_msg_emb_atmo_com_pack_chan(system_id, component_id, chan, msg, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq); + return mavlink_msg_emb_atmo_com_pack_chan(system_id, component_id, chan, msg, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq, emb_atmo_com->mach); } /** @@ -184,10 +193,11 @@ static inline uint16_t mavlink_msg_emb_atmo_com_encode_chan(uint16_t system_id, * @param ps Static pressure [Pa] * @param qbar Dynamic pressure [Pa] * @param seq sequeue index + * @param mach Mach */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_emb_atmo_com_send(mavlink_channel_t chan, uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq) +static inline void mavlink_msg_emb_atmo_com_send(mavlink_channel_t chan, uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq, float mach) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_EMB_ATMO_COM_LEN]; @@ -198,6 +208,7 @@ static inline void mavlink_msg_emb_atmo_com_send(mavlink_channel_t chan, uint32_ _mav_put_float(buf, 16, ps); _mav_put_float(buf, 20, qbar); _mav_put_uint8_t(buf, 24, seq); + _mav_put_float(buf, 25, mach); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EMB_ATMO_COM, buf, MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_CRC); #else @@ -209,6 +220,7 @@ static inline void mavlink_msg_emb_atmo_com_send(mavlink_channel_t chan, uint32_ packet.ps = ps; packet.qbar = qbar; packet.seq = seq; + packet.mach = mach; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EMB_ATMO_COM, (const char *)&packet, MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_CRC); #endif @@ -222,7 +234,7 @@ static inline void mavlink_msg_emb_atmo_com_send(mavlink_channel_t chan, uint32_ static inline void mavlink_msg_emb_atmo_com_send_struct(mavlink_channel_t chan, const mavlink_emb_atmo_com_t* emb_atmo_com) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - mavlink_msg_emb_atmo_com_send(chan, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq); + mavlink_msg_emb_atmo_com_send(chan, emb_atmo_com->time_boot_ms, emb_atmo_com->Airspeed, emb_atmo_com->beta, emb_atmo_com->alpha, emb_atmo_com->ps, emb_atmo_com->qbar, emb_atmo_com->seq, emb_atmo_com->mach); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EMB_ATMO_COM, (const char *)emb_atmo_com, MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_CRC); #endif @@ -236,7 +248,7 @@ static inline void mavlink_msg_emb_atmo_com_send_struct(mavlink_channel_t chan, is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ -static inline void mavlink_msg_emb_atmo_com_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq) +static inline void mavlink_msg_emb_atmo_com_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float Airspeed, float beta, float alpha, float ps, float qbar, uint8_t seq, float mach) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; @@ -247,6 +259,7 @@ static inline void mavlink_msg_emb_atmo_com_send_buf(mavlink_message_t *msgbuf, _mav_put_float(buf, 16, ps); _mav_put_float(buf, 20, qbar); _mav_put_uint8_t(buf, 24, seq); + _mav_put_float(buf, 25, mach); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EMB_ATMO_COM, buf, MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_CRC); #else @@ -258,6 +271,7 @@ static inline void mavlink_msg_emb_atmo_com_send_buf(mavlink_message_t *msgbuf, packet->ps = ps; packet->qbar = qbar; packet->seq = seq; + packet->mach = mach; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EMB_ATMO_COM, (const char *)packet, MAVLINK_MSG_ID_EMB_ATMO_COM_MIN_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN, MAVLINK_MSG_ID_EMB_ATMO_COM_CRC); #endif @@ -339,6 +353,16 @@ static inline uint8_t mavlink_msg_emb_atmo_com_get_seq(const mavlink_message_t* return _MAV_RETURN_uint8_t(msg, 24); } +/** + * @brief Get field mach from emb_atmo_com message + * + * @return Mach + */ +static inline float mavlink_msg_emb_atmo_com_get_mach(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 25); +} + /** * @brief Decode a emb_atmo_com message into a struct * @@ -355,6 +379,7 @@ static inline void mavlink_msg_emb_atmo_com_decode(const mavlink_message_t* msg, emb_atmo_com->ps = mavlink_msg_emb_atmo_com_get_ps(msg); emb_atmo_com->qbar = mavlink_msg_emb_atmo_com_get_qbar(msg); emb_atmo_com->seq = mavlink_msg_emb_atmo_com_get_seq(msg); + emb_atmo_com->mach = mavlink_msg_emb_atmo_com_get_mach(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_EMB_ATMO_COM_LEN? msg->len : MAVLINK_MSG_ID_EMB_ATMO_COM_LEN; memset(emb_atmo_com, 0, MAVLINK_MSG_ID_EMB_ATMO_COM_LEN); diff --git a/SIL/otherFiles/mavlink_msg_ins1.h b/SIL/otherFiles/mavlink_msg_ins1.h index 5b1d63c..307566f 100644 --- a/SIL/otherFiles/mavlink_msg_ins1.h +++ b/SIL/otherFiles/mavlink_msg_ins1.h @@ -3,7 +3,7 @@ #define MAVLINK_MSG_ID_INS1 20103 - +MAVPACKED( typedef struct __mavlink_ins1_t { double lon; /*< lon(deg)*/ double lat; /*< lat(deg)*/ @@ -27,11 +27,14 @@ typedef struct __mavlink_ins1_t { uint8_t gps_status; /*< gps_status*/ uint8_t BIT; /*< BIT*/ uint8_t seq; /*< sequeue index*/ -} mavlink_ins1_t; + uint16_t eph; /*< GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX*/ + uint16_t epv; /*< GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX*/ + uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/ +}) mavlink_ins1_t; -#define MAVLINK_MSG_ID_INS1_LEN 85 +#define MAVLINK_MSG_ID_INS1_LEN 90 #define MAVLINK_MSG_ID_INS1_MIN_LEN 85 -#define MAVLINK_MSG_ID_20103_LEN 85 +#define MAVLINK_MSG_ID_20103_LEN 90 #define MAVLINK_MSG_ID_20103_MIN_LEN 85 #define MAVLINK_MSG_ID_INS1_CRC 187 @@ -43,7 +46,7 @@ typedef struct __mavlink_ins1_t { #define MAVLINK_MESSAGE_INFO_INS1 { \ 20103, \ "INS1", \ - 22, \ + 25, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins1_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins1_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins1_t, roll) }, \ @@ -66,12 +69,15 @@ typedef struct __mavlink_ins1_t { { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins1_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins1_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins1_t, seq) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 85, offsetof(mavlink_ins1_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 87, offsetof(mavlink_ins1_t, epv) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_ins1_t, satellites_visible) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_INS1 { \ "INS1", \ - 22, \ + 25, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins1_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins1_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins1_t, roll) }, \ @@ -94,6 +100,9 @@ typedef struct __mavlink_ins1_t { { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins1_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins1_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins1_t, seq) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 85, offsetof(mavlink_ins1_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 87, offsetof(mavlink_ins1_t, epv) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_ins1_t, satellites_visible) }, \ } \ } #endif @@ -126,10 +135,13 @@ typedef struct __mavlink_ins1_t { * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins1_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) + uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS1_LEN]; @@ -155,6 +167,9 @@ static inline uint16_t mavlink_msg_ins1_pack(uint16_t system_id, uint8_t compone _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS1_LEN); #else @@ -181,6 +196,9 @@ static inline uint16_t mavlink_msg_ins1_pack(uint16_t system_id, uint8_t compone packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS1_LEN); #endif @@ -217,11 +235,14 @@ static inline uint16_t mavlink_msg_ins1_pack(uint16_t system_id, uint8_t compone * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins1_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint32_t time_boot_ms,float pitch,float roll,float yaw,double lon,double lat,float alt,float v_north,float v_up,float v_east,float gx,float gy,float gz,float ax,float ay,float az,double time,uint8_t sys_status,uint8_t com_status,uint8_t gps_status,uint8_t BIT,uint8_t seq) + uint32_t time_boot_ms,float pitch,float roll,float yaw,double lon,double lat,float alt,float v_north,float v_up,float v_east,float gx,float gy,float gz,float ax,float ay,float az,double time,uint8_t sys_status,uint8_t com_status,uint8_t gps_status,uint8_t BIT,uint8_t seq,uint16_t eph,uint16_t epv,uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS1_LEN]; @@ -247,6 +268,9 @@ static inline uint16_t mavlink_msg_ins1_pack_chan(uint16_t system_id, uint8_t co _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS1_LEN); #else @@ -273,6 +297,9 @@ static inline uint16_t mavlink_msg_ins1_pack_chan(uint16_t system_id, uint8_t co packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS1_LEN); #endif @@ -291,7 +318,7 @@ static inline uint16_t mavlink_msg_ins1_pack_chan(uint16_t system_id, uint8_t co */ static inline uint16_t mavlink_msg_ins1_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ins1_t* ins1) { - return mavlink_msg_ins1_pack(system_id, component_id, msg, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq); + return mavlink_msg_ins1_pack(system_id, component_id, msg, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq, ins1->eph, ins1->epv, ins1->satellites_visible); } /** @@ -305,7 +332,7 @@ static inline uint16_t mavlink_msg_ins1_encode(uint16_t system_id, uint8_t compo */ static inline uint16_t mavlink_msg_ins1_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ins1_t* ins1) { - return mavlink_msg_ins1_pack_chan(system_id, component_id, chan, msg, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq); + return mavlink_msg_ins1_pack_chan(system_id, component_id, chan, msg, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq, ins1->eph, ins1->epv, ins1->satellites_visible); } /** @@ -334,10 +361,13 @@ static inline uint16_t mavlink_msg_ins1_encode_chan(uint16_t system_id, uint8_t * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_ins1_send(mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) +static inline void mavlink_msg_ins1_send(mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS1_LEN]; @@ -363,6 +393,9 @@ static inline void mavlink_msg_ins1_send(mavlink_channel_t chan, uint32_t time_b _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS1, buf, MAVLINK_MSG_ID_INS1_MIN_LEN, MAVLINK_MSG_ID_INS1_LEN, MAVLINK_MSG_ID_INS1_CRC); #else @@ -389,6 +422,9 @@ static inline void mavlink_msg_ins1_send(mavlink_channel_t chan, uint32_t time_b packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS1, (const char *)&packet, MAVLINK_MSG_ID_INS1_MIN_LEN, MAVLINK_MSG_ID_INS1_LEN, MAVLINK_MSG_ID_INS1_CRC); #endif @@ -402,7 +438,7 @@ static inline void mavlink_msg_ins1_send(mavlink_channel_t chan, uint32_t time_b static inline void mavlink_msg_ins1_send_struct(mavlink_channel_t chan, const mavlink_ins1_t* ins1) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - mavlink_msg_ins1_send(chan, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq); + mavlink_msg_ins1_send(chan, ins1->time_boot_ms, ins1->pitch, ins1->roll, ins1->yaw, ins1->lon, ins1->lat, ins1->alt, ins1->v_north, ins1->v_up, ins1->v_east, ins1->gx, ins1->gy, ins1->gz, ins1->ax, ins1->ay, ins1->az, ins1->time, ins1->sys_status, ins1->com_status, ins1->gps_status, ins1->BIT, ins1->seq, ins1->eph, ins1->epv, ins1->satellites_visible); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS1, (const char *)ins1, MAVLINK_MSG_ID_INS1_MIN_LEN, MAVLINK_MSG_ID_INS1_LEN, MAVLINK_MSG_ID_INS1_CRC); #endif @@ -416,7 +452,7 @@ static inline void mavlink_msg_ins1_send_struct(mavlink_channel_t chan, const ma is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ -static inline void mavlink_msg_ins1_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) +static inline void mavlink_msg_ins1_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; @@ -442,6 +478,9 @@ static inline void mavlink_msg_ins1_send_buf(mavlink_message_t *msgbuf, mavlink_ _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS1, buf, MAVLINK_MSG_ID_INS1_MIN_LEN, MAVLINK_MSG_ID_INS1_LEN, MAVLINK_MSG_ID_INS1_CRC); #else @@ -468,6 +507,9 @@ static inline void mavlink_msg_ins1_send_buf(mavlink_message_t *msgbuf, mavlink_ packet->gps_status = gps_status; packet->BIT = BIT; packet->seq = seq; + packet->eph = eph; + packet->epv = epv; + packet->satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS1, (const char *)packet, MAVLINK_MSG_ID_INS1_MIN_LEN, MAVLINK_MSG_ID_INS1_LEN, MAVLINK_MSG_ID_INS1_CRC); #endif @@ -699,6 +741,36 @@ static inline uint8_t mavlink_msg_ins1_get_seq(const mavlink_message_t* msg) return _MAV_RETURN_uint8_t(msg, 84); } +/** + * @brief Get field eph from ins1 message + * + * @return GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + */ +static inline uint16_t mavlink_msg_ins1_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 85); +} + +/** + * @brief Get field epv from ins1 message + * + * @return GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + */ +static inline uint16_t mavlink_msg_ins1_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 87); +} + +/** + * @brief Get field satellites_visible from ins1 message + * + * @return Number of satellites visible. If unknown, set to 255 + */ +static inline uint8_t mavlink_msg_ins1_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 89); +} + /** * @brief Decode a ins1 message into a struct * @@ -730,6 +802,9 @@ static inline void mavlink_msg_ins1_decode(const mavlink_message_t* msg, mavlink ins1->gps_status = mavlink_msg_ins1_get_gps_status(msg); ins1->BIT = mavlink_msg_ins1_get_BIT(msg); ins1->seq = mavlink_msg_ins1_get_seq(msg); + ins1->eph = mavlink_msg_ins1_get_eph(msg); + ins1->epv = mavlink_msg_ins1_get_epv(msg); + ins1->satellites_visible = mavlink_msg_ins1_get_satellites_visible(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_INS1_LEN? msg->len : MAVLINK_MSG_ID_INS1_LEN; memset(ins1, 0, MAVLINK_MSG_ID_INS1_LEN); diff --git a/SIL/otherFiles/mavlink_msg_ins2.h b/SIL/otherFiles/mavlink_msg_ins2.h index 6f9f439..b4f60bd 100644 --- a/SIL/otherFiles/mavlink_msg_ins2.h +++ b/SIL/otherFiles/mavlink_msg_ins2.h @@ -3,7 +3,7 @@ #define MAVLINK_MSG_ID_INS2 20104 - +MAVPACKED( typedef struct __mavlink_ins2_t { double lon; /*< lon(deg)*/ double lat; /*< lat(deg)*/ @@ -27,11 +27,14 @@ typedef struct __mavlink_ins2_t { uint8_t gps_status; /*< gps_status*/ uint8_t BIT; /*< BIT*/ uint8_t seq; /*< sequeue index*/ -} mavlink_ins2_t; + uint16_t eph; /*< GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX*/ + uint16_t epv; /*< GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX*/ + uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/ +}) mavlink_ins2_t; -#define MAVLINK_MSG_ID_INS2_LEN 85 +#define MAVLINK_MSG_ID_INS2_LEN 90 #define MAVLINK_MSG_ID_INS2_MIN_LEN 85 -#define MAVLINK_MSG_ID_20104_LEN 85 +#define MAVLINK_MSG_ID_20104_LEN 90 #define MAVLINK_MSG_ID_20104_MIN_LEN 85 #define MAVLINK_MSG_ID_INS2_CRC 212 @@ -43,7 +46,7 @@ typedef struct __mavlink_ins2_t { #define MAVLINK_MESSAGE_INFO_INS2 { \ 20104, \ "INS2", \ - 22, \ + 25, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins2_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins2_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins2_t, roll) }, \ @@ -66,12 +69,15 @@ typedef struct __mavlink_ins2_t { { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins2_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins2_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins2_t, seq) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 85, offsetof(mavlink_ins2_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 87, offsetof(mavlink_ins2_t, epv) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_ins2_t, satellites_visible) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_INS2 { \ "INS2", \ - 22, \ + 25, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins2_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins2_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins2_t, roll) }, \ @@ -94,6 +100,9 @@ typedef struct __mavlink_ins2_t { { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins2_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins2_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins2_t, seq) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 85, offsetof(mavlink_ins2_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 87, offsetof(mavlink_ins2_t, epv) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_ins2_t, satellites_visible) }, \ } \ } #endif @@ -126,10 +135,13 @@ typedef struct __mavlink_ins2_t { * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins2_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) + uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; @@ -155,6 +167,9 @@ static inline uint16_t mavlink_msg_ins2_pack(uint16_t system_id, uint8_t compone _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS2_LEN); #else @@ -181,6 +196,9 @@ static inline uint16_t mavlink_msg_ins2_pack(uint16_t system_id, uint8_t compone packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS2_LEN); #endif @@ -217,11 +235,14 @@ static inline uint16_t mavlink_msg_ins2_pack(uint16_t system_id, uint8_t compone * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins2_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint32_t time_boot_ms,float pitch,float roll,float yaw,double lon,double lat,float alt,float v_north,float v_up,float v_east,float gx,float gy,float gz,float ax,float ay,float az,double time,uint8_t sys_status,uint8_t com_status,uint8_t gps_status,uint8_t BIT,uint8_t seq) + uint32_t time_boot_ms,float pitch,float roll,float yaw,double lon,double lat,float alt,float v_north,float v_up,float v_east,float gx,float gy,float gz,float ax,float ay,float az,double time,uint8_t sys_status,uint8_t com_status,uint8_t gps_status,uint8_t BIT,uint8_t seq,uint16_t eph,uint16_t epv,uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; @@ -247,6 +268,9 @@ static inline uint16_t mavlink_msg_ins2_pack_chan(uint16_t system_id, uint8_t co _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS2_LEN); #else @@ -273,6 +297,9 @@ static inline uint16_t mavlink_msg_ins2_pack_chan(uint16_t system_id, uint8_t co packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS2_LEN); #endif @@ -291,7 +318,7 @@ static inline uint16_t mavlink_msg_ins2_pack_chan(uint16_t system_id, uint8_t co */ static inline uint16_t mavlink_msg_ins2_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ins2_t* ins2) { - return mavlink_msg_ins2_pack(system_id, component_id, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); + return mavlink_msg_ins2_pack(system_id, component_id, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq, ins2->eph, ins2->epv, ins2->satellites_visible); } /** @@ -305,7 +332,7 @@ static inline uint16_t mavlink_msg_ins2_encode(uint16_t system_id, uint8_t compo */ static inline uint16_t mavlink_msg_ins2_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ins2_t* ins2) { - return mavlink_msg_ins2_pack_chan(system_id, component_id, chan, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); + return mavlink_msg_ins2_pack_chan(system_id, component_id, chan, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq, ins2->eph, ins2->epv, ins2->satellites_visible); } /** @@ -334,10 +361,13 @@ static inline uint16_t mavlink_msg_ins2_encode_chan(uint16_t system_id, uint8_t * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index + * @param eph GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param epv GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + * @param satellites_visible Number of satellites visible. If unknown, set to 255 */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) +static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; @@ -363,6 +393,9 @@ static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_b _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, buf, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #else @@ -389,6 +422,9 @@ static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_b packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; + packet.eph = eph; + packet.epv = epv; + packet.satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)&packet, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif @@ -402,7 +438,7 @@ static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_b static inline void mavlink_msg_ins2_send_struct(mavlink_channel_t chan, const mavlink_ins2_t* ins2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - mavlink_msg_ins2_send(chan, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); + mavlink_msg_ins2_send(chan, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq, ins2->eph, ins2->epv, ins2->satellites_visible); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)ins2, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif @@ -416,7 +452,7 @@ static inline void mavlink_msg_ins2_send_struct(mavlink_channel_t chan, const ma is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ -static inline void mavlink_msg_ins2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) +static inline void mavlink_msg_ins2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq, uint16_t eph, uint16_t epv, uint8_t satellites_visible) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; @@ -442,6 +478,9 @@ static inline void mavlink_msg_ins2_send_buf(mavlink_message_t *msgbuf, mavlink_ _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); + _mav_put_uint16_t(buf, 85, eph); + _mav_put_uint16_t(buf, 87, epv); + _mav_put_uint8_t(buf, 89, satellites_visible); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, buf, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #else @@ -468,6 +507,9 @@ static inline void mavlink_msg_ins2_send_buf(mavlink_message_t *msgbuf, mavlink_ packet->gps_status = gps_status; packet->BIT = BIT; packet->seq = seq; + packet->eph = eph; + packet->epv = epv; + packet->satellites_visible = satellites_visible; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)packet, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif @@ -699,6 +741,36 @@ static inline uint8_t mavlink_msg_ins2_get_seq(const mavlink_message_t* msg) return _MAV_RETURN_uint8_t(msg, 84); } +/** + * @brief Get field eph from ins2 message + * + * @return GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX + */ +static inline uint16_t mavlink_msg_ins2_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 85); +} + +/** + * @brief Get field epv from ins2 message + * + * @return GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX + */ +static inline uint16_t mavlink_msg_ins2_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 87); +} + +/** + * @brief Get field satellites_visible from ins2 message + * + * @return Number of satellites visible. If unknown, set to 255 + */ +static inline uint8_t mavlink_msg_ins2_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 89); +} + /** * @brief Decode a ins2 message into a struct * @@ -730,6 +802,9 @@ static inline void mavlink_msg_ins2_decode(const mavlink_message_t* msg, mavlink ins2->gps_status = mavlink_msg_ins2_get_gps_status(msg); ins2->BIT = mavlink_msg_ins2_get_BIT(msg); ins2->seq = mavlink_msg_ins2_get_seq(msg); + ins2->eph = mavlink_msg_ins2_get_eph(msg); + ins2->epv = mavlink_msg_ins2_get_epv(msg); + ins2->satellites_visible = mavlink_msg_ins2_get_satellites_visible(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_INS2_LEN? msg->len : MAVLINK_MSG_ID_INS2_LEN; memset(ins2, 0, MAVLINK_MSG_ID_INS2_LEN); diff --git a/SIL/otherFiles/param_mgr.c b/SIL/otherFiles/param_mgr.c index de5e84c..0002a2e 100644 --- a/SIL/otherFiles/param_mgr.c +++ b/SIL/otherFiles/param_mgr.c @@ -2,7 +2,7 @@ #include "param_mgr.h" #include -#define PARAM_PROPS_MAXLEN (256) +#define PARAM_PROPS_MAXLEN (350) param_prop props[PARAM_PROPS_MAXLEN]; uint16_t param_count = 0u; @@ -137,7 +137,7 @@ void param_set_value(param_prop *prop, const uint8_t value[4]) { param_value_ptr_t val_ptr; - val_ptr.B = value; + val_ptr.B = (uint8_t *)value; if (prop->setter_ptr) { diff --git a/SIL/otherFiles/version.h b/SIL/otherFiles/version.h index 6a780f3..fbcfd28 100644 --- a/SIL/otherFiles/version.h +++ b/SIL/otherFiles/version.h @@ -7,7 +7,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Mon Sep 21 2020" +#define MAVLINK_BUILD_DATE "Thu Oct 22 2020" #define MAVLINK_WIRE_PROTOCOL_VERSION "2.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255 diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL.c b/SIL/work/SIL_ert_shrlib_rtw/SIL.c index 1a96b25..f0b3467 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL.c +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -25,6 +25,7 @@ #include "Quat2Tbn_XRdqRR86.h" #include "intrp3d_l_pw.h" #include "look1_binlxpw.h" +#include "look1_iflf_binlcpw.h" #include "look1_iflf_binlxpw.h" #include "look1_iflf_pbinlcapw.h" #include "look2_binlxpw.h" @@ -86,65 +87,74 @@ #define SIL_IN_delay_h ((uint8_T)2U) #define SIL_IN_idle_g ((uint8_T)3U) -/* Named constants for Chart: '/proc_cmd' */ +/* Named constants for Chart: '/proc_cmd' */ #define SIL_IN_Linked ((uint8_T)1U) #define SIL_IN_Linked2 ((uint8_T)2U) -/* Named constants for Chart: '/check_conn' */ +/* Named constants for Chart: '/check_conn' */ #define SIL_IN_LinkLoss ((uint8_T)1U) #define SIL_IN_Linked_e ((uint8_T)2U) -/* Named constants for Chart: '/valid_checking' */ +/* Named constants for Chart: '/valid_checking' */ #define SIL_IN_connected ((uint8_T)1U) #define SIL_IN_disconnected ((uint8_T)2U) -/* Named constants for Chart: '/proc_set_ cur' */ +/* Named constants for Chart: '/proc_set_ cur' */ #define SIL_IN_idle_py ((uint8_T)1U) #define SIL_IN_process_set_cur ((uint8_T)2U) -/* Named constants for Chart: '/TopLevelSwitch' */ +/* Named constants for Chart: '/TopLevelSwitch' */ #define SIL_IN_operational ((uint8_T)1U) #define SIL_IN_standby ((uint8_T)2U) #define SIL_IN_xbit ((uint8_T)3U) -/* Named constants for Chart: '/takeoff_task' */ +/* Named constants for Chart: '/takeoff_task' */ #define SIL_IN_Active ((uint8_T)1U) #define SIL_IN_Done ((uint8_T)2U) #define SIL_IN_LatGuide ((uint8_T)3U) #define SIL_IN_Launched ((uint8_T)4U) #define SIL_IN_WaitForLaunch ((uint8_T)5U) -/* Named constants for Chart: '/landing_task' */ -#define SIL_IN_Done_c ((uint8_T)1U) -#define SIL_IN_WaitForLaunch_h ((uint8_T)2U) +/* Named constants for Chart: '/landing_task' */ +#define SIL_IN_Done_f ((uint8_T)1U) +#define SIL_IN_WaitForLaunch_c ((uint8_T)2U) -/* Named constants for Chart: '/Chart' */ +/* Named constants for Chart: '/Chart' */ #define SIL_IN_NextWP ((uint8_T)1U) #define SIL_IN_WP ((uint8_T)2U) -/* Named constants for Chart: '/mission_proc' */ +/* Named constants for Chart: '/mission_proc' */ #define SIL_IN_Idle_e ((uint8_T)1U) #define SIL_IN_wait ((uint8_T)2U) -/* Named constants for Chart: '/traffic_ctrl' */ +/* Named constants for Chart: '/traffic_ctrl' */ #define SIL_IN_Wait ((uint8_T)2U) -/* Named constants for Chart: '/chat_update_mission_item' */ +/* Named constants for Chart: '/chat_update_mission_item' */ #define SIL_fence_default_len ((uint16_T)16U) #define SIL_mission_default_len ((uint16_T)100U) #define SIL_rally_default_len ((uint16_T)16U) -/* Named constants for Chart: '/Chart_proc_mission_upload' */ +/* Named constants for Chart: '/Chart_proc_mission_upload' */ #define SIL_IN_Uploading ((uint8_T)2U) -/* Named constants for Chart: '/proc_param_value' */ +/* Named constants for Chart: '/proc_param_value' */ #define SIL_IN_SendOne ((uint8_T)2U) +/* Named constants for Chart: '/Chart' */ +#define SIL_IN_bad ((uint8_T)1U) +#define SIL_IN_good ((uint8_T)2U) + const C2 SIL_rtZC2 = { 0.0F, /* dr_c */ 0.0F, /* de_c */ 0.0F, /* da_c */ + 0.0F, /* del_c */ + 0.0F, /* der_c */ + 0.0F, /* dal_c */ + 0.0F, /* dar_c */ 0.0F, /* throttle_c */ + false, /* use_mix */ ENUM_AFCS_LAT_OFF, /* AFCS_LAT */ ENUM_AFCS_VERT_OFF, /* AFCS_VERT */ ENUM_CSAS_PITCH_OFF, /* CSAS_pitch */ @@ -226,11 +236,11 @@ const C2 SIL_rtZC2 = { 0.0F, /* takeoff_tht */ 0.0F, /* dist_trans */ 0.0F, /* df_c */ - false, /* afterburner_enabled */ ENUM_AS_SEL_IAS, /* AS_SEL */ 0U, /* p500w_enable */ 0U, /* actuator_startup */ 0U, /* ECU_CMD */ + 0U, /* ECU_RPM */ 0U, /* ccm_ch */ 0U, /* ccm_period */ 0U, /* ccm_sw */ @@ -288,6 +298,62 @@ const mavlink_message_t SIL_rtZmavlink_message_t = { /* signature */ } ; /* mavlink_message_t ground */ +const mavlink_ins1_t SIL_rtZmavlink_ins1_t = { + 0U, /* time_boot_ms */ + 0.0F, /* pitch */ + 0.0F, /* roll */ + 0.0F, /* yaw */ + 0.0, /* lon */ + 0.0, /* lat */ + 0.0F, /* alt */ + 0.0F, /* v_north */ + 0.0F, /* v_up */ + 0.0F, /* v_east */ + 0.0F, /* gx */ + 0.0F, /* gy */ + 0.0F, /* gz */ + 0.0F, /* ax */ + 0.0F, /* ay */ + 0.0F, /* az */ + 0.0, /* time */ + 0U, /* sys_status */ + 0U, /* com_status */ + 0U, /* gps_status */ + 0U, /* BIT */ + 0U, /* seq */ + 0U, /* eph */ + 0U, /* epv */ + 0U /* satellites_visible */ +} ; /* mavlink_ins1_t ground */ + +const mavlink_ins2_t SIL_rtZmavlink_ins2_t = { + 0U, /* time_boot_ms */ + 0.0F, /* pitch */ + 0.0F, /* roll */ + 0.0F, /* yaw */ + 0.0, /* lon */ + 0.0, /* lat */ + 0.0F, /* alt */ + 0.0F, /* v_north */ + 0.0F, /* v_up */ + 0.0F, /* v_east */ + 0.0F, /* gx */ + 0.0F, /* gy */ + 0.0F, /* gz */ + 0.0F, /* ax */ + 0.0F, /* ay */ + 0.0F, /* az */ + 0.0, /* time */ + 0U, /* sys_status */ + 0U, /* com_status */ + 0U, /* gps_status */ + 0U, /* BIT */ + 0U, /* seq */ + 0U, /* eph */ + 0U, /* epv */ + 0U /* satellites_visible */ +} ; /* mavlink_ins2_t ground */ + const MavFence SIL_rtZMavFence = { 0U, /* command */ 0.0F, /* param */ @@ -444,6 +510,11 @@ static void rate_scheduler(void) if ((SIL_M->Timing.TaskCounters.TID[2]) > 1) {/* Sample time: [0.005s, 0.0s] */ SIL_M->Timing.TaskCounters.TID[2] = 0; } + + (SIL_M->Timing.TaskCounters.TID[3])++; + if ((SIL_M->Timing.TaskCounters.TID[3]) > 3) {/* Sample time: [0.01s, 0.0s] */ + SIL_M->Timing.TaskCounters.TID[3] = 0; + } } /* Simplified version of numjac.cpp, for use with RTW. */ @@ -2076,46 +2147,46 @@ void SIL_tick_m(real_T rtu_dt, boolean_T *rty_enabled, DW_tick_SIL_f_T *localDW) /* * Output and update for action system: + * '/Subsystem1' * '/Subsystem1' - * '/Subsystem1' */ void SIL_Subsystem1(const C2 *rtu_C2_in, C2 *rty_C2_out, uint8_T *rty_ack) { - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ *rty_ack = 1U; - /* Inport: '/C2_in' */ + /* Inport: '/C2_in' */ *rty_C2_out = *rtu_C2_in; } /* * Output and update for action system: - * '/If Action Subsystem1' - * '/If Action Subsystem1' + * '/If Action Subsystem1' + * '/If Action Subsystem1' */ void SIL_IfActionSubsystem1(const C2 *rtu_In1, C2 *rty_Out1, uint8_T *rty_ack) { - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ *rty_ack = 1U; - /* Inport: '/In1' */ + /* Inport: '/In1' */ *rty_Out1 = *rtu_In1; } /* * Output and update for atomic system: - * '/auto_sw' - * '/aux_sw' - * '/auto_sw' - * '/aux_sw' + * '/auto_sw' + * '/aux_sw' + * '/auto_sw' + * '/aux_sw' */ void SIL_auto_sw(uint16_T rtu_in, uint8_T *rty_out) { - /* Chart: '/auto_sw' */ + /* Chart: '/auto_sw' */ if (rtu_in < 1250) { *rty_out = 0U; } else if (rtu_in < 1750) { @@ -2124,35 +2195,35 @@ void SIL_auto_sw(uint16_T rtu_in, uint8_T *rty_out) *rty_out = 2U; } - /* End of Chart: '/auto_sw' */ + /* End of Chart: '/auto_sw' */ } /* * Output and update for atomic system: - * '/brake_sw' - * '/gear_sw' - * '/brake_sw' - * '/gear_sw' + * '/brake_sw' + * '/gear_sw' + * '/brake_sw' + * '/gear_sw' */ void SIL_brake_sw(uint16_T rtu_in, boolean_T *rty_out) { - /* Chart: '/brake_sw' */ + /* Chart: '/brake_sw' */ *rty_out = (rtu_in >= 1500); } /* * Output and update for action system: - * '/valid' - * '/valid' + * '/valid' + * '/valid' */ void SIL_valid(const C2 *rtu_C2_in, uint8_T rtu_id, const uint16_T rtu_channels [18], C2 *rty_C2_out) { int16_T rtb_Sum_oy; - boolean_T rtb_out_c; - boolean_T rtb_out_g; - uint8_T rtb_out_lz; - uint8_T rtb_out_m; + boolean_T rtb_out_bb; + boolean_T rtb_out_fl; + uint8_T rtb_out_io; + uint8_T rtb_out_i4; real32_T u0; real32_T u0_0; real32_T u0_1; @@ -2160,189 +2231,188 @@ void SIL_valid(const C2 *rtu_C2_in, uint8_T rtu_id, const uint16_T rtu_channels real32_T u0_3; real32_T u0_4; - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[0] - 1500); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0 = 0.0025F * (real32_T)rtb_Sum_oy; - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[1] - 1500); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0_0 = 0.0025F * (real32_T)rtb_Sum_oy; - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[2] - 1100); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0_1 = 0.00125F * (real32_T)rtb_Sum_oy; - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[3] - 1500); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0_2 = 0.0025F * (real32_T)rtb_Sum_oy; - /* Chart: '/gear_sw' */ - SIL_brake_sw(rtu_channels[4], &rtb_out_c); + /* Chart: '/gear_sw' */ + SIL_brake_sw(rtu_channels[4], &rtb_out_bb); - /* Chart: '/brake_sw' */ - SIL_brake_sw(rtu_channels[5], &rtb_out_g); + /* Chart: '/brake_sw' */ + SIL_brake_sw(rtu_channels[5], &rtb_out_fl); - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[6] - 1100); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0_3 = 0.00125F * (real32_T)rtb_Sum_oy; - /* Chart: '/auto_sw' */ - SIL_auto_sw(rtu_channels[7], &rtb_out_lz); + /* Chart: '/auto_sw' */ + SIL_auto_sw(rtu_channels[7], &rtb_out_io); - /* Chart: '/aux_sw' */ - SIL_auto_sw(rtu_channels[8], &rtb_out_m); + /* Chart: '/aux_sw' */ + SIL_auto_sw(rtu_channels[8], &rtb_out_i4); - /* Sum: '/Sum' */ + /* Sum: '/Sum' */ rtb_Sum_oy = (int16_T)((int16_T)rtu_channels[9] - 1100); - /* Gain: '/Gain' */ + /* Gain: '/Gain' */ u0_4 = 0.00125F * (real32_T)rtb_Sum_oy; - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant' + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' */ *rty_C2_out = *rtu_C2_in; rty_C2_out->rc.id = rtu_id; rty_C2_out->rc.connected = true; - /* Saturate: '/Saturation1' */ + /* Saturate: '/Saturation1' */ if (u0 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.roll_cmd = 1.0F; } else if (u0 < -1.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.roll_cmd = -1.0F; } else { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.roll_cmd = u0; } + /* End of Saturate: '/Saturation1' */ + + /* Saturate: '/Saturation1' */ + if (u0_0 > 1.0F) { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.pitch_cmd = 1.0F; + } else if (u0_0 < -1.0F) { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.pitch_cmd = -1.0F; + } else { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.pitch_cmd = u0_0; + } + /* End of Saturate: '/Saturation1' */ - /* Saturate: '/Saturation1' */ - if (u0_0 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.pitch_cmd = 1.0F; - } else if (u0_0 < -1.0F) { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.pitch_cmd = -1.0F; - } else { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.pitch_cmd = u0_0; - } - - /* End of Saturate: '/Saturation1' */ - - /* Saturate: '/Saturation1' */ + /* Saturate: '/Saturation1' */ if (u0_1 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.throttle_cmd = 1.0F; } else if (u0_1 < -0.25F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.throttle_cmd = -0.25F; } else { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.throttle_cmd = u0_1; } - /* End of Saturate: '/Saturation1' */ - - /* Saturate: '/Saturation1' */ - if (u0_2 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.yaw_cmd = 1.0F; - } else if (u0_2 < -1.0F) { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.yaw_cmd = -1.0F; - } else { - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.yaw_cmd = u0_2; - } - /* End of Saturate: '/Saturation1' */ - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.gear_up = rtb_out_c; - rty_C2_out->rc.brake = rtb_out_g; + /* Saturate: '/Saturation1' */ + if (u0_2 > 1.0F) { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.yaw_cmd = 1.0F; + } else if (u0_2 < -1.0F) { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.yaw_cmd = -1.0F; + } else { + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.yaw_cmd = u0_2; + } - /* Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ + + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.gear_up = rtb_out_bb; + rty_C2_out->rc.brake = rtb_out_fl; + + /* Saturate: '/Saturation1' */ if (u0_3 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.flap = 1.0F; } else if (u0_3 < 0.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.flap = 0.0F; } else { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.flap = u0_3; } - /* End of Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ - /* BusAssignment: '/Bus Assignment' */ - rty_C2_out->rc.auto_mode = rtb_out_lz; - rty_C2_out->rc.aux_mode = rtb_out_m; + /* BusAssignment: '/Bus Assignment' */ + rty_C2_out->rc.auto_mode = rtb_out_io; + rty_C2_out->rc.aux_mode = rtb_out_i4; - /* Saturate: '/Saturation1' */ + /* Saturate: '/Saturation1' */ if (u0_4 > 1.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.ele_cmd = 1.0F; } else if (u0_4 < 0.0F) { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.ele_cmd = 0.0F; } else { - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rty_C2_out->rc.ele_cmd = u0_4; } - /* End of Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ } /* * Output and update for action system: - * '/xbit as manual' - * '/manual' - * '/semi auto' - * '/hold' - * '/RTB' + * '/manual' + * '/semi auto' + * '/hold' + * '/RTB' */ -void SIL_xbitasmanual(const C2 *rtu_C2_in_Inport_1, C2 *rty_C2_out) +void SIL_manual(const C2 *rtu_C2_in_Inport_1, C2 *rty_C2_out) { - real32_T rtb_gain_bm; + real32_T rtb_gain_b; real32_T rtb_gain1; real32_T rtb_gain2; - /* Gain: '/gain' */ - rtb_gain_bm = -SIL_P.max_de * rtu_C2_in_Inport_1->rc.pitch_cmd; + /* Gain: '/gain' */ + rtb_gain_b = -SIL_P.max_de * rtu_C2_in_Inport_1->rc.pitch_cmd; - /* Gain: '/gain1' */ + /* Gain: '/gain1' */ rtb_gain1 = -SIL_P.max_da * rtu_C2_in_Inport_1->rc.roll_cmd; - /* Gain: '/gain2' */ + /* Gain: '/gain2' */ rtb_gain2 = -SIL_P.max_dr * rtu_C2_in_Inport_1->rc.yaw_cmd; - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant1' - * Constant: '/Constant10' - * Constant: '/Constant12' - * Constant: '/Constant13' - * Constant: '/Constant14' - * Constant: '/Constant15' - * Constant: '/Constant16' - * Constant: '/Constant17' - * Constant: '/Constant18' - * Constant: '/Constant19' - * Constant: '/Constant2' + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant1' + * Constant: '/Constant10' + * Constant: '/Constant12' + * Constant: '/Constant13' + * Constant: '/Constant14' + * Constant: '/Constant15' + * Constant: '/Constant16' + * Constant: '/Constant17' + * Constant: '/Constant18' + * Constant: '/Constant19' + * Constant: '/Constant2' */ *rty_C2_out = *rtu_C2_in_Inport_1; rty_C2_out->mode = ENUM_mode_MANUAL; @@ -2356,20 +2426,20 @@ void SIL_xbitasmanual(const C2 *rtu_C2_in_Inport_1, C2 *rty_C2_out) rty_C2_out->AT = ENUM_AT_COMMAND; rty_C2_out->AFCS_LAT = ENUM_AFCS_LAT_OFF; rty_C2_out->AFCS_VERT = ENUM_AFCS_VERT_OFF; - rty_C2_out->de_c = rtb_gain_bm; + rty_C2_out->de_c = rtb_gain_b; rty_C2_out->da_c = rtb_gain1; rty_C2_out->dr_c = rtb_gain2; rty_C2_out->throttle_c = rtu_C2_in_Inport_1->rc.throttle_cmd; } -/* Output and update for function-call system: '/get_WP' */ +/* Output and update for function-call system: '/get_WP' */ void SIL_get_WP(uint16_T rtu_cur_np, boolean_T *rty_is_mission, uint16_T *rty_command, real32_T rty_params[7], boolean_T *rty_autocont) { uint8_T rtb_autocont; int32_T i; - /* MATLAB Function: '/mav' */ + /* MATLAB Function: '/mav' */ *rty_is_mission = false; *rty_command = (uint16_T)MAV_CMD_NAV_WAYPOINT; for (i = 0; i < 7; i++) { @@ -2396,84 +2466,84 @@ void SIL_get_WP(uint16_T rtu_cur_np, boolean_T *rty_is_mission, uint16_T rtb_autocont = dummyMission[rtu_cur_np - 1].autocont; } - /* End of MATLAB Function: '/mav' */ + /* End of MATLAB Function: '/mav' */ - /* DataTypeConversion: '/Data Type Conversion' */ + /* DataTypeConversion: '/Data Type Conversion' */ *rty_autocont = (rtb_autocont != 0); } /* * Output and update for action system: - * '/wp' - * '/landing' + * '/wp' + * '/landing' */ void SIL_wp(const C2 *rtu_C2_in, boolean_T *rty_valid) { - /* RelationalOperator: '/Compare' incorporates: - * Constant: '/Constant' + /* RelationalOperator: '/Compare' incorporates: + * Constant: '/Constant' */ *rty_valid = (rtu_C2_in->landed_state == ENUM_LANDED_STATE_IN_AIR); } -/* System initialize for function-call system: '/valid_test' */ +/* System initialize for function-call system: '/valid_test' */ void SIL_valid_test_Init(boolean_T *rty_valid) { - /* SystemInitialize for Merge: '/Merge' */ + /* SystemInitialize for Merge: '/Merge' */ *rty_valid = false; } -/* Output and update for function-call system: '/valid_test' */ +/* Output and update for function-call system: '/valid_test' */ void SIL_valid_test(const C2 *rtu_C2_in, uint16_T rtu_command, boolean_T *rty_valid) { - /* SwitchCase: '/Switch Case' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* SwitchCase: '/Switch Case' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ switch ((int32_T)rtu_command) { case ENUM_mission_level4_TAKEOFF: - /* Outputs for IfAction SubSystem: '/takeoff' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/takeoff' incorporates: + * ActionPort: '/Action Port' */ - /* RelationalOperator: '/Compare' incorporates: - * Constant: '/Constant' + /* RelationalOperator: '/Compare' incorporates: + * Constant: '/Constant' */ *rty_valid = (rtu_C2_in->landed_state == ENUM_LANDED_STATE_ON_GROUND); - /* End of Outputs for SubSystem: '/takeoff' */ + /* End of Outputs for SubSystem: '/takeoff' */ break; case ENUM_mission_level4_WAYPOINT: - /* Outputs for IfAction SubSystem: '/wp' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/wp' incorporates: + * ActionPort: '/Action Port' */ SIL_wp(rtu_C2_in, rty_valid); - /* End of Outputs for SubSystem: '/wp' */ + /* End of Outputs for SubSystem: '/wp' */ break; case ENUM_mission_level4_LANDING: - /* Outputs for IfAction SubSystem: '/landing' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/landing' incorporates: + * ActionPort: '/Action Port' */ SIL_wp(rtu_C2_in, rty_valid); - /* End of Outputs for SubSystem: '/landing' */ + /* End of Outputs for SubSystem: '/landing' */ break; default: - /* Outputs for IfAction SubSystem: '/Switch Case Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/Switch Case Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_valid_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_valid_at_inport_0' incorporates: + * Constant: '/Constant' */ *rty_valid = false; - /* End of Outputs for SubSystem: '/Switch Case Action Subsystem1' */ + /* End of Outputs for SubSystem: '/Switch Case Action Subsystem1' */ break; } - /* End of SwitchCase: '/Switch Case' */ + /* End of SwitchCase: '/Switch Case' */ } /* @@ -2794,14 +2864,47 @@ real32_T SIL_theta2(real32_T rtu_y, real32_T rtu_max_tht, real32_T rtu_tht0, return rty_theta_hat_0; } +/* + * Output and update for atomic system: + * '/fixtype' + * '/fixtype' + */ +void SIL_fixtype(uint32_T rtu_stat, ENUM_GPS_FIXTYPE *rty_fixtype) +{ + /* Chart: '/fixtype' */ + switch (rtu_stat) { + case 448U: + *rty_fixtype = ENUM_GPS_FIXTYPE_RTK_FIXED; + break; + + case 384U: + *rty_fixtype = ENUM_GPS_FIXTYPE_RTK_FLOAT; + break; + + case 192U: + *rty_fixtype = ENUM_GPS_FIXTYPE_DGPS; + break; + + case 128U: + *rty_fixtype = ENUM_GPS_FIXTYPE_FIX_3D; + break; + + default: + *rty_fixtype = ENUM_GPS_FIXTYPE_NO_FIX; + break; + } + + /* End of Chart: '/fixtype' */ +} + /* * Output and update for function-call system: - * '/dummy clear_mission' - * '/dummy clear_mission' + * '/dummy clear_mission' + * '/dummy clear_mission' */ void SIL_dummyclear_mission(uint8_T rtu_type, uint8_T *rty_ack) { - /* Chart: '/chat_clear_mission' */ + /* Chart: '/chat_clear_mission' */ switch (rtu_type) { case 1: dummyFenceCount = 0U; @@ -2818,33 +2921,33 @@ void SIL_dummyclear_mission(uint8_T rtu_type, uint8_T *rty_ack) *rty_ack = 0U; - /* End of Chart: '/chat_clear_mission' */ + /* End of Chart: '/chat_clear_mission' */ } -/* Start for function-call system: '/find_val' */ +/* Start for function-call system: '/find_val' */ void SIL_find_val_Start(void) { - /* Start for S-Function (find_param_val): '/find_val_capi' */ + /* Start for S-Function (find_param_val): '/find_val_capi' */ - /* S-Function Block: /find_val_capi */ + /* S-Function Block: /find_val_capi */ find_param_val_Start_wrapper(); } -/* Output and update for function-call system: '/find_val' */ +/* Output and update for function-call system: '/find_val' */ void SIL_find_val(uint16_T rtu_idx, uint8_T rty_name[16], uint8_T rty_value[4], uint8_T *rty_type, uint16_T *rty_count, uint16_T *rty_index) { - /* S-Function (find_param_val): '/find_val_capi' */ + /* S-Function (find_param_val): '/find_val_capi' */ find_param_val_Outputs_wrapper(&rtu_idx, &rty_name[0], &rty_value[0], rty_type, rty_count, rty_index); } -/* Output and update for function-call system: '/u2f' */ +/* Output and update for function-call system: '/u2f' */ void SIL_u2f(const uint8_T rtu_u[4], real32_T *rty_f) { - /* S-Function (byte2any): '/Byte Unpack' */ + /* S-Function (byte2any): '/Byte Unpack' */ - /* Unpack: /Byte Unpack */ + /* Unpack: /Byte Unpack */ (void) memcpy(rty_f, &rtu_u[0], 4); } @@ -5396,7 +5499,7 @@ Msg_CommandMsg *SIL_proc_cmd_In1_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_cmd' */ +/* Function for Chart: '/proc_cmd' */ static boolean_T SIL_sf_msg_pop_cmd(void) { boolean_T isPresent; @@ -5434,7 +5537,7 @@ Msg_CommandMsg *SIL_proc_cmd_In2_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_cmd' */ +/* Function for Chart: '/proc_cmd' */ static boolean_T SIL_sf_msg_pop_cmd2(void) { boolean_T isPresent; @@ -5466,7 +5569,7 @@ void SIL_destroyMsg(const Msg_CommandMsg *msg) SIL_freeMemPool(&SIL_DW.slMsgMgr_MemPool_CommandMsg, msg->fData); } -/* Function for Chart: '/proc_cmd' */ +/* Function for Chart: '/proc_cmd' */ static void SIL_sf_msg_discard_cmd(void) { if (SIL_DW.cmd_isValid) { @@ -5475,7 +5578,7 @@ static void SIL_sf_msg_discard_cmd(void) } } -/* Function for Chart: '/proc_cmd' */ +/* Function for Chart: '/proc_cmd' */ static void SIL_sf_msg_discard_cmd2(void) { if (SIL_DW.cmd2_isValid) { @@ -5524,7 +5627,7 @@ Msg_mavlink_mission_item_int_t *SIL_Chart_proc_mission_upload_In2_RecvMsg(void) return msg_received; } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static boolean_T SIL_sf_msg_pop_mission_item(void) { boolean_T isPresent; @@ -5583,7 +5686,7 @@ int32_T SIL_merge_ack_In2_SendData(const mavlink_mission_ack_t *data_toSend) return isSent; } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static void SIL_sf_msg_send_mission_ack(void) { SIL_merge_ack_In2_SendData(&SIL_DW.mission_ack_msgData); @@ -5627,7 +5730,7 @@ int32_T SIL_traffic_ctrl_In8_SendData(const mavlink_mission_request_int_t return isSent; } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static void SIL_sf_msg_send_mission_req_int(void) { SIL_traffic_ctrl_In8_SendData(&SIL_DW.mission_req_int_msgData); @@ -5673,7 +5776,7 @@ Msg_mavlink_mission_count_t *SIL_Chart_proc_mission_upload_In1_RecvMsg(void) return msg_received; } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static boolean_T SIL_sf_msg_pop_mission_cnt(void) { boolean_T isPresent; @@ -5695,7 +5798,7 @@ static boolean_T SIL_sf_msg_pop_mission_cnt(void) return isPresent; } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static void SIL_sf_msg_discard_mission_cnt(void) { if (SIL_DW.mission_cnt_isValid) { @@ -5716,7 +5819,7 @@ void SIL_destroyMsg_ecw(const Msg_mavlink_mission_item_int_t *msg) msg->fData); } -/* Function for Chart: '/Chart_proc_mission_upload' */ +/* Function for Chart: '/Chart_proc_mission_upload' */ static void SIL_sf_msg_discard_mission_item(void) { if (SIL_DW.mission_item_isValid) { @@ -5765,7 +5868,7 @@ Msg_uint16 *SIL_proc_set_cur_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_set_ cur' */ +/* Function for Chart: '/proc_set_ cur' */ static boolean_T SIL_sf_msg_pop_set_cur(void) { boolean_T isPresent; @@ -5787,7 +5890,7 @@ static boolean_T SIL_sf_msg_pop_set_cur(void) return isPresent; } -/* Function for Chart: '/proc_set_ cur' */ +/* Function for Chart: '/proc_set_ cur' */ static void SIL_sf_msg_discard_set_cur(void) { if (SIL_DW.set_cur_isValid) { @@ -5831,10 +5934,10 @@ int32_T SIL_Chart_send_ack_SendData(const CommandAck *data_toSend) return isSent; } -/* Function for Chart: '/proc_cmd' */ +/* Function for Chart: '/proc_cmd' */ static void SIL_sf_msg_send_ack(void) { - SIL_Chart_send_ack_SendData(&SIL_DW.ack_msgData_c); + SIL_Chart_send_ack_SendData(&SIL_DW.ack_msgData_d); } CommandMsg *SIL_allocMemPool(MemPool_CommandMsg *memPool) @@ -5893,13 +5996,13 @@ int32_T SIL_proc_cmd_In2_SendData(const CommandMsg *data_toSend) return isSent; } -/* Function for Chart: '/mission_proc' */ +/* Function for Chart: '/mission_proc' */ static void SIL_sf_msg_send_cmd(void) { SIL_proc_cmd_In2_SendData(&SIL_DW.cmd_msgData); } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static ENUM_AFCS_VERT SIL_update_vert(ENUM_AFCS_VERT in) { ENUM_AFCS_VERT out; @@ -5958,7 +6061,7 @@ Msg_mavlink_message_t *SIL_proc_queue_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_queue' */ +/* Function for Chart: '/proc_queue' */ static boolean_T SIL_sf_msg_pop_msgs(void) { boolean_T isPresent; @@ -6016,7 +6119,7 @@ int32_T SIL_proc_param_value_In1_SendData(const uint16_T *data_toSend) return isSent; } -/* Function for Chart: '/Chart_proc_param_req_read' */ +/* Function for Chart: '/Chart_proc_param_req_read' */ static void SIL_sf_msg_send_resp(void) { SIL_proc_param_value_In1_SendData(&SIL_DW.resp_msgData_n); @@ -6033,7 +6136,7 @@ int32_T SIL_proc_param_value_In2_SendData(const uint16_T *data_toSend) return isSent; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static void SIL_sf_msg_send_resp_i(void) { SIL_proc_param_value_In2_SendData(&SIL_DW.resp_msgData_f); @@ -6050,7 +6153,7 @@ int32_T SIL_proc_param_value_In3_SendData(const uint16_T *data_toSend) return isSent; } -/* Function for Chart: '/Chart_proc_param_set' */ +/* Function for Chart: '/Chart_proc_param_set' */ static void SIL_sf_msg_send_resp_j(void) { SIL_proc_param_value_In3_SendData(&SIL_DW.resp_msgData); @@ -6067,7 +6170,7 @@ int32_T SIL_merge_ack_In1_SendData(const mavlink_mission_ack_t *data_toSend) return isSent; } -/* Function for Chart: '/Chart_proc_mission_req' */ +/* Function for Chart: '/Chart_proc_mission_req' */ static void SIL_sf_msg_send_send_ack_h(void) { SIL_merge_ack_In1_SendData(&SIL_DW.send_ack_msgData_b); @@ -6133,7 +6236,7 @@ int32_T SIL_traffic_ctrl_In5_SendData(const mavlink_mission_item_int_t return isSent; } -/* Function for Chart: '/Chart_proc_mission_req' */ +/* Function for Chart: '/Chart_proc_mission_req' */ static void SIL_sf_msg_send_send_item(void) { SIL_traffic_ctrl_In5_SendData(&SIL_DW.send_item_msgData); @@ -6150,7 +6253,7 @@ int32_T SIL_req_cur_In1_SendData(const uint16_T *data_toSend) return isSent; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static void SIL_sf_msg_send_req_cur(void) { SIL_req_cur_In1_SendData(&SIL_DW.req_cur_msgData_d); @@ -6193,7 +6296,7 @@ int32_T SIL_traffic_ctrl_In4_SendData(const mavlink_mission_count_t *data_toSend return isSent; } -/* Function for Chart: '/Chart_proc_mission_req_lst' */ +/* Function for Chart: '/Chart_proc_mission_req_lst' */ static void SIL_sf_msg_send_send_cnt(void) { SIL_traffic_ctrl_In4_SendData(&SIL_DW.send_cnt_msgData_d); @@ -6211,7 +6314,7 @@ int32_T SIL_Chart_proc_mission_upload_In1_SendData(const mavlink_mission_count_t return isSent; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static void SIL_sf_msg_send_send_cnt_j(void) { SIL_Chart_proc_mission_upload_In1_SendData(&SIL_DW.send_cnt_msgData); @@ -6228,7 +6331,7 @@ int32_T SIL_merge_ack_In3_SendData(const mavlink_mission_ack_t *data_toSend) return isSent; } -/* Function for Chart: '/Chart_proc_mission_clr_all' */ +/* Function for Chart: '/Chart_proc_mission_clr_all' */ static void SIL_sf_msg_send_send_ack_d(void) { SIL_merge_ack_In3_SendData(&SIL_DW.send_ack_msgData_j); @@ -6246,7 +6349,7 @@ int32_T SIL_Chart_proc_mission_upload_In2_SendData(const return isSent; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static void SIL_sf_msg_send_send_req(void) { SIL_Chart_proc_mission_upload_In2_SendData(&SIL_DW.send_req_msgData); @@ -6263,7 +6366,7 @@ int32_T SIL_proc_cmd_In1_SendData(const CommandMsg *data_toSend) return isSent; } -/* Function for Chart: '/send_cmd' */ +/* Function for Chart: '/send_cmd' */ static void SIL_sf_msg_send_msg(void) { SIL_proc_cmd_In1_SendData(&SIL_DW.msg_msgData); @@ -6329,7 +6432,7 @@ int32_T SIL_traffic_ctrl_In10_SendData(const mavlink_autopilot_version_t return isSent; } -/* Function for Chart: '/send_auto_hw' */ +/* Function for Chart: '/send_auto_hw' */ static void SIL_sf_msg_send_ap_ver(void) { SIL_traffic_ctrl_In10_SendData(&SIL_DW.ap_ver_msgData); @@ -6347,7 +6450,7 @@ void SIL_destroyMsg_ecw35(const Msg_mavlink_message_t *msg) SIL_freeMemPool_bvxyz(&SIL_DW.slMsgMgr_MemPool_mavlink_message_t, msg->fData); } -/* Function for Chart: '/proc_queue' */ +/* Function for Chart: '/proc_queue' */ static void SIL_sf_msg_discard_msgs(void) { if (SIL_DW.msgs_isValid) { @@ -6372,7 +6475,7 @@ Msg_uint16 *SIL_req_cur_In1_RecvMsg(void) return msg_received; } -/* Function for Chart: '/req_cur' */ +/* Function for Chart: '/req_cur' */ static boolean_T SIL_sf_msg_pop_req_cur(void) { boolean_T isPresent; @@ -6432,7 +6535,7 @@ int32_T SIL_traffic_ctrl_In7_SendData(const mavlink_mission_current_t return isSent; } -/* Function for Chart: '/req_cur' */ +/* Function for Chart: '/req_cur' */ static void SIL_sf_msg_send_cur(void) { SIL_traffic_ctrl_In7_SendData(&SIL_DW.cur_msgData); @@ -6449,13 +6552,13 @@ int32_T SIL_proc_set_cur_SendData(const uint16_T *data_toSend) return isSent; } -/* Function for Chart: '/req_cur' */ +/* Function for Chart: '/req_cur' */ static void SIL_sf_msg_send_set_cur(void) { SIL_proc_set_cur_SendData(&SIL_DW.set_cur_msgData); } -/* Function for Chart: '/req_cur' */ +/* Function for Chart: '/req_cur' */ static void SIL_sf_msg_discard_req_cur(void) { if (SIL_DW.req_cur_isValid) { @@ -6502,7 +6605,7 @@ Msg_CommandAck *SIL_Chart_send_ack_RecvMsg(void) return msg_received; } -/* Function for Chart: '/Chart_send_ack' */ +/* Function for Chart: '/Chart_send_ack' */ static boolean_T SIL_sf_msg_pop_ack(void) { boolean_T isPresent; @@ -6581,13 +6684,13 @@ int32_T SIL_traffic_ctrl_In9_SendData(const mavlink_command_ack_t *data_toSend) return isSent; } -/* Function for Chart: '/Chart_send_ack' */ +/* Function for Chart: '/Chart_send_ack' */ static void SIL_sf_msg_send_send_ack(void) { SIL_traffic_ctrl_In9_SendData(&SIL_DW.send_ack_msgData); } -/* Function for Chart: '/Chart_send_ack' */ +/* Function for Chart: '/Chart_send_ack' */ static void SIL_sf_msg_discard_ack(void) { if (SIL_DW.ack_isValid) { @@ -6654,7 +6757,7 @@ int32_T SIL_traffic_ctrl_In3_SendData(const mavlink_param_value_t *data_toSend) return isSent; } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static void SIL_sf_msg_send_msg_d(void) { SIL_traffic_ctrl_In3_SendData(&SIL_DW.msg_msgData_e); @@ -6677,7 +6780,7 @@ Msg_uint16 *SIL_proc_param_value_In3_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static boolean_T SIL_sf_msg_pop_param_set(void) { boolean_T isPresent; @@ -6716,7 +6819,7 @@ Msg_uint16 *SIL_proc_param_value_In1_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static boolean_T SIL_sf_msg_pop_param_req_read(void) { boolean_T isPresent; @@ -6755,7 +6858,7 @@ Msg_uint16 *SIL_proc_param_value_In2_RecvMsg(void) return msg_received; } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static boolean_T SIL_sf_msg_pop_param_req_lst(void) { boolean_T isPresent; @@ -6777,7 +6880,7 @@ static boolean_T SIL_sf_msg_pop_param_req_lst(void) return isPresent; } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static void SIL_sf_msg_discard_param_req_read(void) { if (SIL_DW.param_req_read_isValid) { @@ -6785,7 +6888,7 @@ static void SIL_sf_msg_discard_param_req_read(void) } } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static void SIL_sf_msg_discard_param_req_lst(void) { if (SIL_DW.param_req_lst_isValid) { @@ -6793,7 +6896,7 @@ static void SIL_sf_msg_discard_param_req_lst(void) } } -/* Function for Chart: '/proc_param_value' */ +/* Function for Chart: '/proc_param_value' */ static void SIL_sf_msg_discard_param_set(void) { if (SIL_DW.param_set_isValid) { @@ -6841,7 +6944,7 @@ Msg_mavlink_mission_ack_t *SIL_merge_ack_In1_RecvMsg(void) return msg_received; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static boolean_T SIL_sf_msg_pop_ack1(void) { boolean_T isPresent; @@ -6898,7 +7001,7 @@ int32_T SIL_traffic_ctrl_In6_SendMsg(const Msg_mavlink_mission_ack_t *msg_toSend return isSent; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_forward_ack1_ack(void) { if (SIL_DW.ack1_isValid) { @@ -6925,7 +7028,7 @@ Msg_mavlink_mission_ack_t *SIL_merge_ack_In2_RecvMsg(void) return msg_received; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static boolean_T SIL_sf_msg_pop_ack2(void) { boolean_T isPresent; @@ -6947,7 +7050,7 @@ static boolean_T SIL_sf_msg_pop_ack2(void) return isPresent; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_forward_ack2_ack(void) { if (SIL_DW.ack2_isValid) { @@ -6974,7 +7077,7 @@ Msg_mavlink_mission_ack_t *SIL_merge_ack_In3_RecvMsg(void) return msg_received; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static boolean_T SIL_sf_msg_pop_ack3(void) { boolean_T isPresent; @@ -6996,7 +7099,7 @@ static boolean_T SIL_sf_msg_pop_ack3(void) return isPresent; } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_forward_ack3_ack(void) { if (SIL_DW.ack3_isValid) { @@ -7006,7 +7109,7 @@ static void SIL_sf_msg_forward_ack3_ack(void) } } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_discard_ack1(void) { if (SIL_DW.ack1_isValid) { @@ -7014,7 +7117,7 @@ static void SIL_sf_msg_discard_ack1(void) } } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_discard_ack2(void) { if (SIL_DW.ack2_isValid) { @@ -7022,7 +7125,7 @@ static void SIL_sf_msg_discard_ack2(void) } } -/* Function for Chart: '/merge_ack' */ +/* Function for Chart: '/merge_ack' */ static void SIL_sf_msg_discard_ack3(void) { if (SIL_DW.ack3_isValid) { @@ -7070,7 +7173,7 @@ Msg_mavlink_command_ack_t *SIL_traffic_ctrl_In9_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_command_ack_queue(void) { boolean_T isPresent; @@ -7132,7 +7235,7 @@ Msg_mavlink_mission_current_t *SIL_traffic_ctrl_In7_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_mission_cur_queue(void) { boolean_T isPresent; @@ -7171,7 +7274,7 @@ Msg_mavlink_mission_count_t *SIL_traffic_ctrl_In4_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_mission_cnt_queue(void) { boolean_T isPresent; @@ -7210,7 +7313,7 @@ Msg_mavlink_mission_item_int_t *SIL_traffic_ctrl_In5_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_mission_item_int_queue(void) { boolean_T isPresent; @@ -7250,7 +7353,7 @@ Msg_mavlink_mission_ack_t *SIL_traffic_ctrl_In6_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_mission_ack_queue(void) { boolean_T isPresent; @@ -7312,7 +7415,7 @@ Msg_mavlink_mission_request_int_t *SIL_traffic_ctrl_In8_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_mission_req_int_queue(void) { boolean_T isPresent; @@ -7375,7 +7478,7 @@ Msg_mavlink_param_value_t *SIL_traffic_ctrl_In3_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_param_val_queue(void) { boolean_T isPresent; @@ -7437,7 +7540,7 @@ Msg_mavlink_autopilot_version_t *SIL_traffic_ctrl_In10_RecvMsg(void) return msg_received; } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static boolean_T SIL_sf_msg_pop_ap_ver_queue(void) { boolean_T isPresent; @@ -7459,7 +7562,7 @@ static boolean_T SIL_sf_msg_pop_ap_ver_queue(void) return isPresent; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static uint8_T SIL_get_base_mode(void) { uint8_T b_mod; @@ -7471,19 +7574,19 @@ static uint8_T SIL_get_base_mode(void) return b_mod; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static uint32_T SIL_get_mode(void) { return (uint32_T)SIL_B.Merge.mode; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static uint8_T SIL_get_status(void) { return (uint8_T)SIL_B.Merge.state; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static real32_T SIL_get_yaw(real32_T psi1) { real32_T psi; @@ -7495,7 +7598,7 @@ static real32_T SIL_get_yaw(real32_T psi1) return psi; } -/* Function for Chart: '/Chart' */ +/* Function for Chart: '/Chart' */ static uint16_T SIL_get_pwm_by_ch(uint8_T idx) { uint16_T out; @@ -7520,7 +7623,7 @@ void SIL_destroyMsg_ec(const Msg_mavlink_param_value_t *msg) SIL_freeMemPool_bv(&SIL_DW.slMsgMgr_MemPool_mavlink_param_value_t, msg->fData); } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_param_val_queue(void) { if (SIL_DW.param_val_queue_isValid) { @@ -7530,7 +7633,7 @@ static void SIL_sf_msg_discard_param_val_queue(void) } } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_mission_cnt_queue(void) { if (SIL_DW.mission_cnt_queue_isValid) { @@ -7538,7 +7641,7 @@ static void SIL_sf_msg_discard_mission_cnt_queue(void) } } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_mission_item_int_queue(void) { if (SIL_DW.mission_item_int_queue_isValid) { @@ -7548,7 +7651,7 @@ static void SIL_sf_msg_discard_mission_item_int_queue(void) } } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_mission_ack_queue(void) { if (SIL_DW.mission_ack_queue_isValid) { @@ -7556,7 +7659,7 @@ static void SIL_sf_msg_discard_mission_ack_queue(void) } } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_mission_cur_queue(void) { if (SIL_DW.mission_cur_queue_isValid) { @@ -7564,7 +7667,7 @@ static void SIL_sf_msg_discard_mission_cur_queue(void) } } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_mission_req_int_queue(void) { if (SIL_DW.mission_req_int_queue_isValid) { @@ -7584,7 +7687,7 @@ void SIL_destroyMsg_e(const Msg_mavlink_command_ack_t *msg) SIL_freeMemPool_b(&SIL_DW.slMsgMgr_MemPool_mavlink_command_ack_t, msg->fData); } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_command_ack_queue(void) { if (SIL_DW.command_ack_queue_isValid) { @@ -7607,7 +7710,7 @@ void SIL_destroyMsg_ecw3(const Msg_mavlink_autopilot_version_t *msg) msg->fData); } -/* Function for Chart: '/traffic_ctrl' */ +/* Function for Chart: '/traffic_ctrl' */ static void SIL_sf_msg_discard_ap_ver_queue(void) { if (SIL_DW.ap_ver_queue_isValid) { @@ -7675,7 +7778,7 @@ int32_T SIL_proc_queue_SendData(const mavlink_message_t *data_toSend) return isSent; } -/* Function for Chart: '/push2msgs' */ +/* Function for Chart: '/push2msgs' */ static void SIL_sf_msg_send_msgs(void) { SIL_proc_queue_SendData(&SIL_DW.msgs_msgData_h); @@ -7684,7 +7787,7 @@ static void SIL_sf_msg_send_msgs(void) void SIL_initQueue_k0qncuyo4n2(Queue_mavlink_message_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_message_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_queue_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_queue_at_inport_0' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7695,7 +7798,7 @@ void SIL_initQueue_k0qncuyo4n2(Queue_mavlink_message_t *q, QueuePolicy_T policy, void SIL_initQueue(Queue_uint16 *q, QueuePolicy_T policy, int32_T capacity, Msg_uint16 *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_req_cur_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_req_cur_at_inport_0' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7706,7 +7809,7 @@ void SIL_initQueue(Queue_uint16 *q, QueuePolicy_T policy, int32_T capacity, void SIL_initQueue_k0qncu(Queue_mavlink_mission_item_int_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_mission_item_int_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7717,7 +7820,7 @@ void SIL_initQueue_k0qncu(Queue_mavlink_mission_item_int_t *q, QueuePolicy_T void SIL_initQueue_k0qnc(Queue_mavlink_mission_count_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_mission_count_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7728,7 +7831,7 @@ void SIL_initQueue_k0qnc(Queue_mavlink_mission_count_t *q, QueuePolicy_T policy, void SIL_initQueue_k(Queue_CommandMsg *q, QueuePolicy_T policy, int32_T capacity, Msg_CommandMsg *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_1' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7739,7 +7842,7 @@ void SIL_initQueue_k(Queue_CommandMsg *q, QueuePolicy_T policy, int32_T capacity void SIL_initQueue_k0(Queue_CommandAck *q, QueuePolicy_T policy, int32_T capacity, Msg_CommandAck *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_send_ack_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_send_ack_at_inport_0' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7750,7 +7853,7 @@ void SIL_initQueue_k0(Queue_CommandAck *q, QueuePolicy_T policy, int32_T void SIL_initQueue_k0qn(Queue_mavlink_param_value_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_param_value_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_2' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_2' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7761,7 +7864,7 @@ void SIL_initQueue_k0qn(Queue_mavlink_param_value_t *q, QueuePolicy_T policy, void SIL_initQueue_k0qncuy(Queue_mavlink_mission_ack_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_mission_ack_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_0' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7772,7 +7875,7 @@ void SIL_initQueue_k0qncuy(Queue_mavlink_mission_ack_t *q, QueuePolicy_T policy, void SIL_initQueue_k0qncuyo(Queue_mavlink_mission_current_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_mission_current_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_6' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_6' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7784,7 +7887,7 @@ void SIL_initQueue_k0qncuyo4(Queue_mavlink_mission_request_int_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_mission_request_int_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_7' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_7' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7795,7 +7898,7 @@ void SIL_initQueue_k0qncuyo4(Queue_mavlink_mission_request_int_t *q, void SIL_initQueue_k0q(Queue_mavlink_command_ack_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_command_ack_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_8' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_8' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -7806,7 +7909,7 @@ void SIL_initQueue_k0q(Queue_mavlink_command_ack_t *q, QueuePolicy_T policy, void SIL_initQueue_k0qncuyo4n(Queue_mavlink_autopilot_version_t *q, QueuePolicy_T policy, int32_T capacity, Msg_mavlink_autopilot_version_t *qPool) { - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_9' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_9' */ q->fPolicy = policy; q->fCapacity = capacity; q->fHead = -1; @@ -8754,12 +8857,13 @@ void SIL_step(void) /* local block i/o variables */ real_T rtb_q1dot; real_T rtb_TrigonometricFunction1; + ENUM_GPS_FIXTYPE rtb_fixtype; + ENUM_GPS_FIXTYPE rtb_fixtype_e; C2 rtb_BusAssignment; C2 rtb_Merge1; C2 rtb_Merge_k; C2 rtb_Merge_b; C2 rtb_Merge1_b; - C2 rtb_BusAssignment_a; C2 rtb_merged; C2 rtb_Merge_n; C2 rtb_BusAssignment_g; @@ -8783,10 +8887,10 @@ void SIL_step(void) real32_T rtb_Switch2_pa; real32_T rtb_Merge_c; real32_T rtb_Merge1_e; - real32_T rtb_Sum_o; + real32_T rtb_Sum_oi; real32_T rtb_err_psi; real32_T rtb_err_psi1; - real32_T rtb_out; + real32_T rtb_out_gz; real32_T rtb_out_f; real32_T rtb_out_d; uint16_T rtb_pwms[16]; @@ -8810,8 +8914,7 @@ void SIL_step(void) real32_T scale; real32_T absxk; real32_T t; - uint32_T x; - real32_T azimuth; + uint8_T mode; real32_T elevation_baseline; real32_T radius; real32_T heading; @@ -8887,8 +8990,8 @@ void SIL_step(void) real_T rtb_table2D_Cmq; real_T rtb_table3D_Cm_df; uint16_T rtb_Delay_g[16]; - real_T rtb_jxi; real_T rtb_q2dot; + real_T rtb_Divide6; real_T rtb_q3dot; uint32_T rtb_DataTypeConversion1; real_T rtb_Merge2; @@ -8897,6 +9000,7 @@ void SIL_step(void) int8_T rtb_VectorConcatenate_k[9]; real32_T rtb_Product2_fn[3]; int32_T idx; + real32_T rtb_gain; boolean_T rtb_linked; real32_T rtb_qbarSc; real32_T rtb_product_k; @@ -8914,6 +9018,11 @@ void SIL_step(void) real32_T rtb_IAS_lookup; ENUM_operational_level2 rtb_level2_lgx; real32_T rtb_Merge_a; + real32_T rtb_Merge_h_der_c; + real32_T rtb_Merge_h_dal_c; + real32_T rtb_Merge_h_dar_c; + real32_T rtb_Merge_h_throttle_c; + boolean_T rtb_Merge_h_use_mix; ENUM_AFCS_LAT rtb_Merge_h_AFCS_LAT; ENUM_AFCS_VERT rtb_Merge_h_AFCS_VERT; ENUM_CSAS_PITCH rtb_Merge_h_CSAS_pitch; @@ -8983,11 +9092,11 @@ void SIL_step(void) real32_T rtb_Merge_h_takeoff_tht; real32_T rtb_Merge_h_dist_trans; real32_T rtb_Merge_h_df_c; - boolean_T rtb_Merge_h_afterburner_enabled; ENUM_AS_SEL rtb_Merge_h_AS_SEL; uint8_T rtb_Merge_h_p500w_enable; uint8_T rtb_Merge_h_actuator_startup; uint8_T rtb_Merge_h_ECU_CMD; + uint16_T rtb_Merge_h_ECU_RPM; uint8_T rtb_Merge_h_ccm_ch; uint16_T rtb_Merge_h_ccm_period; uint8_T rtb_Merge_h_ccm_sw; @@ -8998,6 +9107,11 @@ void SIL_step(void) real32_T rtb_Saturationcos; real32_T rtb_max_dpsi; real32_T rtb_Merge_nh_da_c; + real32_T rtb_Merge_nh_der_c; + real32_T rtb_Merge_nh_dal_c; + real32_T rtb_Merge_nh_dar_c; + real32_T rtb_Merge_nh_throttle_c; + boolean_T rtb_Merge_nh_use_mix; ENUM_AFCS_LAT rtb_Merge_nh_AFCS_LAT; ENUM_AFCS_VERT rtb_Merge_nh_AFCS_VERT; ENUM_CSAS_PITCH rtb_Merge_nh_CSAS_pitch; @@ -9068,17 +9182,22 @@ void SIL_step(void) real32_T rtb_Merge_nh_takeoff_tht; real32_T rtb_Merge_nh_dist_trans; real32_T rtb_Merge_nh_df_c; - boolean_T rtb_Merge_nh_afterburner_enabled; ENUM_AS_SEL rtb_Merge_nh_AS_SEL; uint8_T rtb_Merge_nh_p500w_enable; uint8_T rtb_Merge_nh_actuator_startup; uint8_T rtb_Merge_nh_ECU_CMD; + uint16_T rtb_Merge_nh_ECU_RPM; uint8_T rtb_Merge_nh_ccm_ch; uint16_T rtb_Merge_nh_ccm_period; uint8_T rtb_Merge_nh_ccm_sw; real32_T rtb_Merge_nh_aspd_error; real32_T rtb_Merge_m_dr_c; + real32_T rtb_Merge_m_del_c; + real32_T rtb_Merge_m_der_c; + real32_T rtb_Merge_m_dal_c; + real32_T rtb_Merge_m_dar_c; real32_T rtb_Merge_m_throttle_c; + boolean_T rtb_Merge_m_use_mix; ENUM_AFCS_LAT rtb_Merge_m_AFCS_LAT; ENUM_AFCS_VERT rtb_Merge_m_AFCS_VERT; ENUM_CSAS_PITCH rtb_Merge_m_CSAS_pitch; @@ -9150,18 +9269,23 @@ void SIL_step(void) real32_T rtb_Merge_m_takeoff_tht; real32_T rtb_Merge_m_dist_trans; real32_T rtb_Merge_m_df_c; - boolean_T rtb_Merge_m_afterburner_enabled; ENUM_AS_SEL rtb_Merge_m_AS_SEL; uint8_T rtb_Merge_m_p500w_enable; uint8_T rtb_Merge_m_actuator_startup; uint8_T rtb_Merge_m_ECU_CMD; + uint16_T rtb_Merge_m_ECU_RPM; uint8_T rtb_Merge_m_ccm_ch; uint16_T rtb_Merge_m_ccm_period; uint8_T rtb_Merge_m_ccm_sw; real32_T rtb_Merge_m_aspd_error; real32_T rtb_Merge_f_dr_c; real32_T rtb_Merge_f_da_c; + real32_T rtb_Merge_f_del_c; + real32_T rtb_Merge_f_der_c; + real32_T rtb_Merge_f_dal_c; + real32_T rtb_Merge_f_dar_c; real32_T rtb_Merge_f_throttle_c; + boolean_T rtb_Merge_f_use_mix; ENUM_AFCS_LAT rtb_Merge_f_AFCS_LAT; ENUM_AFCS_VERT rtb_Merge_f_AFCS_VERT; ENUM_CSAS_PITCH rtb_Merge_f_CSAS_pitch; @@ -9234,11 +9358,11 @@ void SIL_step(void) real32_T rtb_Merge_f_takeoff_tht; real32_T rtb_Merge_f_dist_trans; real32_T rtb_Merge_f_df_c; - boolean_T rtb_Merge_f_afterburner_enabled; ENUM_AS_SEL rtb_Merge_f_AS_SEL; uint8_T rtb_Merge_f_p500w_enable; uint8_T rtb_Merge_f_actuator_startup; uint8_T rtb_Merge_f_ECU_CMD; + uint16_T rtb_Merge_f_ECU_RPM; uint8_T rtb_Merge_f_ccm_ch; uint16_T rtb_Merge_f_ccm_period; uint8_T rtb_Merge_f_ccm_sw; @@ -9246,7 +9370,12 @@ void SIL_step(void) real32_T rtb_Merge_h0_dr_c; real32_T rtb_Merge_h0_de_c; real32_T rtb_Merge_h0_da_c; + real32_T rtb_Merge_h0_del_c; + real32_T rtb_Merge_h0_der_c; + real32_T rtb_Merge_h0_dal_c; + real32_T rtb_Merge_h0_dar_c; real32_T rtb_Merge_h0_throttle_c; + boolean_T rtb_Merge_h0_use_mix; ENUM_AFCS_LAT rtb_Merge_h0_AFCS_LAT; ENUM_AFCS_VERT rtb_Merge_h0_AFCS_VERT; ENUM_CSAS_PITCH rtb_Merge_h0_CSAS_pitch; @@ -9319,27 +9448,28 @@ void SIL_step(void) real32_T rtb_Merge_h0_takeoff_tht; real32_T rtb_Merge_h0_dist_trans; real32_T rtb_Merge_h0_df_c; - boolean_T rtb_Merge_h0_afterburner_enabled; ENUM_AS_SEL rtb_Merge_h0_AS_SEL; uint8_T rtb_Merge_h0_p500w_enable; uint8_T rtb_Merge_h0_actuator_startup; uint8_T rtb_Merge_h0_ECU_CMD; + uint16_T rtb_Merge_h0_ECU_RPM; uint8_T rtb_Merge_h0_ccm_ch; uint16_T rtb_Merge_h0_ccm_period; uint8_T rtb_Merge_h0_ccm_sw; real32_T rtb_Merge_h0_aspd_error; + uint32_T rtb_out_ac; ENUM_auto_level3 rtb_level3_lgx; real32_T rtb_Switch_fp; + real32_T rtb_Gain1_o0[5]; real32_T rtb_Switch_b; real32_T rtb_Sum_j; - uint8_T rtb_Switch_dn; ENUM_mode rtb_mode; ENUM_AFCS_LAT rtb_AFCS_LNAV; real32_T rtb_last_hdot_c; real32_T rtb_Switch2_el; real32_T rtb_Sum1_c; real32_T rtb_MinMax; - real32_T rtb_Switch_l; + real32_T rtb_Switch_gb; real32_T rtb_Divide; uint8_T rtb_Rem; real32_T rtb_sincos_o1_d[3]; @@ -10304,20 +10434,21 @@ void SIL_step(void) rtb_Delay_g[idx] = SIL_DW.Delay_DSTATE_m[idx]; } - /* DataTypeConversion: '/Data Type Conversion1' incorporates: + /* Product: '/divide3' incorporates: + * Constant: '/Constant7' * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' * Delay: '/Delay' + * Gain: '/gain' */ - rtb_jxi = (int16_T)SIL_DW.Delay_DSTATE_m[3]; - - /* Gain: '/gain' */ - SIL_B.gain = 1.86426965605034E-5 * rtb_jxi; + SIL_B.dal = 1.86426965605034E-5 * (real_T)(int16_T)SIL_DW.Delay_DSTATE_m[3] + / SIL_P.k_dal; } /* Integrator: '/Integrator' */ /* Limited Integrator */ if (SIL_DW.Integrator_IWORK_a != 0) { - SIL_X.Integrator_CSTATE_k = SIL_B.gain; + SIL_X.Integrator_CSTATE_k = SIL_B.dal; } if (SIL_X.Integrator_CSTATE_k >= 0.52356020942408377) { @@ -10333,19 +10464,20 @@ void SIL_step(void) /* End of Integrator: '/Integrator' */ if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { - /* DataTypeConversion: '/Data Type Conversion1' incorporates: + /* Product: '/divide4' incorporates: + * Constant: '/Constant8' * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * Gain: '/gain' */ - rtb_jxi = (int16_T)rtb_Delay_g[4]; - - /* Gain: '/gain' */ - SIL_B.gain_c = 1.86426965605034E-5 * rtb_jxi; + SIL_B.dar = 1.86426965605034E-5 * (real_T)(int16_T)rtb_Delay_g[4] / + SIL_P.k_dar; } /* Integrator: '/Integrator' */ /* Limited Integrator */ if (SIL_DW.Integrator_IWORK_c != 0) { - SIL_X.Integrator_CSTATE_i = SIL_B.gain_c; + SIL_X.Integrator_CSTATE_i = SIL_B.dar; } if (SIL_X.Integrator_CSTATE_i >= 0.52356020942408377) { @@ -10385,19 +10517,20 @@ void SIL_step(void) rtCP_table3D_CL_da_tableData, rtCP_table3D_CL_da_dimSizes); if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { - /* DataTypeConversion: '/Data Type Conversion1' incorporates: + /* Product: '/divide' incorporates: + * Constant: '/Constant' * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * Gain: '/gain' */ - rtb_jxi = (int16_T)rtb_Delay_g[0]; - - /* Gain: '/gain' */ - SIL_B.gain_a = 1.3316211828930997E-5 * rtb_jxi; + SIL_B.del = 1.3316211828930997E-5 * (real_T)(int16_T)rtb_Delay_g[0] / + SIL_P.k_del; } /* Integrator: '/Integrator' */ /* Limited Integrator */ if (SIL_DW.Integrator_IWORK_j != 0) { - SIL_X.Integrator_CSTATE_g = SIL_B.gain_a; + SIL_X.Integrator_CSTATE_g = SIL_B.del; } if (SIL_X.Integrator_CSTATE_g >= 0.52356020942408377) { @@ -10413,19 +10546,20 @@ void SIL_step(void) /* End of Integrator: '/Integrator' */ if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { - /* DataTypeConversion: '/Data Type Conversion1' incorporates: + /* Product: '/divide1' incorporates: + * Constant: '/Constant1' * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * Gain: '/gain' */ - rtb_jxi = (int16_T)rtb_Delay_g[1]; - - /* Gain: '/gain' */ - SIL_B.gain_j = 1.3316211828930997E-5 * rtb_jxi; + SIL_B.der = 1.3316211828930997E-5 * (real_T)(int16_T)rtb_Delay_g[1] / + SIL_P.k_der; } /* Integrator: '/Integrator' */ /* Limited Integrator */ if (SIL_DW.Integrator_IWORK_ay != 0) { - SIL_X.Integrator_CSTATE_d = SIL_B.gain_j; + SIL_X.Integrator_CSTATE_d = SIL_B.der; } if (SIL_X.Integrator_CSTATE_d >= 0.52356020942408377) { @@ -10470,16 +10604,19 @@ void SIL_step(void) SIL_B.product_g = rtb_q2dot * SIL_P.CLdeUncertGain; if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { - /* DataTypeConversion: '/Data Type Conversion1' incorporates: + /* Product: '/divide2' incorporates: + * Constant: '/Constant3' * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * Gain: '/gain' */ - rtb_jxi = (int16_T)rtb_Delay_g[2]; + rtb_Divide6 = 1.3316211828930997E-5 * (real_T)(int16_T)rtb_Delay_g[2] / + SIL_P.k_dr; /* Product: '/product' incorporates: * Constant: '/value' - * Gain: '/gain' */ - SIL_B.product_o = 1.3316211828930997E-5 * rtb_jxi * 57.3; + SIL_B.product_o = rtb_Divide6 * 57.3; } /* Lookup_n-D: '/table3D_CL_dr' */ @@ -11217,40 +11354,32 @@ void SIL_step(void) rtCP_table2D_thrustAB_tableData, rtCP_table2D_thrustAB_maxIndex, 10U); if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { - /* Switch: '/if' incorporates: - * Constant: '/Constant BP' - * Gain: '/Gain4' + /* Gain: '/Gain' incorporates: + * Constant: '/Constant BP' + * Sum: '/subtract' */ - if (rtb_Delay_g[6] > 1500) { - rtb_jxi = 1.0; + rtb_Divide6 = ((real_T)rtb_Delay_g[5] - 1000.0) * 0.0010000000002037268; + + /* Saturate: '/Saturation' */ + if (rtb_Divide6 > 2.0) { + rtb_Divide6 = 2.0; } else { - /* Gain: '/Gain' incorporates: - * Constant: '/Constant BP' - * Sum: '/subtract' - */ - rtb_jxi = ((real_T)rtb_Delay_g[5] - 1000.0) * 0.0010000000002037268; - - /* Saturate: '/Saturation' */ - if (rtb_jxi > 1.0) { - rtb_jxi = 1.0; - } else { - if (rtb_jxi < 0.0) { - rtb_jxi = 0.0; - } + if (rtb_Divide6 < 0.0) { + rtb_Divide6 = 0.0; } - - /* End of Saturate: '/Saturation' */ - rtb_jxi *= 0.5; } - /* End of Switch: '/if' */ + /* End of Saturate: '/Saturation' */ + + /* Gain: '/Gain4' */ + rtb_Divide6 *= 0.5; /* Lookup_n-D: '/table1D_thrAB_map' */ - SIL_B.table1D_thrAB_map = look1_binlxpw(rtb_jxi, + SIL_B.table1D_thrAB_map = look1_binlxpw(rtb_Divide6, rtCP_table1D_thrAB_map_bp01Data, rtCP_table1D_thrAB_map_tableData, 2U); /* Lookup_n-D: '/table1D_thr_map' */ - SIL_B.table1D_thr_map = look1_binlxpw(rtb_jxi, + SIL_B.table1D_thr_map = look1_binlxpw(rtb_Divide6, rtCP_table1D_thr_map_bp01Data, rtCP_table1D_thr_map_tableData, 2U); } @@ -11294,7 +11423,7 @@ void SIL_step(void) rtCP_table2D_cftAB_tableData, rtCP_table2D_cftAB_maxIndex, 10U); /* Product: '/product' */ - rtb_jxi = rtb_TrigonometricFunction1 * SIL_B.table1D_thrAB_map; + rtb_Divide6 = rtb_TrigonometricFunction1 * SIL_B.table1D_thrAB_map; /* Lookup_n-D: '/table3D_cft' */ bpIndices_o[0U] = plook_binx(SIL_B.Product3_f, rtCP_table3D_cft_bp01Data, 9U, @@ -11326,8 +11455,8 @@ void SIL_step(void) * Product: '/product' * Sum: '/add' */ - SIL_B.Selector1_c2 = (rtb_TrigonometricFunction1 * SIL_B.subtract + rtb_jxi) - * 0.00027777777777777778; + SIL_B.Selector1_c2 = (rtb_TrigonometricFunction1 * SIL_B.subtract + + rtb_Divide6) * 0.00027777777777777778; /* If: '/If' incorporates: * Inport: '/cf' @@ -11352,8 +11481,8 @@ void SIL_step(void) /* Fcn: '/Fcn21' incorporates: * Fcn: '/Fcn22' */ - rtb_jxi = rtb_Sum_of[2] * rtb_Sum_of[1]; - rtb_VectorConcatenate[1] = rtb_jxi * rtb_Merge2 - rtb_q3dot * + rtb_Divide6 = rtb_Sum_of[2] * rtb_Sum_of[1]; + rtb_VectorConcatenate[1] = rtb_Divide6 * rtb_Merge2 - rtb_q3dot * rtb_Sum_of[0]; /* Fcn: '/Fcn31' incorporates: @@ -11367,7 +11496,7 @@ void SIL_step(void) rtb_VectorConcatenate[3] = rtb_table3D_Cm_df * rtb_Sum_of[0]; /* Fcn: '/Fcn22' */ - rtb_VectorConcatenate[4] = rtb_jxi * rtb_Sum_of[0] + rtb_q3dot * + rtb_VectorConcatenate[4] = rtb_Divide6 * rtb_Sum_of[0] + rtb_q3dot * rtb_Merge2; /* Fcn: '/Fcn32' */ @@ -11714,8 +11843,8 @@ void SIL_step(void) /* Fcn: '/Fcn21' incorporates: * Fcn: '/Fcn22' */ - rtb_jxi = rtb_Sum_ln[2] * rtb_Sum_ln[1]; - rtb_VectorConcatenate[1] = rtb_jxi * rtb_table3D_Cm_df - rtb_q2dot * + rtb_Divide6 = rtb_Sum_ln[2] * rtb_Sum_ln[1]; + rtb_VectorConcatenate[1] = rtb_Divide6 * rtb_table3D_Cm_df - rtb_q2dot * rtb_Sum_ln[0]; /* Fcn: '/Fcn31' incorporates: @@ -11729,7 +11858,7 @@ void SIL_step(void) rtb_VectorConcatenate[3] = rtb_q3dot * rtb_Sum_ln[0]; /* Fcn: '/Fcn22' */ - rtb_VectorConcatenate[4] = rtb_jxi * rtb_Sum_ln[0] + rtb_q2dot * + rtb_VectorConcatenate[4] = rtb_Divide6 * rtb_Sum_ln[0] + rtb_q2dot * rtb_table3D_Cm_df; /* Fcn: '/Fcn32' */ @@ -11753,7 +11882,7 @@ void SIL_step(void) * Lookup_n-D: '/table1D_thrust' * Product: '/product' */ - rtb_jxi = SIL_P.BoosterUncertGain * look1_binlxpw(SIL_B.boost_time, + rtb_Divide6 = SIL_P.BoosterUncertGain * look1_binlxpw(SIL_B.boost_time, rtCP_table1D_thrust_bp01Data, rtCP_table1D_thrust_tableData, 7U); for (idx = 0; idx < 3; idx++) { /* Sum: '/Sum' incorporates: @@ -11764,7 +11893,7 @@ void SIL_step(void) /* Product: '/Product' */ SIL_B.Merge_i[idx] = 0.0; - SIL_B.Merge_i[idx] += tmp[idx] * rtb_jxi; + SIL_B.Merge_i[idx] += tmp[idx] * rtb_Divide6; SIL_B.Merge_i[idx] += tmp[idx + 3] * 0.0; SIL_B.Merge_i[idx] += tmp[idx + 6] * 0.0; } @@ -12353,7 +12482,7 @@ void SIL_step(void) rtb_table2D_Cmq = rtb_Sum_ln[0]; /* Product: '/i x j' */ - rtb_jxi = rtb_Sum_ln[1]; + rtb_Divide6 = rtb_Sum_ln[1]; /* Product: '/j x i' */ rtb_table3D_Cm_df = rtb_Sum_ln[0]; @@ -12400,10 +12529,10 @@ void SIL_step(void) rtb_Sum_ln[1] = ((0.0 - SIL_P.IMUloc[0]) * SIL_B.ZeroOrderHold3[2] - (0.0 - SIL_P.IMUloc[2]) * SIL_B.ZeroOrderHold3[0]) + (SIL_B.ZeroOrderHold1[1] + rtb_Sum_ln[1]); - rtb_jxi = (-(0.0 - SIL_P.IMUloc[1]) * SIL_B.ZeroOrderHold3[0] - (0.0 - - SIL_P.IMUloc[0]) * SIL_B.ZeroOrderHold3[1]) + - (SIL_B.ZeroOrderHold1[2] + (SIL_B.ZeroOrderHold[0] * rtb_jxi - - SIL_B.ZeroOrderHold[1] * rtb_table3D_Cm_df)); + rtb_Divide6 = (-(0.0 - SIL_P.IMUloc[1]) * SIL_B.ZeroOrderHold3[0] - (0.0 - + SIL_P.IMUloc[0]) * SIL_B.ZeroOrderHold3[1]) + (SIL_B.ZeroOrderHold1[2] + + (SIL_B.ZeroOrderHold[0] * rtb_Divide6 - SIL_B.ZeroOrderHold[1] * + rtb_table3D_Cm_df)); /* Sum: '/Sum4' incorporates: * Constant: '/Measurement bias' @@ -12413,7 +12542,7 @@ void SIL_step(void) for (idx = 0; idx < 3; idx++) { uTmp[idx] = ((SIL_P.AccelScaleMatrix[idx + 3] * rtb_Sum_ln[1] + SIL_P.AccelScaleMatrix[idx] * rtb_Sum_ln[0]) + - SIL_P.AccelScaleMatrix[idx + 6] * rtb_jxi) + + SIL_P.AccelScaleMatrix[idx + 6] * rtb_Divide6) + SIL_P.AccelBias[idx]; } @@ -12445,25 +12574,25 @@ void SIL_step(void) for (idx = 0; idx < 3; idx++) { /* DiscreteTransferFcn: '/Discrete Transfer Fcn' */ memOffset = idx << 1; - rtb_jxi = SIL_DW.DiscreteTransferFcn_states[memOffset + 1]; + rtb_Divide6 = SIL_DW.DiscreteTransferFcn_states[memOffset + 1]; SIL_DW.DiscreteTransferFcn_tmp[idx] = (uTmp[idx] - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3[1] * - SIL_DW.DiscreteTransferFcn_states[memOffset]) - rtb_jxi * + SIL_DW.DiscreteTransferFcn_states[memOffset]) - rtb_Divide6 * SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3[2]; - rtb_jxi = (SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[0] * - SIL_DW.DiscreteTransferFcn_tmp[idx] + - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[1] * - SIL_DW.DiscreteTransferFcn_states[memOffset]) + rtb_jxi * - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[2]; + rtb_Divide6 = (SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[0] * + SIL_DW.DiscreteTransferFcn_tmp[idx] + + SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[1] * + SIL_DW.DiscreteTransferFcn_states[memOffset]) + + rtb_Divide6 * SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2[2]; /* Saturate: '/Saturation' incorporates: * DiscreteTransferFcn: '/Discrete Transfer Fcn' */ - if (rtb_jxi > 80.0) { - rtb_jxi = 80.0; + if (rtb_Divide6 > 80.0) { + rtb_Divide6 = 80.0; } else { - if (rtb_jxi < -80.0) { - rtb_jxi = -80.0; + if (rtb_Divide6 < -80.0) { + rtb_Divide6 = -80.0; } } @@ -12472,7 +12601,7 @@ void SIL_step(void) /* Gain: '/gain' incorporates: * DataTypeConversion: '/Data Type Conversion' */ - scale = 0.101936802F * (real32_T)rtb_jxi; + scale = 0.101936802F * (real32_T)rtb_Divide6; /* RateLimiter: '/Rate Limiter' */ absxk = scale - SIL_DW.PrevY[idx]; @@ -12542,27 +12671,28 @@ void SIL_step(void) * UnitConversion: '/Unit Conversion' */ memOffset = idx << 1; - rtb_jxi = SIL_DW.DiscreteTransferFcn_states_e[memOffset + 1]; + rtb_Divide6 = SIL_DW.DiscreteTransferFcn_states_e[memOffset + 1]; SIL_DW.DiscreteTransferFcn_tmp_f[idx] = ((0.10197162129779282 * SIL_B.Accels[idx] * SIL_P.GyroGBias[idx] + ((SIL_P.GyroScaleMatrix[idx + 6] * SIL_B.ZeroOrderHold_o[2] + (SIL_P.GyroScaleMatrix[idx + 3] * SIL_B.ZeroOrderHold_o[1] + SIL_P.GyroScaleMatrix[idx] * SIL_B.ZeroOrderHold_o[0])) + SIL_P.GyroBias[idx])) - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3_n[1] * - SIL_DW.DiscreteTransferFcn_states_e[memOffset]) - rtb_jxi * + SIL_DW.DiscreteTransferFcn_states_e[memOffset]) - rtb_Divide6 * SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3_n[2]; - rtb_jxi = (SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b[0] * - SIL_DW.DiscreteTransferFcn_tmp_f[idx] + - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b[1] * - SIL_DW.DiscreteTransferFcn_states_e[memOffset]) + rtb_jxi * - SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b[2]; + rtb_Divide6 = (SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b[0] + * SIL_DW.DiscreteTransferFcn_tmp_f[idx] + + SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b[1] + * SIL_DW.DiscreteTransferFcn_states_e[memOffset]) + + rtb_Divide6 * SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport2_b + [2]; /* Saturate: '/Saturation' */ - if (rtb_jxi > 7.0) { - rtb_jxi = 7.0; + if (rtb_Divide6 > 7.0) { + rtb_Divide6 = 7.0; } else { - if (rtb_jxi < -7.0) { - rtb_jxi = -7.0; + if (rtb_Divide6 < -7.0) { + rtb_Divide6 = -7.0; } } @@ -12571,7 +12701,7 @@ void SIL_step(void) /* Gain: '/Gain' incorporates: * DataTypeConversion: '/Data Type Conversion1' */ - scale = 57.2957802F * (real32_T)rtb_jxi; + scale = 57.2957802F * (real32_T)rtb_Divide6; /* RateLimiter: '/Rate Limiter1' */ absxk = scale - SIL_DW.PrevY_k[idx]; @@ -13087,168 +13217,731 @@ void SIL_step(void) } /* End of Outputs for SubSystem: '/dummy_INS' */ + if (rtmIsMajorTimeStep(SIL_M) && + SIL_M->Timing.TaskCounters.TID[3] == 0) { + /* UnitDelay: '/Unit Delay' */ + for (idx = 0; idx < 5; idx++) { + SIL_B.UnitDelay_f[idx] = SIL_DW.UnitDelay_DSTATE_hx[idx]; + } + } + if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { /* Outputs for Atomic SubSystem: '/kb3_autopilot' */ - /* Outputs for Iterator SubSystem: '/parse_to_msg_queue' incorporates: - * ForIterator: '/For Iterator' + /* Outputs for Iterator SubSystem: '/parse_to_msg_queue' incorporates: + * ForIterator: '/For Iterator' */ /* Inport: '/data_len' */ for (idx = 0; idx < SIL_U.data_len; idx++) { - /* Selector: '/Selector' incorporates: + /* Selector: '/Selector' incorporates: * Inport: '/data_in' */ SIL_B.mav_char_in = SIL_U.data_in[idx]; - /* S-Function (mav_parser): '/mav_parser' */ + /* S-Function (mav_parser): '/mav_parser' */ mav_parser_Outputs_wrapper(&SIL_B.mav_char_in, &SIL_B.mav_found, &SIL_B.mav_message, &SIL_B.mav_status, &rtCP_mav_parser_P1, 1); - /* If: '/If' */ + /* If: '/If' */ if (SIL_B.mav_found) { - /* Outputs for IfAction SubSystem: '/process_new_message' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/process_new_message' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/push2msgs' */ + /* Chart: '/push2msgs' */ SIL_DW.msgs_msgData_h = SIL_B.mav_message; SIL_sf_msg_send_msgs(); - /* End of Outputs for SubSystem: '/process_new_message' */ + /* End of Outputs for SubSystem: '/process_new_message' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ } /* End of Inport: '/data_len' */ - /* End of Outputs for SubSystem: '/parse_to_msg_queue' */ + /* End of Outputs for SubSystem: '/parse_to_msg_queue' */ - /* If: '/If' incorporates: - * Abs: '/abs' - * Constant: '/Constant BP' - * Constant: '/Constant Single' - * Constant: '/Constant1' + /* If: '/If' incorporates: + * Abs: '/abs' + * Constant: '/Constant BP' + * Constant: '/Constant Single' + * Constant: '/Constant1' * DataStoreRead: '/Data Store Read' - * Inport: '/In1' - * Logic: '/and' - * RelationalOperator: '/ge' - * RelationalOperator: '/ge1' - * RelationalOperator: '/gt' - * Sum: '/subtract' + * Inport: '/In1' + * Logic: '/and' + * RelationalOperator: '/ge' + * RelationalOperator: '/ge1' + * RelationalOperator: '/gt' + * Sum: '/subtract' */ if ((fabsf(SIL_DW.sens.asl_baro - SIL_DW.sens.msl) > 500.0F) && (SIL_DW.sens.gps_fixtype >= ENUM_GPS_FIXTYPE_FIX_3D) && (SIL_DW.sens.satnum >= 6)) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ - SIL_B.BusAssignment_e = SIL_DW.sens; - SIL_B.BusAssignment_e.asl_baro = SIL_DW.sens.msl; + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j = SIL_DW.sens; + SIL_B.BusAssignment_j.asl_baro = SIL_DW.sens.msl; - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - SIL_B.BusAssignment_e = SIL_DW.sens; + SIL_B.BusAssignment_j = SIL_DW.sens; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ - /* MATLAB Function: '/stdatmo' incorporates: - * DataTypeConversion: '/Data Type Conversion3' + /* MATLAB Function: '/stdatmo' incorporates: + * DataTypeConversion: '/Data Type Conversion3' */ - if (SIL_B.BusAssignment_e.asl_baro <= 11000.0F) { - rtb_table2D_Cmq = -0.0065 * SIL_B.BusAssignment_e.asl_baro / 288.15 + + if (SIL_B.BusAssignment_j.asl_baro <= 11000.0F) { + rtb_table2D_Cmq = -0.0065 * SIL_B.BusAssignment_j.asl_baro / 288.15 + 1.0; - rtb_jxi = rtb_table2D_Cmq * 288.15; + rtb_Divide6 = rtb_table2D_Cmq * 288.15; rtb_table2D_Cmq = rt_powd_snf(rtb_table2D_Cmq, -SIL_DW.g0 / (-0.0065 * SIL_DW.R)) * 101325.0; - } else if (SIL_B.BusAssignment_e.asl_baro <= 20000.0F) { - rtb_jxi = 216.65; - rtb_table2D_Cmq = exp((SIL_B.BusAssignment_e.asl_baro - 11000.0) * + } else if (SIL_B.BusAssignment_j.asl_baro <= 20000.0F) { + rtb_Divide6 = 216.65; + rtb_table2D_Cmq = exp((SIL_B.BusAssignment_j.asl_baro - 11000.0) * -SIL_DW.g0 / (216.65 * SIL_DW.R)) * 22632.0400950078; - } else if (SIL_B.BusAssignment_e.asl_baro <= 32000.0F) { - rtb_table2D_Cmq = (SIL_B.BusAssignment_e.asl_baro - 20000.0) * 0.001 / + } else if (SIL_B.BusAssignment_j.asl_baro <= 32000.0F) { + rtb_table2D_Cmq = (SIL_B.BusAssignment_j.asl_baro - 20000.0) * 0.001 / 216.65 + 1.0; - rtb_jxi = rtb_table2D_Cmq * 216.65; + rtb_Divide6 = rtb_table2D_Cmq * 216.65; rtb_table2D_Cmq = rt_powd_snf(rtb_table2D_Cmq, -SIL_DW.g0 / (0.001 * SIL_DW.R)) * 5474.87742428105; - } else if (SIL_B.BusAssignment_e.asl_baro <= 47000.0F) { - rtb_table2D_Cmq = (SIL_B.BusAssignment_e.asl_baro - 32000.0) * 0.0028 / + } else if (SIL_B.BusAssignment_j.asl_baro <= 47000.0F) { + rtb_table2D_Cmq = (SIL_B.BusAssignment_j.asl_baro - 32000.0) * 0.0028 / 228.65 + 1.0; - rtb_jxi = rtb_table2D_Cmq * 228.65; + rtb_Divide6 = rtb_table2D_Cmq * 228.65; rtb_table2D_Cmq = rt_powd_snf(rtb_table2D_Cmq, -SIL_DW.g0 / (0.0028 * SIL_DW.R)) * 868.015776620216; - } else if (SIL_B.BusAssignment_e.asl_baro <= 51000.0F) { - rtb_jxi = 270.65; - rtb_table2D_Cmq = exp((SIL_B.BusAssignment_e.asl_baro - 47000.0) * + } else if (SIL_B.BusAssignment_j.asl_baro <= 51000.0F) { + rtb_Divide6 = 270.65; + rtb_table2D_Cmq = exp((SIL_B.BusAssignment_j.asl_baro - 47000.0) * -SIL_DW.g0 / (270.65 * SIL_DW.R)) * 110.90577336731; - } else if (SIL_B.BusAssignment_e.asl_baro <= 71000.0F) { - rtb_table2D_Cmq = (SIL_B.BusAssignment_e.asl_baro - 51000.0) * -0.0028 / + } else if (SIL_B.BusAssignment_j.asl_baro <= 71000.0F) { + rtb_table2D_Cmq = (SIL_B.BusAssignment_j.asl_baro - 51000.0) * -0.0028 / 270.65 + 1.0; - rtb_jxi = rtb_table2D_Cmq * 270.65; + rtb_Divide6 = rtb_table2D_Cmq * 270.65; rtb_table2D_Cmq = rt_powd_snf(rtb_table2D_Cmq, -SIL_DW.g0 / (-0.0028 * SIL_DW.R)) * 66.9385281211797; - } else if (SIL_B.BusAssignment_e.asl_baro <= 84852.0458449057) { - rtb_table2D_Cmq = (SIL_B.BusAssignment_e.asl_baro - 71000.0) * -0.002 / + } else if (SIL_B.BusAssignment_j.asl_baro <= 84852.0458449057) { + rtb_table2D_Cmq = (SIL_B.BusAssignment_j.asl_baro - 71000.0) * -0.002 / 214.65 + 1.0; - rtb_jxi = rtb_table2D_Cmq * 214.65; + rtb_Divide6 = rtb_table2D_Cmq * 214.65; rtb_table2D_Cmq = rt_powd_snf(rtb_table2D_Cmq, -SIL_DW.g0 / (-0.002 * SIL_DW.R)) * 3.9563921603966; - } else if (SIL_B.BusAssignment_e.asl_baro <= 90000.0F) { - rtb_jxi = 186.94590831019; - rtb_table2D_Cmq = exp((SIL_B.BusAssignment_e.asl_baro - 84852.0458449057) + } else if (SIL_B.BusAssignment_j.asl_baro <= 90000.0F) { + rtb_Divide6 = 186.94590831019; + rtb_table2D_Cmq = exp((SIL_B.BusAssignment_j.asl_baro - 84852.0458449057) * -SIL_DW.g0 / (186.94590831019 * SIL_DW.R)) * 0.373377173762337; } else { - rtb_jxi = 186.94590831019; + rtb_Divide6 = 186.94590831019; rtb_table2D_Cmq = exp(-SIL_DW.g0 * 5147.9541550942959 / (186.94590831019 * SIL_DW.R)) * 0.373377173762337; } - rtb_table2D_Cmq = rtb_table2D_Cmq / rtb_jxi / SIL_DW.R; + rtb_table2D_Cmq = rtb_table2D_Cmq / rtb_Divide6 / SIL_DW.R; - /* Product: '/product' incorporates: - * Constant: '/Constant Single' - * DataTypeConversion: '/Data Type Conversion2' - * MATLAB Function: '/stdatmo' - * Product: '/divide1' - * Sqrt: '/Sqrt' + /* Product: '/product' incorporates: + * Constant: '/Constant Single' + * DataTypeConversion: '/Data Type Conversion2' + * MATLAB Function: '/stdatmo' + * Product: '/divide1' + * Sqrt: '/Sqrt' */ /* Unit Conversion - from: K to: degC Expression: output = (1*input) + (-273.15) */ scale = sqrtf(1.0F / (real32_T)rtb_table2D_Cmq * 1.225F) * - SIL_B.BusAssignment_e.IAS; + SIL_B.BusAssignment_j.IAS; - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion2' - * MATLAB Function: '/stdatmo' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion2' + * MATLAB Function: '/stdatmo' */ - SIL_B.BusAssignment_e.rho = (real32_T)rtb_table2D_Cmq; + SIL_B.BusAssignment_j.rho = (real32_T)rtb_table2D_Cmq; - /* DataTypeConversion: '/Data Type Conversion1' incorporates: - * MATLAB Function: '/stdatmo' + /* DataTypeConversion: '/Data Type Conversion1' incorporates: + * MATLAB Function: '/stdatmo' */ - absxk = (real32_T)sqrt(SIL_DW.gamma * SIL_DW.R * rtb_jxi); + absxk = (real32_T)sqrt(SIL_DW.gamma * SIL_DW.R * rtb_Divide6); - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' - * DataTypeConversion: '/Data Type Conversion1' - * MATLAB Function: '/stdatmo' - * Product: '/divide' - * UnitConversion: '/Unit Conversion' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * MATLAB Function: '/stdatmo' + * Product: '/divide' + * UnitConversion: '/Unit Conversion' */ - SIL_B.BusAssignment_e.SoundSpeed = absxk; - SIL_B.BusAssignment_e.temp = -273.15F + (real32_T)rtb_jxi; - SIL_B.BusAssignment_e.Mach = 1.0F / absxk * scale; - SIL_B.BusAssignment_e.TAS = scale; + SIL_B.BusAssignment_j.SoundSpeed = absxk; + SIL_B.BusAssignment_j.temp = -273.15F + (real32_T)rtb_Divide6; + SIL_B.BusAssignment_j.Mach = 1.0F / absxk * scale; + SIL_B.BusAssignment_j.TAS = scale; - /* Chart: '/check_conn' incorporates: + /* Chart: '/Chart' incorporates: + * Constant: '/Constant3' + */ + if (SIL_DW.temporalCounter_i1_g < 255U) { + SIL_DW.temporalCounter_i1_g++; + } + + if (SIL_DW.is_active_c39_kb3_autopilot == 0U) { + SIL_DW.is_active_c39_kb3_autopilot = 1U; + SIL_DW.is_c39_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_jn = SIL_B.good_n; + idx = 0; + } else if (SIL_DW.is_c39_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_jn != SIL_B.good_n) { + SIL_DW.is_c39_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_g = 0U; + idx = 1; + SIL_DW.last_seq_jn = SIL_B.good_n; + } else { + idx = 0; + } + } else if (SIL_DW.last_seq_jn != SIL_B.good_n) { + SIL_DW.is_c39_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_g = 0U; + idx = 1; + SIL_DW.last_seq_jn = SIL_B.good_n; + } else if (SIL_DW.temporalCounter_i1_g >= 200U) { + SIL_DW.is_c39_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_jn = SIL_B.good_n; + idx = 0; + } else { + idx = 1; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_b < 255U) { + SIL_DW.temporalCounter_i1_b++; + } + + if (SIL_DW.is_active_c40_kb3_autopilot == 0U) { + SIL_DW.is_active_c40_kb3_autopilot = 1U; + SIL_DW.is_c40_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ji = SIL_B.good; + } else if (SIL_DW.is_c40_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_ji != SIL_B.good) { + SIL_DW.is_c40_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_b = 0U; + idx |= 2U; + SIL_DW.last_seq_ji = SIL_B.good; + } + } else if (SIL_DW.last_seq_ji != SIL_B.good) { + SIL_DW.is_c40_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_b = 0U; + idx |= 2U; + SIL_DW.last_seq_ji = SIL_B.good; + } else if (SIL_DW.temporalCounter_i1_b >= 200U) { + SIL_DW.is_c40_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ji = SIL_B.good; + } else { + idx |= 2U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_eo < 255U) { + SIL_DW.temporalCounter_i1_eo++; + } + + if (SIL_DW.is_active_c41_kb3_autopilot == 0U) { + SIL_DW.is_active_c41_kb3_autopilot = 1U; + SIL_DW.is_c41_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_i = SIL_B.good_d; + } else if (SIL_DW.is_c41_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_i != SIL_B.good_d) { + SIL_DW.is_c41_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_eo = 0U; + idx |= 4U; + SIL_DW.last_seq_i = SIL_B.good_d; + } + } else if (SIL_DW.last_seq_i != SIL_B.good_d) { + SIL_DW.is_c41_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_eo = 0U; + idx |= 4U; + SIL_DW.last_seq_i = SIL_B.good_d; + } else if (SIL_DW.temporalCounter_i1_eo >= 200U) { + SIL_DW.is_c41_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_i = SIL_B.good_d; + } else { + idx |= 4U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_j < 255U) { + SIL_DW.temporalCounter_i1_j++; + } + + if (SIL_DW.is_active_c42_kb3_autopilot == 0U) { + SIL_DW.is_active_c42_kb3_autopilot = 1U; + SIL_DW.is_c42_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_l = SIL_B.good_l; + } else if (SIL_DW.is_c42_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_l != SIL_B.good_l) { + SIL_DW.is_c42_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_j = 0U; + idx |= 8U; + SIL_DW.last_seq_l = SIL_B.good_l; + } + } else if (SIL_DW.last_seq_l != SIL_B.good_l) { + SIL_DW.is_c42_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_j = 0U; + idx |= 8U; + SIL_DW.last_seq_l = SIL_B.good_l; + } else if (SIL_DW.temporalCounter_i1_j >= 200U) { + SIL_DW.is_c42_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_l = SIL_B.good_l; + } else { + idx |= 8U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_m4 < 255U) { + SIL_DW.temporalCounter_i1_m4++; + } + + if (SIL_DW.is_active_c43_kb3_autopilot == 0U) { + SIL_DW.is_active_c43_kb3_autopilot = 1U; + SIL_DW.is_c43_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_k = SIL_B.good_g; + } else if (SIL_DW.is_c43_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_k != SIL_B.good_g) { + SIL_DW.is_c43_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_m4 = 0U; + idx |= 16U; + SIL_DW.last_seq_k = SIL_B.good_g; + } + } else if (SIL_DW.last_seq_k != SIL_B.good_g) { + SIL_DW.is_c43_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_m4 = 0U; + idx |= 16U; + SIL_DW.last_seq_k = SIL_B.good_g; + } else if (SIL_DW.temporalCounter_i1_m4 >= 200U) { + SIL_DW.is_c43_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_k = SIL_B.good_g; + } else { + idx |= 16U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_l < 255U) { + SIL_DW.temporalCounter_i1_l++; + } + + if (SIL_DW.is_active_c44_kb3_autopilot == 0U) { + SIL_DW.is_active_c44_kb3_autopilot = 1U; + SIL_DW.is_c44_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_js = SIL_B.good_h; + } else if (SIL_DW.is_c44_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_js != SIL_B.good_h) { + SIL_DW.is_c44_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_l = 0U; + idx |= 32U; + SIL_DW.last_seq_js = SIL_B.good_h; + } + } else if (SIL_DW.last_seq_js != SIL_B.good_h) { + SIL_DW.is_c44_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_l = 0U; + idx |= 32U; + SIL_DW.last_seq_js = SIL_B.good_h; + } else if (SIL_DW.temporalCounter_i1_l >= 200U) { + SIL_DW.is_c44_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_js = SIL_B.good_h; + } else { + idx |= 32U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_ph < 255U) { + SIL_DW.temporalCounter_i1_ph++; + } + + if (SIL_DW.is_active_c48_kb3_autopilot == 0U) { + SIL_DW.is_active_c48_kb3_autopilot = 1U; + SIL_DW.is_c48_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_j = SIL_DW.UnitDelay_DSTATE_h; + } else if (SIL_DW.is_c48_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_j != SIL_DW.UnitDelay_DSTATE_h) { + SIL_DW.is_c48_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_ph = 0U; + idx |= 64U; + SIL_DW.last_seq_j = SIL_DW.UnitDelay_DSTATE_h; + } + } else if (SIL_DW.last_seq_j != SIL_DW.UnitDelay_DSTATE_h) { + SIL_DW.is_c48_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_ph = 0U; + idx |= 64U; + SIL_DW.last_seq_j = SIL_DW.UnitDelay_DSTATE_h; + } else if (SIL_DW.temporalCounter_i1_ph >= 200U) { + SIL_DW.is_c48_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_j = SIL_DW.UnitDelay_DSTATE_h; + } else { + idx |= 64U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_f2 < 255U) { + SIL_DW.temporalCounter_i1_f2++; + } + + if (SIL_DW.is_active_c49_kb3_autopilot == 0U) { + SIL_DW.is_active_c49_kb3_autopilot = 1U; + SIL_DW.is_c49_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_h = SIL_DW.UnitDelay_DSTATE_c3; + } else if (SIL_DW.is_c49_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_h != SIL_DW.UnitDelay_DSTATE_c3) { + SIL_DW.is_c49_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_f2 = 0U; + idx |= 128U; + SIL_DW.last_seq_h = SIL_DW.UnitDelay_DSTATE_c3; + } + } else if (SIL_DW.last_seq_h != SIL_DW.UnitDelay_DSTATE_c3) { + SIL_DW.is_c49_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_f2 = 0U; + idx |= 128U; + SIL_DW.last_seq_h = SIL_DW.UnitDelay_DSTATE_c3; + } else if (SIL_DW.temporalCounter_i1_f2 >= 200U) { + SIL_DW.is_c49_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_h = SIL_DW.UnitDelay_DSTATE_c3; + } else { + idx |= 128U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_eg < 255U) { + SIL_DW.temporalCounter_i1_eg++; + } + + if (SIL_DW.is_active_c50_kb3_autopilot == 0U) { + SIL_DW.is_active_c50_kb3_autopilot = 1U; + SIL_DW.is_c50_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq = SIL_DW.UnitDelay_DSTATE_b; + } else if (SIL_DW.is_c50_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq != SIL_DW.UnitDelay_DSTATE_b) { + SIL_DW.is_c50_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_eg = 0U; + idx |= 256U; + SIL_DW.last_seq = SIL_DW.UnitDelay_DSTATE_b; + } + } else if (SIL_DW.last_seq != SIL_DW.UnitDelay_DSTATE_b) { + SIL_DW.is_c50_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_eg = 0U; + idx |= 256U; + SIL_DW.last_seq = SIL_DW.UnitDelay_DSTATE_b; + } else if (SIL_DW.temporalCounter_i1_eg >= 200U) { + SIL_DW.is_c50_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq = SIL_DW.UnitDelay_DSTATE_b; + } else { + idx |= 256U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_d < 255U) { + SIL_DW.temporalCounter_i1_d++; + } + + if (SIL_DW.is_active_c45_kb3_autopilot == 0U) { + SIL_DW.is_active_c45_kb3_autopilot = 1U; + SIL_DW.is_c45_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_m = SIL_DW.UnitDelay_DSTATE_oi; + } else if (SIL_DW.is_c45_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_m != SIL_DW.UnitDelay_DSTATE_oi) { + SIL_DW.is_c45_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_d = 0U; + idx |= 512U; + SIL_DW.last_seq_m = SIL_DW.UnitDelay_DSTATE_oi; + } + } else if (SIL_DW.last_seq_m != SIL_DW.UnitDelay_DSTATE_oi) { + SIL_DW.is_c45_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_d = 0U; + idx |= 512U; + SIL_DW.last_seq_m = SIL_DW.UnitDelay_DSTATE_oi; + } else if (SIL_DW.temporalCounter_i1_d >= 200U) { + SIL_DW.is_c45_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_m = SIL_DW.UnitDelay_DSTATE_oi; + } else { + idx |= 512U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_lb < 255U) { + SIL_DW.temporalCounter_i1_lb++; + } + + if (SIL_DW.is_active_c46_kb3_autopilot == 0U) { + SIL_DW.is_active_c46_kb3_autopilot = 1U; + SIL_DW.is_c46_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_o = SIL_DW.UnitDelay_DSTATE_e; + } else if (SIL_DW.is_c46_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_o != SIL_DW.UnitDelay_DSTATE_e) { + SIL_DW.is_c46_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_lb = 0U; + idx |= 1024U; + SIL_DW.last_seq_o = SIL_DW.UnitDelay_DSTATE_e; + } + } else if (SIL_DW.last_seq_o != SIL_DW.UnitDelay_DSTATE_e) { + SIL_DW.is_c46_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_lb = 0U; + idx |= 1024U; + SIL_DW.last_seq_o = SIL_DW.UnitDelay_DSTATE_e; + } else if (SIL_DW.temporalCounter_i1_lb >= 200U) { + SIL_DW.is_c46_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_o = SIL_DW.UnitDelay_DSTATE_e; + } else { + idx |= 1024U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.temporalCounter_i1_lj < 255U) { + SIL_DW.temporalCounter_i1_lj++; + } + + if (SIL_DW.is_active_c47_kb3_autopilot == 0U) { + SIL_DW.is_active_c47_kb3_autopilot = 1U; + SIL_DW.is_c47_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ly = SIL_DW.UnitDelay_DSTATE_ci; + } else if (SIL_DW.is_c47_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_ly != SIL_DW.UnitDelay_DSTATE_ci) { + SIL_DW.is_c47_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_lj = 0U; + idx |= 2048U; + SIL_DW.last_seq_ly = SIL_DW.UnitDelay_DSTATE_ci; + } + } else if (SIL_DW.last_seq_ly != SIL_DW.UnitDelay_DSTATE_ci) { + SIL_DW.is_c47_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_lj = 0U; + idx |= 2048U; + SIL_DW.last_seq_ly = SIL_DW.UnitDelay_DSTATE_ci; + } else if (SIL_DW.temporalCounter_i1_lj >= 200U) { + SIL_DW.is_c47_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ly = SIL_DW.UnitDelay_DSTATE_ci; + } else { + idx |= 2048U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' incorporates: + * Chart: '/Chart' + */ + if (SIL_DW.temporalCounter_i1_jf < 255U) { + SIL_DW.temporalCounter_i1_jf++; + } + + if (SIL_DW.is_active_c54_kb3_autopilot == 0U) { + SIL_DW.is_active_c54_kb3_autopilot = 1U; + SIL_DW.is_c54_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_g = SIL_B.UnitDelay_f[0]; + } else if (SIL_DW.is_c54_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_g != SIL_B.UnitDelay_f[0]) { + SIL_DW.is_c54_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_jf = 0U; + idx |= 8192U; + SIL_DW.last_seq_g = SIL_B.UnitDelay_f[0]; + } + } else if (SIL_DW.last_seq_g != SIL_B.UnitDelay_f[0]) { + SIL_DW.is_c54_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_jf = 0U; + idx |= 8192U; + SIL_DW.last_seq_g = SIL_B.UnitDelay_f[0]; + } else if (SIL_DW.temporalCounter_i1_jf >= 200U) { + SIL_DW.is_c54_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_g = SIL_B.UnitDelay_f[0]; + } else { + idx |= 8192U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_k < 255U) { + SIL_DW.temporalCounter_i1_k++; + } + + if (SIL_DW.is_active_c55_kb3_autopilot == 0U) { + SIL_DW.is_active_c55_kb3_autopilot = 1U; + SIL_DW.is_c55_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_a = SIL_B.UnitDelay_f[1]; + } else if (SIL_DW.is_c55_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_a != SIL_B.UnitDelay_f[1]) { + SIL_DW.is_c55_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_k = 0U; + idx |= 16384U; + SIL_DW.last_seq_a = SIL_B.UnitDelay_f[1]; + } + } else if (SIL_DW.last_seq_a != SIL_B.UnitDelay_f[1]) { + SIL_DW.is_c55_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_k = 0U; + idx |= 16384U; + SIL_DW.last_seq_a = SIL_B.UnitDelay_f[1]; + } else if (SIL_DW.temporalCounter_i1_k >= 200U) { + SIL_DW.is_c55_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_a = SIL_B.UnitDelay_f[1]; + } else { + idx |= 16384U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_ek < 255U) { + SIL_DW.temporalCounter_i1_ek++; + } + + if (SIL_DW.is_active_c56_kb3_autopilot == 0U) { + SIL_DW.is_active_c56_kb3_autopilot = 1U; + SIL_DW.is_c56_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_j4 = SIL_B.UnitDelay_f[2]; + } else if (SIL_DW.is_c56_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_j4 != SIL_B.UnitDelay_f[2]) { + SIL_DW.is_c56_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_ek = 0U; + idx |= 32768U; + SIL_DW.last_seq_j4 = SIL_B.UnitDelay_f[2]; + } + } else if (SIL_DW.last_seq_j4 != SIL_B.UnitDelay_f[2]) { + SIL_DW.is_c56_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_ek = 0U; + idx |= 32768U; + SIL_DW.last_seq_j4 = SIL_B.UnitDelay_f[2]; + } else if (SIL_DW.temporalCounter_i1_ek >= 200U) { + SIL_DW.is_c56_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_j4 = SIL_B.UnitDelay_f[2]; + } else { + idx |= 32768U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_be < 255U) { + SIL_DW.temporalCounter_i1_be++; + } + + if (SIL_DW.is_active_c57_kb3_autopilot == 0U) { + SIL_DW.is_active_c57_kb3_autopilot = 1U; + SIL_DW.is_c57_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ck = SIL_B.UnitDelay_f[3]; + rtb_out_ac = (uint32_T)idx; + } else if (SIL_DW.is_c57_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_ck != SIL_B.UnitDelay_f[3]) { + SIL_DW.is_c57_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_be = 0U; + rtb_out_ac = idx | 65536U; + SIL_DW.last_seq_ck = SIL_B.UnitDelay_f[3]; + } else { + rtb_out_ac = (uint32_T)idx; + } + } else if (SIL_DW.last_seq_ck != SIL_B.UnitDelay_f[3]) { + SIL_DW.is_c57_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_be = 0U; + rtb_out_ac = idx | 65536U; + SIL_DW.last_seq_ck = SIL_B.UnitDelay_f[3]; + } else if (SIL_DW.temporalCounter_i1_be >= 200U) { + SIL_DW.is_c57_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_ck = SIL_B.UnitDelay_f[3]; + rtb_out_ac = (uint32_T)idx; + } else { + rtb_out_ac = idx | 65536U; + } + + /* End of Chart: '/Chart' */ + + /* Chart: '/Chart' */ + if (SIL_DW.temporalCounter_i1_e1 < 255U) { + SIL_DW.temporalCounter_i1_e1++; + } + + if (SIL_DW.is_active_c58_kb3_autopilot == 0U) { + SIL_DW.is_active_c58_kb3_autopilot = 1U; + SIL_DW.is_c58_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_c = SIL_B.UnitDelay_f[4]; + + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac; + } else if (SIL_DW.is_c58_kb3_autopilot == SIL_IN_bad) { + if (SIL_DW.last_seq_c != SIL_B.UnitDelay_f[4]) { + SIL_DW.is_c58_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_e1 = 0U; + + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac | 131072U; + SIL_DW.last_seq_c = SIL_B.UnitDelay_f[4]; + } else { + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac; + } + } else if (SIL_DW.last_seq_c != SIL_B.UnitDelay_f[4]) { + SIL_DW.is_c58_kb3_autopilot = SIL_IN_good; + SIL_DW.temporalCounter_i1_e1 = 0U; + + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac | 131072U; + SIL_DW.last_seq_c = SIL_B.UnitDelay_f[4]; + } else if (SIL_DW.temporalCounter_i1_e1 >= 200U) { + SIL_DW.is_c58_kb3_autopilot = SIL_IN_bad; + SIL_DW.last_seq_c = SIL_B.UnitDelay_f[4]; + + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac; + } else { + /* BusAssignment: '/Bus Assignment' */ + SIL_B.BusAssignment_j.sensors_health = rtb_out_ac | 131072U; + } + + /* End of Chart: '/Chart' */ + + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' + * Constant: '/Constant1' + */ + SIL_B.BusAssignment_j.sensors_present = 196607U; + SIL_B.BusAssignment_j.sensors_enabled = 196607U; + + /* Chart: '/check_conn' incorporates: * UnitDelay: '/Unit Delay1' */ if (SIL_DW.temporalCounter_i1_f < 1023U) { @@ -13283,28 +13976,26 @@ void SIL_step(void) } } - /* End of Chart: '/check_conn' */ + /* End of Chart: '/check_conn' */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant' - * Constant: '/Constant BP' - * Constant: '/Constant BP1' - * Constant: '/Constant BP2' - * Constant: '/Constant BP3' - * Constant: '/Constant2' + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' + * Constant: '/Constant BP1' + * Constant: '/Constant BP2' + * Constant: '/Constant BP3' + * Constant: '/Constant2' * DataStoreRead: '/Data Store Read' - * UnitDelay: '/Unit Delay' + * UnitDelay: '/Unit Delay' */ rtb_BusAssignment = SIL_DW.CC; rtb_BusAssignment.linked = false; rtb_BusAssignment.boot_time = SIL_DW.UnitDelay_DSTATE_g; rtb_BusAssignment.rc.connected = false; - rtb_BusAssignment.ECU_CMD = 0U; rtb_BusAssignment.ccm_ch = 0U; rtb_BusAssignment.ccm_period = 0U; rtb_BusAssignment.ccm_sw = 0U; - /* Chart: '/valid_checking' incorporates: + /* Chart: '/valid_checking' incorporates: * Inport: '/sbus_in' */ if (SIL_DW.temporalCounter_i1_c < 255U) { @@ -13353,76 +14044,76 @@ void SIL_step(void) } } - /* End of Chart: '/valid_checking' */ + /* End of Chart: '/valid_checking' */ - /* If: '/If1' incorporates: + /* If: '/If1' incorporates: * Inport: '/sbus_in' - * Inport: '/In1' + * Inport: '/In1' */ SIL_DW.If1_ActiveSubsystem_j = (int8_T)!SIL_B.valid_d; switch (SIL_DW.If1_ActiveSubsystem_j) { case 0: - /* Outputs for IfAction SubSystem: '/valid' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/valid' incorporates: + * ActionPort: '/Action Port' */ SIL_valid(&rtb_BusAssignment, SIL_U.sbus_in.id, SIL_U.sbus_in.channels, &rtb_Merge1); - /* End of Outputs for SubSystem: '/valid' */ + /* End of Outputs for SubSystem: '/valid' */ break; case 1: - /* Outputs for IfAction SubSystem: '/invalid' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/invalid' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge1 = rtb_BusAssignment; - /* End of Outputs for SubSystem: '/invalid' */ + /* End of Outputs for SubSystem: '/invalid' */ break; } - /* End of If: '/If1' */ + /* End of If: '/If1' */ - /* If: '/If' incorporates: - * Inport: '/In1' + /* If: '/If' incorporates: + * Inport: '/In1' */ if (rtb_linked) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant' + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' */ rtb_Merge = rtb_Merge1; rtb_Merge.linked = true; - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge = rtb_Merge1; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ /* Lookup_n-D: '/1-D Lookup Table' */ - rtb_uDLookupTable = look1_iflf_pbinlcapw(SIL_B.BusAssignment_e.msl, + rtb_uDLookupTable = look1_iflf_pbinlcapw(SIL_B.BusAssignment_j.msl, rtCP_uDLookupTable_bp01Data, rtCP_uDLookupTable_tableData, &SIL_DW.m_bpIndex_m1, 5U); - /* Saturate: '/Saturation2' */ - if (SIL_B.BusAssignment_e.qbar <= 750.3125F) { + /* Saturate: '/Saturation2' */ + if (SIL_B.BusAssignment_j.qbar <= 750.3125F) { radius = 750.3125F; } else { - radius = SIL_B.BusAssignment_e.qbar; + radius = SIL_B.BusAssignment_j.qbar; } - /* End of Saturate: '/Saturation2' */ + /* End of Saturate: '/Saturation2' */ - /* Saturate: '/Saturation1' incorporates: + /* Saturate: '/Saturation1' incorporates: * UnitDelay: '/Unit Delay' */ if (SIL_DW.UnitDelay_DSTATE.v_gv <= 100.0F) { @@ -13431,83 +14122,83 @@ void SIL_step(void) dy = SIL_DW.UnitDelay_DSTATE.v_gv; } - /* End of Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ - /* Product: '/qbarSc' incorporates: - * Constant: '/Constant' - * Constant: '/Constant1' - * Constant: '/Sc_Iyy' + /* Product: '/qbarSc' incorporates: + * Constant: '/Constant' + * Constant: '/Constant1' + * Constant: '/Sc_Iyy' */ rtb_qbarSc = radius * SIL_P.RefArea * SIL_P.CLa / SIL_P.m / dy; /* Lookup_n-D: '/IAS_lookup' */ - rtb_IAS_lookup = look1_iflf_pbinlcapw(SIL_B.BusAssignment_e.msl, + rtb_IAS_lookup = look1_iflf_pbinlcapw(SIL_B.BusAssignment_j.msl, rtCP_IAS_lookup_bp01Data, rtCP_IAS_lookup_tableData, &SIL_DW.m_bpIndex_eh, 7U); /* SwitchCase: '/Switch Case' incorporates: * DataStoreRead: '/Data Store Read' - * Inport: '/as_c' - * Inport: '/ias' - * Inport: '/as_c' - * Inport: '/tas' - * Inport: '/tas_qc' + * Inport: '/as_c' + * Inport: '/ias' + * Inport: '/as_c' + * Inport: '/tas' + * Inport: '/tas_qc' * SignalConversion: '/C2_in_BusSelector' */ switch (SIL_DW.CC.AS_SEL) { case ENUM_AS_SEL_QC_TAS: /* Outputs for IfAction SubSystem: '/climb_char' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ rtb_IAS_lookup = rtb_uDLookupTable; - /* SignalConversion: '/sens_BusSelector' incorporates: - * Inport: '/tas_qc' + /* SignalConversion: '/sens_BusSelector' incorporates: + * Inport: '/tas_qc' */ - rtb_Merge1_aq = SIL_B.BusAssignment_e.TAS; + rtb_Merge1_aq = SIL_B.BusAssignment_j.TAS; /* End of Outputs for SubSystem: '/climb_char' */ break; case ENUM_AS_SEL_GLIDE_TAS: /* Outputs for IfAction SubSystem: '/dec_char' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ - /* SignalConversion: '/sens_BusSelector' */ - rtb_Merge1_aq = SIL_B.BusAssignment_e.TAS; + /* SignalConversion: '/sens_BusSelector' */ + rtb_Merge1_aq = SIL_B.BusAssignment_j.TAS; /* End of Outputs for SubSystem: '/dec_char' */ break; case ENUM_AS_SEL_MACH: /* Outputs for IfAction SubSystem: '/Mach' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ - /* Product: '/product' */ - rtb_IAS_lookup = SIL_DW.CC.as_c * SIL_B.BusAssignment_e.SoundSpeed; + /* Product: '/product' */ + rtb_IAS_lookup = SIL_DW.CC.as_c * SIL_B.BusAssignment_j.SoundSpeed; - /* SignalConversion: '/sens_BusSelector' */ - rtb_Merge1_aq = SIL_B.BusAssignment_e.TAS; + /* SignalConversion: '/sens_BusSelector' */ + rtb_Merge1_aq = SIL_B.BusAssignment_j.TAS; /* End of Outputs for SubSystem: '/Mach' */ break; case ENUM_AS_SEL_TAS: /* Outputs for IfAction SubSystem: '/TAS' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ rtb_IAS_lookup = SIL_DW.CC.as_c; - rtb_Merge1_aq = SIL_B.BusAssignment_e.TAS; + rtb_Merge1_aq = SIL_B.BusAssignment_j.TAS; /* End of Outputs for SubSystem: '/TAS' */ break; default: /* Outputs for IfAction SubSystem: '/IAS' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ rtb_IAS_lookup = SIL_DW.CC.as_c; - rtb_Merge1_aq = SIL_B.BusAssignment_e.IAS; + rtb_Merge1_aq = SIL_B.BusAssignment_j.IAS; /* End of Outputs for SubSystem: '/IAS' */ break; @@ -13515,108 +14206,108 @@ void SIL_step(void) /* End of SwitchCase: '/Switch Case' */ - /* Saturate: '/Saturation2' */ - if (SIL_B.BusAssignment_e.qbar <= 750.3125F) { + /* Saturate: '/Saturation2' */ + if (SIL_B.BusAssignment_j.qbar <= 750.3125F) { radius = 750.3125F; } else { - radius = SIL_B.BusAssignment_e.qbar; + radius = SIL_B.BusAssignment_j.qbar; } - /* End of Saturate: '/Saturation2' */ + /* End of Saturate: '/Saturation2' */ - /* Product: '/qbarSc' incorporates: - * Constant: '/Constant' - * Constant: '/Sc_Iyy' + /* Product: '/qbarSc' incorporates: + * Constant: '/Constant' + * Constant: '/Sc_Iyy' */ - absxk = SIL_P.RefArea * SIL_P.RefSpan * radius / SIL_P.Ixx; + rtb_gain = SIL_P.RefArea * SIL_P.RefSpan * radius / SIL_P.Ixx; - /* Product: '/product' incorporates: - * Lookup_n-D: '/Clda' + /* Product: '/product' incorporates: + * Lookup_n-D: '/Clda' */ - rtb_product_k = absxk * look1_iflf_binlxpw(SIL_B.BusAssignment_e.Mach, + rtb_product_k = rtb_gain * look1_iflf_binlxpw(SIL_B.BusAssignment_j.Mach, SIL_P.Ma_lst, SIL_P.Clda_lst, 10U); - /* Saturate: '/Saturation1' */ - if (SIL_B.BusAssignment_e.TAS <= 35.0F) { + /* Saturate: '/Saturation1' */ + if (SIL_B.BusAssignment_j.TAS <= 35.0F) { t = 35.0F; } else { - t = SIL_B.BusAssignment_e.TAS; + t = SIL_B.BusAssignment_j.TAS; } - /* End of Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ - /* Product: '/product1' incorporates: - * Constant: '/Constant2' - * Lookup_n-D: '/Clp' - * Product: '/Divide1' + /* Product: '/product1' incorporates: + * Constant: '/Constant2' + * Lookup_n-D: '/Clp' + * Product: '/Divide1' */ rtb_product1_i = SIL_P.RefSpan / 2.0F * look1_iflf_binlxpw - (SIL_B.BusAssignment_e.Mach, SIL_P.Ma_lst, SIL_P.Clp_lst, 10U) * (absxk / - t); + (SIL_B.BusAssignment_j.Mach, SIL_P.Ma_lst, SIL_P.Clp_lst, 10U) * + (rtb_gain / t); - /* Lookup_n-D: '/1-D Lookup Table' */ + /* Lookup_n-D: '/1-D Lookup Table' */ t = look1_iflf_pbinlcapw(t, rtCP_uDLookupTable_bp01Data_d, rtCP_uDLookupTable_tableData_n, &SIL_DW.m_bpIndex_cs, 2U); - /* Product: '/Product' incorporates: - * Constant: '/Constant1' + /* Product: '/Product' incorporates: + * Constant: '/Constant1' */ rtb_Product_pqq = t * SIL_P.max_da; - /* Saturate: '/Saturation2' */ - if (SIL_B.BusAssignment_e.qbar <= 750.3125F) { + /* Saturate: '/Saturation2' */ + if (SIL_B.BusAssignment_j.qbar <= 750.3125F) { radius = 750.3125F; } else { - radius = SIL_B.BusAssignment_e.qbar; + radius = SIL_B.BusAssignment_j.qbar; } - /* End of Saturate: '/Saturation2' */ + /* End of Saturate: '/Saturation2' */ - /* Product: '/qbarSc' incorporates: - * Constant: '/Constant' - * Constant: '/Sc_Iyy' + /* Product: '/qbarSc' incorporates: + * Constant: '/Constant' + * Constant: '/Sc_Iyy' */ - absxk = SIL_P.RefArea * SIL_P.RefLen * radius / SIL_P.Iyy; + rtb_gain = SIL_P.RefArea * SIL_P.RefLen * radius / SIL_P.Iyy; - /* Product: '/Product2' incorporates: - * Lookup_n-D: '/Cmde1' + /* Product: '/Product2' incorporates: + * Lookup_n-D: '/Cmde1' */ - scale = absxk * look1_iflf_binlxpw(SIL_B.BusAssignment_e.Mach, + scale = rtb_gain * look1_iflf_binlxpw(SIL_B.BusAssignment_j.Mach, SIL_P.Ma_lst, SIL_P.Cmde_lst, 10U); - /* Saturate: '/Saturation1' */ - if (SIL_B.BusAssignment_e.TAS <= 35.0F) { + /* Saturate: '/Saturation1' */ + if (SIL_B.BusAssignment_j.TAS <= 35.0F) { t = 35.0F; } else { - t = SIL_B.BusAssignment_e.TAS; + t = SIL_B.BusAssignment_j.TAS; } - /* End of Saturate: '/Saturation1' */ + /* End of Saturate: '/Saturation1' */ - /* Product: '/Product3' incorporates: - * Constant: '/Constant3' - * Lookup_n-D: '/Cmq' - * Product: '/Divide1' + /* Product: '/Product3' incorporates: + * Constant: '/Constant3' + * Lookup_n-D: '/Cmq' + * Product: '/Divide1' */ rtb_Product3_n = SIL_P.RefLen / 2.0F * look1_iflf_binlxpw - (SIL_B.BusAssignment_e.Mach, SIL_P.Ma_lst, SIL_P.Cmq_lst, 10U) * (absxk / - t); + (SIL_B.BusAssignment_j.Mach, SIL_P.Ma_lst, SIL_P.Cmq_lst, 10U) * + (rtb_gain / t); - /* Lookup_n-D: '/1-D Lookup Table' */ + /* Lookup_n-D: '/1-D Lookup Table' */ t = look1_iflf_pbinlcapw(t, rtCP_uDLookupTable_bp01Data_a, rtCP_uDLookupTable_tableData_m, &SIL_DW.m_bpIndex_i, 2U); - /* Product: '/Product' incorporates: - * Constant: '/Constant1' + /* Product: '/Product' incorporates: + * Constant: '/Constant1' */ absxk = t * SIL_P.max_de; - /* Product: '/Product1' incorporates: - * Constant: '/Constant2' + /* Product: '/Product1' incorporates: + * Constant: '/Constant2' */ t *= SIL_P.min_de; - /* Chart: '/proc_cmd' */ + /* Chart: '/proc_cmd' */ SIL_DW.cmd_isValid = false; SIL_DW.cmd2_isValid = false; if (SIL_DW.is_active_c14_kb3_autopilot == 0U) { @@ -13626,13 +14317,13 @@ void SIL_step(void) } else { switch (SIL_DW.is_c14_kb3_autopilot) { case SIL_IN_Linked: - SIL_B.ack_p = true; + SIL_B.ack_ci = true; SIL_DW.is_c14_kb3_autopilot = SIL_IN_idle_g; SIL_B.id = 0U; break; case SIL_IN_Linked2: - SIL_B.ack_p = false; + SIL_B.ack_ci = false; SIL_DW.is_c14_kb3_autopilot = SIL_IN_idle_g; SIL_B.id = 0U; break; @@ -13642,21 +14333,21 @@ void SIL_step(void) SIL_DW.is_c14_kb3_autopilot = SIL_IN_Linked; SIL_B.id = ((CommandMsg *)SIL_DW.cmd_msgDataPtr)->id; for (idx = 0; idx < 7; idx++) { - SIL_B.params_o[idx] = ((CommandMsg *)SIL_DW.cmd_msgDataPtr) + SIL_B.params_d[idx] = ((CommandMsg *)SIL_DW.cmd_msgDataPtr) ->params[idx]; } - SIL_B.ack_p = true; + SIL_B.ack_ci = true; } else { if (SIL_sf_msg_pop_cmd2()) { SIL_DW.is_c14_kb3_autopilot = SIL_IN_Linked2; SIL_B.id = ((CommandMsg *)SIL_DW.cmd2_msgDataPtr)->id; for (idx = 0; idx < 7; idx++) { - SIL_B.params_o[idx] = ((CommandMsg *)SIL_DW.cmd2_msgDataPtr) + SIL_B.params_d[idx] = ((CommandMsg *)SIL_DW.cmd2_msgDataPtr) ->params[idx]; } - SIL_B.ack_p = false; + SIL_B.ack_ci = false; } } break; @@ -13666,9 +14357,9 @@ void SIL_step(void) SIL_sf_msg_discard_cmd(); SIL_sf_msg_discard_cmd2(); - /* End of Chart: '/proc_cmd' */ + /* End of Chart: '/proc_cmd' */ - /* Chart: '/Chart_proc_mission_upload' */ + /* Chart: '/Chart_proc_mission_upload' */ if (SIL_DW.temporalCounter_i1_n < 255U) { SIL_DW.temporalCounter_i1_n++; } @@ -13696,10 +14387,10 @@ void SIL_step(void) SIL_B.seq = 0U; SIL_DW.retry = 3U; - /* Outputs for Function Call SubSystem: '/dummy clear_mission' */ + /* Outputs for Function Call SubSystem: '/dummy clear_mission' */ SIL_dummyclear_mission(SIL_B.mission_type, &SIL_B.ack_d); - /* End of Outputs for SubSystem: '/dummy clear_mission' */ + /* End of Outputs for SubSystem: '/dummy clear_mission' */ if (SIL_DW.count > 0) { SIL_DW.is_c29_mavlink_utils = SIL_IN_Uploading; SIL_DW.temporalCounter_i1_n = 0U; @@ -13750,8 +14441,8 @@ void SIL_step(void) SIL_B.z = ((mavlink_mission_item_int_t *) SIL_DW.mission_item_msgDataPtr)->z; - /* Outputs for Function Call SubSystem: '/dummy update_mission_item' */ - /* Chart: '/chat_update_mission_item' */ + /* Outputs for Function Call SubSystem: '/dummy update_mission_item' */ + /* Chart: '/chat_update_mission_item' */ switch (SIL_B.mission_type) { case 1: if (SIL_B.seq < SIL_fence_default_len) { @@ -13760,12 +14451,12 @@ void SIL_step(void) SIL_DW.f.param = SIL_B.param1; SIL_DW.f.latlon[0] = SIL_B.x; SIL_DW.f.latlon[1] = SIL_B.y; - x = SIL_B.seq + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - dummyFenceCount = (uint16_T)x; + dummyFenceCount = (uint16_T)rtb_out_ac; dummyFence[dummyFenceCount - 1] = SIL_DW.f; } else { SIL_B.ack_i = 1U; @@ -13778,12 +14469,12 @@ void SIL_step(void) SIL_DW.r.latlon[0] = SIL_B.x; SIL_DW.r.latlon[1] = SIL_B.y; SIL_DW.r.alt = SIL_B.z; - x = SIL_B.seq + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - dummyRallyCount = (uint16_T)x; + dummyRallyCount = (uint16_T)rtb_out_ac; dummyRally[dummyRallyCount - 1] = SIL_DW.r; } else { SIL_B.ack_i = 1U; @@ -13803,12 +14494,12 @@ void SIL_step(void) SIL_DW.m.latlon[0] = SIL_B.x; SIL_DW.m.latlon[1] = SIL_B.y; SIL_DW.m.params[4] = SIL_B.z; - x = SIL_B.seq + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - dummyMissionCount = (uint16_T)x; + dummyMissionCount = (uint16_T)rtb_out_ac; dummyMission[dummyMissionCount - 1] = SIL_DW.m; } else { SIL_B.ack_i = 1U; @@ -13816,8 +14507,8 @@ void SIL_step(void) break; } - /* End of Chart: '/chat_update_mission_item' */ - /* End of Outputs for SubSystem: '/dummy update_mission_item' */ + /* End of Chart: '/chat_update_mission_item' */ + /* End of Outputs for SubSystem: '/dummy update_mission_item' */ if (SIL_B.ack_i == 0) { SIL_B.seq++; SIL_DW.retry = 3U; @@ -13875,9 +14566,9 @@ void SIL_step(void) SIL_sf_msg_discard_mission_cnt(); SIL_sf_msg_discard_mission_item(); - /* End of Chart: '/Chart_proc_mission_upload' */ + /* End of Chart: '/Chart_proc_mission_upload' */ - /* Chart: '/proc_set_ cur' */ + /* Chart: '/proc_set_ cur' */ SIL_DW.set_cur_isValid = false; if (SIL_DW.is_active_c14_C2_proc_comm == 0U) { SIL_DW.is_active_c14_C2_proc_comm = 1U; @@ -13886,12 +14577,12 @@ void SIL_step(void) } else if (SIL_DW.is_c14_C2_proc_comm == SIL_IN_idle_py) { if (SIL_sf_msg_pop_set_cur()) { SIL_DW.is_c14_C2_proc_comm = SIL_IN_process_set_cur; - x = *(uint16_T *)SIL_DW.set_cur_msgDataPtr + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = *(uint16_T *)SIL_DW.set_cur_msgDataPtr + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.WP_cur = (uint16_T)x; + SIL_B.WP_cur = (uint16_T)rtb_out_ac; } } else { SIL_DW.is_c14_C2_proc_comm = SIL_IN_idle_py; @@ -13900,241 +14591,267 @@ void SIL_step(void) SIL_sf_msg_discard_set_cur(); - /* End of Chart: '/proc_set_ cur' */ + /* End of Chart: '/proc_set_ cur' */ - /* If: '/If' incorporates: - * Inport: '/In1' + /* If: '/If' incorporates: + * Inport: '/In1' */ if (SIL_B.WP_cur < 65535) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_k = rtb_Merge; rtb_Merge_k.WP_cur = SIL_B.WP_cur; - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge_k = rtb_Merge; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ - /* If: '/If' incorporates: - * Inport: '/In1' + /* If: '/If' incorporates: + * Inport: '/In1' */ if (SIL_B.id > 0) { - /* Outputs for IfAction SubSystem: '/proc_params' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/proc_params' incorporates: + * ActionPort: '/Action Port' */ - /* SwitchCase: '/Switch Case' incorporates: - * Inport: '/In1' + /* SwitchCase: '/Switch Case' incorporates: + * Inport: '/In1' */ switch (SIL_B.id) { case 889: - /* Outputs for IfAction SubSystem: '/base_asl' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/base_asl' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* If: '/If' */ - if (SIL_B.params_o[0] > 1.5F) { - /* Outputs for IfAction SubSystem: '/set_base_alt' incorporates: + /* If: '/If' */ + if (SIL_B.params_d[0] > 1.5F) { + /* Outputs for IfAction SubSystem: '/set_base_alt' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.base_asl = SIL_B.params_d[1]; + + /* End of Outputs for SubSystem: '/set_base_alt' */ + } else if (SIL_B.params_d[0] > 0.5F) { + /* Outputs for IfAction SubSystem: '/set_base_alt_baro' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.base_asl = SIL_B.params_o[1]; + rtb_Merge_b.base_asl_baro = SIL_B.params_d[1]; - /* End of Outputs for SubSystem: '/set_base_alt' */ - } else if (SIL_B.params_o[0] > 0.5F) { - /* Outputs for IfAction SubSystem: '/set_base_alt_baro' incorporates: + /* End of Outputs for SubSystem: '/set_base_alt_baro' */ + } else { + /* Outputs for IfAction SubSystem: '/set_cur_base_alt' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.base_asl_baro = SIL_B.params_o[1]; + rtb_Merge_b.base_asl = SIL_B.BusAssignment_j.msl; + rtb_Merge_b.base_asl_baro = SIL_B.BusAssignment_j.asl_baro; - /* End of Outputs for SubSystem: '/set_base_alt_baro' */ - } else { - /* Outputs for IfAction SubSystem: '/set_cur_base_alt' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.base_asl = SIL_B.BusAssignment_e.msl; - rtb_Merge_b.base_asl_baro = SIL_B.BusAssignment_e.asl_baro; - - /* End of Outputs for SubSystem: '/set_cur_base_alt' */ + /* End of Outputs for SubSystem: '/set_cur_base_alt' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/base_asl' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/base_asl' */ break; case 22: - /* Outputs for IfAction SubSystem: '/takeoff_tht' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/takeoff_tht' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Gain: '/Gain1' + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain1' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.takeoff_tht = 0.0174532924F * SIL_B.params_o[0]; + rtb_Merge_b.takeoff_tht = 0.0174532924F * SIL_B.params_d[0]; - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/takeoff_tht' */ + /* End of Outputs for SubSystem: '/takeoff_tht' */ break; case 16: - /* Outputs for IfAction SubSystem: '/dist_trans' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/dist_trans' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.dist_trans = SIL_B.params_o[1]; + rtb_Merge_b.dist_trans = SIL_B.params_d[1]; - /* End of Outputs for SubSystem: '/dist_trans' */ + /* End of Outputs for SubSystem: '/dist_trans' */ break; case 400: - /* Outputs for IfAction SubSystem: '/armed_dissarmed' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/armed_dissarmed' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' incorporates: - * If: '/If' + /* If: '/If' incorporates: + * If: '/If' */ - if (SIL_B.params_o[0] > 0.5F) { - /* Outputs for IfAction SubSystem: '/arm' incorporates: - * ActionPort: '/Action Port' + if (SIL_B.params_d[0] > 0.5F) { + /* Outputs for IfAction SubSystem: '/arm' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' */ + /* If: '/If' */ if (rtb_Merge_k.rc.throttle_cmd < 0.1F) { - /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant1' + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant1' */ rtb_Merge_b = rtb_Merge_k; rtb_Merge_b.armed = true; - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/Subsystem' */ + /* End of Outputs for SubSystem: '/Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/Subsystem1' incorporates: + * ActionPort: '/Action Port' */ SIL_Subsystem1(&rtb_Merge_k, &rtb_Merge_b, &rtb_Merge1_h); - /* End of Outputs for SubSystem: '/Subsystem1' */ + /* End of Outputs for SubSystem: '/Subsystem1' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/arm' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/arm' */ } else { - /* Outputs for IfAction SubSystem: '/disarm' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/disarm' incorporates: + * ActionPort: '/Action Port' */ if (rtb_Merge_k.rc.throttle_cmd < 0.1F) { - /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' incorporates: - * BusAssignment: '/Bus Assignment' - * Constant: '/Constant' - * Constant: '/Constant1' - * SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' + /* If: '/If' incorporates: + * BusAssignment: '/Bus Assignment' + * Constant: '/Constant' + * Constant: '/Constant1' + * SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' */ rtb_Merge_b = rtb_Merge_k; rtb_Merge_b.armed = false; rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/Subsystem' */ + /* End of Outputs for SubSystem: '/Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' */ + /* If: '/If' */ SIL_Subsystem1(&rtb_Merge_k, &rtb_Merge_b, &rtb_Merge1_h); - /* End of Outputs for SubSystem: '/Subsystem1' */ + /* End of Outputs for SubSystem: '/Subsystem1' */ } - /* End of Outputs for SubSystem: '/disarm' */ + /* End of Outputs for SubSystem: '/disarm' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/armed_dissarmed' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/armed_dissarmed' */ break; case 20001: - /* Outputs for IfAction SubSystem: '/way_point' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/way_point' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - /* DataTypeConversion: '/Data Type Conversion' */ - radius = floorf(SIL_B.params_o[0]); + /* DataTypeConversion: '/Data Type Conversion' */ + radius = floorf(SIL_B.params_d[0]); if (rtIsNaNF(radius) || rtIsInfF(radius)) { radius = 0.0F; } else { radius = fmodf(radius, 65536.0F); } - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ rtb_Merge_b.WP_cur = (uint16_T)(radius < 0.0F ? (int32_T)(uint16_T) -(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/way_point' */ + /* End of Outputs for SubSystem: '/way_point' */ break; case 20003: - /* Outputs for IfAction SubSystem: '/toplevel_sw' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/toplevel_sw' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' */ + /* If: '/If' */ if (!rtb_Merge_k.armed) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* If: '/If' */ - if (SIL_B.params_o[0] > 1.5F) { - /* Outputs for IfAction SubSystem: '/operation' incorporates: + /* If: '/If' */ + if (SIL_B.params_d[0] > 1.5F) { + /* Outputs for IfAction SubSystem: '/operation' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant1' + * Constant: '/Constant2' + */ + rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.xbit_cmd = false; + rtb_Merge_b.standby_cmd = false; + + /* End of Outputs for SubSystem: '/operation' */ + } else if (SIL_B.params_d[0] > 0.5F) { + /* Outputs for IfAction SubSystem: '/xbit' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant1' + * Constant: '/Constant2' + */ + rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.xbit_cmd = true; + rtb_Merge_b.standby_cmd = true; + + /* End of Outputs for SubSystem: '/xbit' */ + } else { + /* Outputs for IfAction SubSystem: '/standby' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' incorporates: @@ -14143,67 +14860,41 @@ void SIL_step(void) */ rtb_Merge_b = rtb_Merge_k; rtb_Merge_b.xbit_cmd = false; - rtb_Merge_b.standby_cmd = false; - - /* End of Outputs for SubSystem: '/operation' */ - } else if (SIL_B.params_o[0] > 0.5F) { - /* Outputs for IfAction SubSystem: '/xbit' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant1' - * Constant: '/Constant2' - */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.xbit_cmd = true; rtb_Merge_b.standby_cmd = true; - /* End of Outputs for SubSystem: '/xbit' */ - } else { - /* Outputs for IfAction SubSystem: '/standby' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant1' - * Constant: '/Constant2' - */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.xbit_cmd = false; - rtb_Merge_b.standby_cmd = true; - - /* End of Outputs for SubSystem: '/standby' */ + /* End of Outputs for SubSystem: '/standby' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ SIL_IfActionSubsystem1(&rtb_Merge_k, &rtb_Merge_b, &rtb_Merge1_h); - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/toplevel_sw' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/toplevel_sw' */ break; case 178: - /* Outputs for IfAction SubSystem: '/change_speed' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/change_speed' incorporates: + * ActionPort: '/Action Port' */ - /* Outputs for Atomic SubSystem: '/set_speed' */ - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[0]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[0] + 0.5F); + /* Outputs for Atomic SubSystem: '/set_speed' */ + /* DataTypeConversion: '/Data Type Conversion' */ + rtb_gain = fabsf(SIL_B.params_d[0]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[0] + 0.5F); } else { - radius = SIL_B.params_o[0] * 0.0F; + radius = SIL_B.params_d[0] * 0.0F; } } else { - radius = SIL_B.params_o[0]; + radius = SIL_B.params_d[0]; } if (rtIsNaNF(radius) || rtIsInfF(radius)) { @@ -14212,31 +14903,60 @@ void SIL_step(void) radius = fmodf(radius, 256.0F); } - /* SwitchCase: '/Switch Case' incorporates: - * DataTypeConversion: '/Data Type Conversion' - * Inport: '/In1' + /* SwitchCase: '/Switch Case' incorporates: + * DataTypeConversion: '/Data Type Conversion' + * Inport: '/In1' */ switch (radius < 0.0F ? (int32_T)(uint8_T)-(int8_T)(uint8_T)-radius : (int32_T)(uint8_T)radius) { case 0: - /* Outputs for IfAction SubSystem: '/set_as' incorporates: + /* Outputs for IfAction SubSystem: '/set_as' incorporates: + * ActionPort: '/Action Port' + */ + /* If: '/If' incorporates: + * Inport: '/In1' + */ + if (SIL_B.params_d[1] > 0.0F) { + /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.as_c = SIL_B.params_d[1]; + + /* End of Outputs for SubSystem: '/Subsystem' */ + } else { + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' + */ + rtb_Merge_b = rtb_Merge_k; + + /* End of Outputs for SubSystem: '/If Action Subsystem' */ + } + + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/set_as' */ + break; + + case 1: + /* Outputs for IfAction SubSystem: '/set_gs' incorporates: * ActionPort: '/Action Port' */ /* If: '/If' incorporates: - * Inport: '/In1' + * Inport: '/In1' */ - if (SIL_B.params_o[1] > 0.0F) { + if (SIL_B.params_d[1] > 0.0F) { /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.as_c = SIL_B.params_o[1]; + rtb_Merge_b.gs_c = SIL_B.params_d[1]; /* End of Outputs for SubSystem: '/Subsystem' */ } else { /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ rtb_Merge_b = rtb_Merge_k; @@ -14244,28 +14964,28 @@ void SIL_step(void) } /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/set_as' */ + /* End of Outputs for SubSystem: '/set_gs' */ break; - case 1: - /* Outputs for IfAction SubSystem: '/set_gs' incorporates: + case 2: + /* Outputs for IfAction SubSystem: '/set_hdot' incorporates: * ActionPort: '/Action Port' */ /* If: '/If' incorporates: - * Inport: '/In1' + * Inport: '/In1' */ - if (SIL_B.params_o[1] > 0.0F) { + if ((SIL_B.params_d[1] > -10.0F) && (SIL_B.params_d[1] < 10.0F)) { /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.gs_c = SIL_B.params_o[1]; + rtb_Merge_b.hdot_c = SIL_B.params_d[1]; /* End of Outputs for SubSystem: '/Subsystem' */ } else { /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + * ActionPort: '/Action Port' */ rtb_Merge_b = rtb_Merge_k; @@ -14273,86 +14993,57 @@ void SIL_step(void) } /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/set_gs' */ - break; - - case 2: - /* Outputs for IfAction SubSystem: '/set_hdot' incorporates: - * ActionPort: '/Action Port' - */ - /* If: '/If' incorporates: - * Inport: '/In1' - */ - if ((SIL_B.params_o[1] > -10.0F) && (SIL_B.params_o[1] < 10.0F)) { - /* Outputs for IfAction SubSystem: '/Subsystem' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.hdot_c = SIL_B.params_o[1]; - - /* End of Outputs for SubSystem: '/Subsystem' */ - } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' - */ - rtb_Merge_b = rtb_Merge_k; - - /* End of Outputs for SubSystem: '/If Action Subsystem' */ - } - - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/set_hdot' */ + /* End of Outputs for SubSystem: '/set_hdot' */ break; default: - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge_b = rtb_Merge_k; - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ break; } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/set_speed' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/set_speed' */ - /* If: '/If' */ - if (SIL_B.params_o[2] > -0.9F) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* If: '/If' */ + if (SIL_B.params_d[2] > -0.9F) { + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.throttle_c = SIL_B.params_o[2]; + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.throttle_c = SIL_B.params_d[2]; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/change_speed' */ + /* End of Outputs for SubSystem: '/change_speed' */ break; case 180: - /* Outputs for IfAction SubSystem: '/set_parameter' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/set_parameter' incorporates: + * ActionPort: '/Action Port' */ - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[0]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[0] + 0.5F); + /* DataTypeConversion: '/Data Type Conversion' */ + rtb_gain = fabsf(SIL_B.params_d[0]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[0] + 0.5F); } else { - radius = SIL_B.params_o[0] * 0.0F; + radius = SIL_B.params_d[0] * 0.0F; } } else { - radius = SIL_B.params_o[0]; + radius = SIL_B.params_d[0]; } if (rtIsNaNF(radius) || rtIsInfF(radius)) { @@ -14361,29 +15052,65 @@ void SIL_step(void) radius = fmodf(radius, 256.0F); } - /* SwitchCase: '/Switch Case' incorporates: - * DataTypeConversion: '/Data Type Conversion' - * Inport: '/In1' + /* SwitchCase: '/Switch Case' incorporates: + * DataTypeConversion: '/Data Type Conversion' + * Inport: '/In1' + * Inport: '/C2_in' */ switch (radius < 0.0F ? (int32_T)(uint8_T)-(int8_T)(uint8_T)-radius : (int32_T)(uint8_T)radius) { case 1: - /* Outputs for IfAction SubSystem: '/AFCS_vert' incorporates: + /* Outputs for IfAction SubSystem: '/AFCS_vert' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b = rtb_Merge_k; + + /* DataTypeConversion: '/Data Type Conversion' */ + rtb_gain = fabsf(SIL_B.params_d[1]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[1] + 0.5F); + } else { + radius = SIL_B.params_d[1] * 0.0F; + } + } else { + radius = SIL_B.params_d[1]; + } + + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 4.2949673E+9F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + */ + rtb_Merge_b.AFCS_VERT = (ENUM_AFCS_VERT)(radius < 0.0F ? -(int32_T) + (uint32_T)-radius : (int32_T)(uint32_T)radius); + + /* End of Outputs for SubSystem: '/AFCS_vert' */ + break; + + case 2: + /* Outputs for IfAction SubSystem: '/AS_SEL' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[1]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[1] + 0.5F); + rtb_gain = fabsf(SIL_B.params_d[1]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[1] + 0.5F); } else { - radius = SIL_B.params_o[1] * 0.0F; + radius = SIL_B.params_d[1] * 0.0F; } } else { - radius = SIL_B.params_o[1]; + radius = SIL_B.params_d[1]; } if (rtIsNaNF(radius) || rtIsInfF(radius)) { @@ -14396,136 +15123,38 @@ void SIL_step(void) * DataTypeConversion: '/Data Type Conversion' * DataTypeConversion: '/Data Type Conversion1' */ - rtb_Merge_b.AFCS_VERT = (ENUM_AFCS_VERT)(radius < 0.0F ? -(int32_T) + rtb_Merge_b.AS_SEL = (ENUM_AS_SEL)(radius < 0.0F ? -(int32_T) (uint32_T)-radius : (int32_T)(uint32_T)radius); - /* End of Outputs for SubSystem: '/AFCS_vert' */ + /* End of Outputs for SubSystem: '/AS_SEL' */ break; - case 2: - /* Outputs for IfAction SubSystem: '/AS_SEL' incorporates: + case 101: + /* Outputs for IfAction SubSystem: '/afterburning' incorporates: + * ActionPort: '/Action Port' + */ + rtb_Merge_b = rtb_Merge_k; + + /* End of Outputs for SubSystem: '/afterburning' */ + break; + + case 102: + /* Outputs for IfAction SubSystem: '/BMU' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[1]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[1] + 0.5F); + rtb_gain = fabsf(SIL_B.params_d[1]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[1] + 0.5F); } else { - radius = SIL_B.params_o[1] * 0.0F; + radius = SIL_B.params_d[1] * 0.0F; } } else { - radius = SIL_B.params_o[1]; - } - - if (rtIsNaNF(radius) || rtIsInfF(radius)) { - radius = 0.0F; - } else { - radius = fmodf(radius, 4.2949673E+9F); - } - - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' - * DataTypeConversion: '/Data Type Conversion1' - */ - rtb_Merge_b.AS_SEL = (ENUM_AS_SEL)(radius < 0.0F ? -(int32_T) - (uint32_T)-radius : (int32_T)(uint32_T)radius); - - /* End of Outputs for SubSystem: '/AS_SEL' */ - break; - - case 101: - /* Outputs for IfAction SubSystem: '/afterburning' incorporates: - * ActionPort: '/Action Port' - */ - /* If: '/If' */ - if (rtb_Merge_k.throttle_c > 0.99F) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem2' incorporates: - * ActionPort: '/Action Port' - */ - /* RelationalOperator: '/Compare' incorporates: - * Constant: '/Constant' - */ - rtb_linked = (SIL_B.params_o[1] == 101.0F); - - /* Switch: '/Switch' incorporates: - * Constant: '/Constant' - */ - if (rtb_linked) { - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[2]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[2] + 0.5F); - } else { - radius = SIL_B.params_o[2] * 0.0F; - } - } else { - radius = SIL_B.params_o[2]; - } - - if (radius < 256.0F) { - if (radius >= 0.0F) { - rtb_Switch_dn = (uint8_T)radius; - } else { - rtb_Switch_dn = 0U; - } - } else { - rtb_Switch_dn = MAX_uint8_T; - } - - /* End of DataTypeConversion: '/Data Type Conversion' */ - } else { - rtb_Switch_dn = 181U; - } - - /* End of Switch: '/Switch' */ - - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.afterburner_enabled = rtb_linked; - rtb_Merge_b.ECU_CMD = rtb_Switch_dn; - - /* End of Outputs for SubSystem: '/If Action Subsystem2' */ - } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' incorporates: - * Constant: '/Constant' - * Constant: '/Constant1' - */ - rtb_Merge_b = rtb_Merge_k; - rtb_Merge_b.afterburner_enabled = false; - rtb_Merge_b.ECU_CMD = 181U; - - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ - } - - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/afterburning' */ - break; - - case 102: - /* Outputs for IfAction SubSystem: '/BMU' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b = rtb_Merge_k; - - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[1]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[1] + 0.5F); - } else { - radius = SIL_B.params_o[1] * 0.0F; - } - } else { - radius = SIL_B.params_o[1]; + radius = SIL_B.params_d[1]; } if (rtIsNaNF(radius) || rtIsInfF(radius)) { @@ -14534,247 +15163,301 @@ void SIL_step(void) radius = fmodf(radius, 256.0F); } - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ rtb_Merge_b.p500w_enable = (uint8_T)(radius < 0.0F ? (int32_T) (uint8_T)-(int8_T)(uint8_T)-radius : (int32_T)(uint8_T)radius); - /* End of Outputs for SubSystem: '/BMU' */ + /* End of Outputs for SubSystem: '/BMU' */ break; case 103: - /* Outputs for IfAction SubSystem: '/ECU' incorporates: - * ActionPort: '/Action Port' - */ - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b = rtb_Merge_k; - - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[1]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[1] + 0.5F); - } else { - radius = SIL_B.params_o[1] * 0.0F; - } - } else { - radius = SIL_B.params_o[1]; - } - - if (radius < 256.0F) { - if (radius >= 0.0F) { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ECU_CMD = (uint8_T)radius; - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ECU_CMD = 0U; - } - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ECU_CMD = MAX_uint8_T; - } - - /* End of DataTypeConversion: '/Data Type Conversion' */ - /* End of Outputs for SubSystem: '/ECU' */ - break; - - case 104: - /* Outputs for IfAction SubSystem: '/CCM' incorporates: + /* Outputs for IfAction SubSystem: '/ECU' incorporates: * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* DataTypeConversion: '/Data Type Conversion' */ + rtb_gain = fabsf(SIL_B.params_d[1]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[1] + 0.5F); + } else { + radius = SIL_B.params_d[1] * 0.0F; + } + } else { + radius = SIL_B.params_d[1]; + } + + if (radius < 256.0F) { + if (radius >= 0.0F) { + mode = (uint8_T)radius; + } else { + mode = 0U; + } + } else { + mode = MAX_uint8_T; + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' + */ rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.ECU_CMD = mode; /* DataTypeConversion: '/Data Type Conversion1' */ - azimuth = fabsf(SIL_B.params_o[1]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[1] + 0.5F); + rtb_gain = fabsf(SIL_B.params_d[2]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[2] + 0.5F); } else { - radius = SIL_B.params_o[1] * 0.0F; + radius = SIL_B.params_d[2] * 0.0F; } } else { - radius = SIL_B.params_o[1]; - } - - if (radius < 256.0F) { - if (radius >= 0.0F) { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_ch = (uint8_T)radius; - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_ch = 0U; - } - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_ch = MAX_uint8_T; - } - - /* End of DataTypeConversion: '/Data Type Conversion1' */ - - /* DataTypeConversion: '/Data Type Conversion' */ - azimuth = fabsf(SIL_B.params_o[2]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[2] + 0.5F); - } else { - radius = SIL_B.params_o[2] * 0.0F; - } - } else { - radius = SIL_B.params_o[2]; - } - - if (radius < 256.0F) { - if (radius >= 0.0F) { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_sw = (uint8_T)radius; - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_sw = 0U; - } - } else { - /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_sw = MAX_uint8_T; - } - - /* End of DataTypeConversion: '/Data Type Conversion' */ - - /* DataTypeConversion: '/Data Type Conversion2' */ - azimuth = fabsf(SIL_B.params_o[3]); - if (azimuth < 8.388608E+6F) { - if (azimuth >= 0.5F) { - radius = floorf(SIL_B.params_o[3] + 0.5F); - } else { - radius = SIL_B.params_o[3] * 0.0F; - } - } else { - radius = SIL_B.params_o[3]; + radius = SIL_B.params_d[2]; } if (radius < 65536.0F) { if (radius >= 0.0F) { /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_period = (uint16_T)radius; + rtb_Merge_b.ECU_RPM = (uint16_T)radius; } else { /* BusAssignment: '/Bus Assignment' */ - rtb_Merge_b.ccm_period = 0U; + rtb_Merge_b.ECU_RPM = 0U; } } else { /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ECU_RPM = MAX_uint16_T; + } + + /* End of DataTypeConversion: '/Data Type Conversion1' */ + + /* BusAssignment: '/Bus Assignment' incorporates: + * Chart: '/Chart' + * DataTypeConversion: '/Data Type Conversion' + */ + rtb_Merge_b.armed = ((mode != 115) && rtb_Merge_k.armed); + + /* End of Outputs for SubSystem: '/ECU' */ + break; + + case 104: + /* Outputs for IfAction SubSystem: '/CCM' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b = rtb_Merge_k; + + /* DataTypeConversion: '/Data Type Conversion1' */ + rtb_gain = fabsf(SIL_B.params_d[1]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[1] + 0.5F); + } else { + radius = SIL_B.params_d[1] * 0.0F; + } + } else { + radius = SIL_B.params_d[1]; + } + + if (radius < 256.0F) { + if (radius >= 0.0F) { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_ch = (uint8_T)radius; + } else { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_ch = 0U; + } + } else { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_ch = MAX_uint8_T; + } + + /* End of DataTypeConversion: '/Data Type Conversion1' */ + + /* DataTypeConversion: '/Data Type Conversion' */ + rtb_gain = fabsf(SIL_B.params_d[2]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[2] + 0.5F); + } else { + radius = SIL_B.params_d[2] * 0.0F; + } + } else { + radius = SIL_B.params_d[2]; + } + + if (radius < 256.0F) { + if (radius >= 0.0F) { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_sw = (uint8_T)radius; + } else { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_sw = 0U; + } + } else { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_sw = MAX_uint8_T; + } + + /* End of DataTypeConversion: '/Data Type Conversion' */ + + /* DataTypeConversion: '/Data Type Conversion2' */ + rtb_gain = fabsf(SIL_B.params_d[3]); + if (rtb_gain < 8.388608E+6F) { + if (rtb_gain >= 0.5F) { + radius = floorf(SIL_B.params_d[3] + 0.5F); + } else { + radius = SIL_B.params_d[3] * 0.0F; + } + } else { + radius = SIL_B.params_d[3]; + } + + if (radius < 65536.0F) { + if (radius >= 0.0F) { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_period = (uint16_T)radius; + } else { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b.ccm_period = 0U; + } + } else { + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b.ccm_period = MAX_uint16_T; } - /* End of DataTypeConversion: '/Data Type Conversion2' */ - /* End of Outputs for SubSystem: '/CCM' */ + /* End of DataTypeConversion: '/Data Type Conversion2' */ + /* End of Outputs for SubSystem: '/CCM' */ + break; + + case 106: + /* Outputs for IfAction SubSystem: '/actuators' incorporates: + * ActionPort: '/Action Port' + */ + /* Gain: '/Gain1' */ + for (idx = 0; idx < 5; idx++) { + rtb_Gain1_o0[idx] = SIL_B.params_d[idx + 1] * 0.0174532924F; + } + + /* End of Gain: '/Gain1' */ + + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_b = rtb_Merge_k; + rtb_Merge_b.dar_c = rtb_Gain1_o0[0]; + rtb_Merge_b.der_c = rtb_Gain1_o0[1]; + rtb_Merge_b.dr_c = rtb_Gain1_o0[2]; + rtb_Merge_b.dal_c = rtb_Gain1_o0[3]; + rtb_Merge_b.del_c = rtb_Gain1_o0[4]; + + /* End of Outputs for SubSystem: '/actuators' */ break; default: - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge_b = rtb_Merge_k; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ break; } - /* End of SwitchCase: '/Switch Case' */ + /* End of SwitchCase: '/Switch Case' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/set_parameter' */ + /* End of Outputs for SubSystem: '/set_parameter' */ break; case 20004: - /* Outputs for IfAction SubSystem: '/actuator_cmd' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/actuator_cmd' incorporates: + * ActionPort: '/Action Port' */ - /* If: '/If' */ + /* If: '/If' */ if (!rtb_Merge_k.armed) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem' incorporates: + * ActionPort: '/Action Port' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_Merge_b = rtb_Merge_k; - /* DataTypeConversion: '/Data Type Conversion' */ - radius = floorf(SIL_B.params_o[0]); + /* DataTypeConversion: '/Data Type Conversion' */ + radius = floorf(SIL_B.params_d[0]); if (rtIsNaNF(radius) || rtIsInfF(radius)) { radius = 0.0F; } else { radius = fmodf(radius, 256.0F); } - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ rtb_Merge_b.actuator_startup = (uint8_T)(radius < 0.0F ? (int32_T) (uint8_T)-(int8_T)(uint8_T)-radius : (int32_T)(uint8_T)radius); - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 0U; - /* End of Outputs for SubSystem: '/If Action Subsystem' */ + /* End of Outputs for SubSystem: '/If Action Subsystem' */ } else { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ SIL_IfActionSubsystem1(&rtb_Merge_k, &rtb_Merge_b, &rtb_Merge1_h); - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/actuator_cmd' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/actuator_cmd' */ break; default: - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: - * Constant: '/Constant' + /* SignalConversion: '/OutportBuffer_InsertedFor_ack_at_inport_0' incorporates: + * Constant: '/Constant' */ rtb_Merge1_h = 3U; rtb_Merge_b = rtb_Merge_k; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ break; } - /* End of SwitchCase: '/Switch Case' */ + /* End of SwitchCase: '/Switch Case' */ - /* Chart: '/proc_cmd' */ - if (SIL_B.ack_p) { - SIL_DW.ack_msgData_c.id = SIL_B.id; - SIL_DW.ack_msgData_c.rslt = rtb_Merge1_h; + /* Chart: '/proc_cmd' */ + if (SIL_B.ack_ci) { + SIL_DW.ack_msgData_d.id = SIL_B.id; + SIL_DW.ack_msgData_d.rslt = rtb_Merge1_h; SIL_sf_msg_send_ack(); } - /* End of Chart: '/proc_cmd' */ - /* End of Outputs for SubSystem: '/proc_params' */ + /* End of Chart: '/proc_cmd' */ + /* End of Outputs for SubSystem: '/proc_params' */ } else { - /* Outputs for IfAction SubSystem: '/no_cmd' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/no_cmd' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge_b = rtb_Merge_k; - /* End of Outputs for SubSystem: '/no_cmd' */ + /* End of Outputs for SubSystem: '/no_cmd' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ - /* Chart: '/valid_checking' incorporates: + /* Chart: '/valid_checking' incorporates: * UnitDelay: '/Unit Delay2' */ - if (SIL_DW.temporalCounter_i1_l < 255U) { - SIL_DW.temporalCounter_i1_l++; + if (SIL_DW.temporalCounter_i1_ls < 255U) { + SIL_DW.temporalCounter_i1_ls++; } if (SIL_DW.is_active_c26_update_rc_d == 0U) { @@ -14798,11 +15481,11 @@ void SIL_step(void) } SIL_DW.is_c26_update_rc_j = SIL_IN_connected; - SIL_DW.temporalCounter_i1_l = 0U; + SIL_DW.temporalCounter_i1_ls = 0U; SIL_DW.id1_h = SIL_DW.UnitDelay2_3_DSTATE; SIL_DW.seq1_i = SIL_DW.UnitDelay2_2_DSTATE; } else { - if (SIL_DW.temporalCounter_i1_l >= 200U) { + if (SIL_DW.temporalCounter_i1_ls >= 200U) { SIL_DW.is_c26_update_rc_j = SIL_IN_disconnected; SIL_DW.seq1_i = SIL_DW.UnitDelay2_2_DSTATE; SIL_B.valid_db = false; @@ -14813,43 +15496,43 @@ void SIL_step(void) if ((!rtb_Merge_b.rc.connected) && (SIL_DW.seq1_i != SIL_DW.UnitDelay2_2_DSTATE)) { SIL_DW.is_c26_update_rc_j = SIL_IN_connected; - SIL_DW.temporalCounter_i1_l = 0U; + SIL_DW.temporalCounter_i1_ls = 0U; SIL_DW.id1_h = SIL_DW.UnitDelay2_3_DSTATE; SIL_DW.seq1_i = SIL_DW.UnitDelay2_2_DSTATE; } } - /* End of Chart: '/valid_checking' */ + /* End of Chart: '/valid_checking' */ - /* If: '/If1' incorporates: - * Inport: '/In1' + /* If: '/If1' incorporates: + * Inport: '/In1' * UnitDelay: '/Unit Delay2' */ SIL_DW.If1_ActiveSubsystem_i = (int8_T)!SIL_B.valid_db; switch (SIL_DW.If1_ActiveSubsystem_i) { case 0: - /* Outputs for IfAction SubSystem: '/valid' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/valid' incorporates: + * ActionPort: '/Action Port' */ SIL_valid(&rtb_Merge_b, SIL_DW.UnitDelay2_3_DSTATE, SIL_DW.UnitDelay2_1_DSTATE, &rtb_Merge1_b); - /* End of Outputs for SubSystem: '/valid' */ + /* End of Outputs for SubSystem: '/valid' */ break; case 1: - /* Outputs for IfAction SubSystem: '/invalid' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/invalid' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge1_b = rtb_Merge_b; - /* End of Outputs for SubSystem: '/invalid' */ + /* End of Outputs for SubSystem: '/invalid' */ break; } - /* End of If: '/If1' */ + /* End of If: '/If1' */ - /* Chart: '/TopLevelSwitch' */ + /* Chart: '/TopLevelSwitch' */ if (SIL_DW.is_active_c24_kb3_autopilot == 0U) { SIL_DW.is_active_c24_kb3_autopilot = 1U; SIL_DW.is_c24_kb3_autopilot = SIL_IN_standby; @@ -14933,17 +15616,19 @@ void SIL_step(void) } } - /* End of Chart: '/TopLevelSwitch' */ + /* End of Chart: '/TopLevelSwitch' */ - /* BusAssignment: '/Bus Assignment' */ - rtb_BusAssignment_a = rtb_Merge1_b; - rtb_BusAssignment_a.level1_lgx = rtb_level1_lgx; - rtb_BusAssignment_a.xbit_cmd = rtb_xbit_cmd; - rtb_BusAssignment_a.standby_cmd = rtb_standby_cmd; + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge = rtb_Merge1_b; + rtb_Merge.level1_lgx = rtb_level1_lgx; + rtb_Merge.xbit_cmd = rtb_xbit_cmd; + rtb_Merge.standby_cmd = rtb_standby_cmd; - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' incorporates: + * BusAssignment: '/Bus Assignment' + */ s285_iter = SIL_DW.SwitchCase_ActiveSubsystem_g; - switch (rtb_BusAssignment_a.level1_lgx) { + switch (rtb_level1_lgx) { case xbit: SIL_DW.SwitchCase_ActiveSubsystem_g = 0; break; @@ -14959,11 +15644,11 @@ void SIL_step(void) if ((s285_iter != SIL_DW.SwitchCase_ActiveSubsystem_g) && (s285_iter == 2)) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ if (SIL_DW.SwitchCase_ActiveSubsystem_gm == 2) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ if (SIL_DW.SwitchCase_ActiveSubsystem_a == 2) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_gz = -1; } @@ -14972,27 +15657,18 @@ void SIL_step(void) SIL_DW.SwitchCase_ActiveSubsystem_gm = -1; - /* End of Disable for SwitchCase: '/Switch Case' */ + /* End of Disable for SwitchCase: '/Switch Case' */ } switch (SIL_DW.SwitchCase_ActiveSubsystem_g) { case 0: - /* Outputs for IfAction SubSystem: '/xbit as manual' incorporates: - * ActionPort: '/Action Port' - */ - SIL_xbitasmanual(&rtb_BusAssignment_a, &rtb_merged); - - /* End of Outputs for SubSystem: '/xbit as manual' */ - break; - - case 1: - /* Outputs for IfAction SubSystem: '/standby' incorporates: + /* Outputs for IfAction SubSystem: '/xbit' incorporates: * ActionPort: '/Action Port' */ /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant BP' * Constant: '/Constant1' * Constant: '/Constant10' - * Constant: '/Constant11' * Constant: '/Constant12' * Constant: '/Constant13' * Constant: '/Constant14' @@ -15003,8 +15679,44 @@ void SIL_step(void) * Constant: '/Constant19' * Constant: '/Constant2' */ - rtb_merged = rtb_BusAssignment_a; - rtb_merged.mode = ENUM_mode_MANUAL; + rtb_merged = rtb_Merge; + rtb_merged.mode = ENUM_mode_BIT; + rtb_merged.state = ENUM_SystemState_UNINIT; + rtb_merged.landed_state = ENUM_LANDED_STATE_ON_GROUND; + rtb_merged.vtol_state = ENUM_VTOL_STATE_FW; + rtb_merged.use_mission_traj = true; + rtb_merged.CSAS_pitch = ENUM_CSAS_PITCH_COMMAND; + rtb_merged.CSAS_roll = ENUM_CSAS_ROLL_COMMAND; + rtb_merged.CSAS_yaw = ENUM_CSAS_YAW_COMMAND; + rtb_merged.AT = ENUM_AT_COMMAND; + rtb_merged.AFCS_LAT = ENUM_AFCS_LAT_OFF; + rtb_merged.AFCS_VERT = ENUM_AFCS_VERT_OFF; + rtb_merged.use_mix = false; + + /* End of Outputs for SubSystem: '/xbit' */ + break; + + case 1: + /* Outputs for IfAction SubSystem: '/standby' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant BP' + * Constant: '/Constant1' + * Constant: '/Constant10' + * Constant: '/Constant11' + * Constant: '/Constant12' + * Constant: '/Constant13' + * Constant: '/Constant14' + * Constant: '/Constant15' + * Constant: '/Constant16' + * Constant: '/Constant17' + * Constant: '/Constant18' + * Constant: '/Constant19' + * Constant: '/Constant2' + */ + rtb_merged = rtb_Merge; + rtb_merged.mode = ENUM_mode_STANDBY; rtb_merged.armed = false; rtb_merged.state = ENUM_SystemState_UNINIT; rtb_merged.landed_state = ENUM_LANDED_STATE_ON_GROUND; @@ -15016,16 +15728,17 @@ void SIL_step(void) rtb_merged.AT = ENUM_AT_OFF; rtb_merged.AFCS_LAT = ENUM_AFCS_LAT_OFF; rtb_merged.AFCS_VERT = ENUM_AFCS_VERT_OFF; + rtb_merged.use_mix = true; - /* End of Outputs for SubSystem: '/standby' */ + /* End of Outputs for SubSystem: '/standby' */ break; case 2: - /* Outputs for IfAction SubSystem: '/operational' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/operational' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ - switch (rtb_BusAssignment_a.rc.auto_mode) { + /* Chart: '/Chart' */ + switch (rtb_Merge.rc.auto_mode) { case 0: rtb_level2_lgx = MANUAL; break; @@ -15039,13 +15752,16 @@ void SIL_step(void) break; } - /* End of Chart: '/Chart' */ + /* End of Chart: '/Chart' */ - /* BusAssignment: '/Bus Assignment' */ - rtb_BusAssignment_g = rtb_BusAssignment_a; + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant BP' + */ + rtb_BusAssignment_g = rtb_Merge; rtb_BusAssignment_g.level2_lgx = rtb_level2_lgx; + rtb_BusAssignment_g.use_mix = true; - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' */ s285_iter = SIL_DW.SwitchCase_ActiveSubsystem_gm; switch (rtb_BusAssignment_g.level2_lgx) { case MANUAL: @@ -15063,9 +15779,9 @@ void SIL_step(void) if ((s285_iter != SIL_DW.SwitchCase_ActiveSubsystem_gm) && (s285_iter == 2)) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ if (SIL_DW.SwitchCase_ActiveSubsystem_a == 2) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_gz = -1; } @@ -15074,28 +15790,28 @@ void SIL_step(void) switch (SIL_DW.SwitchCase_ActiveSubsystem_gm) { case 0: - /* Outputs for IfAction SubSystem: '/manual' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/manual' incorporates: + * ActionPort: '/Action Port' */ - SIL_xbitasmanual(&rtb_BusAssignment_g, &rtb_merged); + SIL_manual(&rtb_BusAssignment_g, &rtb_merged); - /* End of Outputs for SubSystem: '/manual' */ + /* End of Outputs for SubSystem: '/manual' */ break; case 1: - /* Outputs for IfAction SubSystem: '/semi auto' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/semi auto' incorporates: + * ActionPort: '/Action Port' */ - SIL_xbitasmanual(&rtb_BusAssignment_g, &rtb_merged); + SIL_manual(&rtb_BusAssignment_g, &rtb_merged); - /* End of Outputs for SubSystem: '/semi auto' */ + /* End of Outputs for SubSystem: '/semi auto' */ break; case 2: - /* Outputs for IfAction SubSystem: '/auto' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/auto' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ switch (rtb_BusAssignment_g.rc.aux_mode) { case 0: rtb_level3_lgx = ENUM_auto_level3_mission; @@ -15110,13 +15826,13 @@ void SIL_step(void) break; } - /* End of Chart: '/Chart' */ + /* End of Chart: '/Chart' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ SIL_B.BusAssignment = rtb_BusAssignment_g; SIL_B.BusAssignment.level3_auto_lgx = rtb_level3_lgx; - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' */ s285_iter = SIL_DW.SwitchCase_ActiveSubsystem_a; switch (SIL_B.BusAssignment.level3_auto_lgx) { case ENUM_auto_level3_loiter: @@ -15134,81 +15850,81 @@ void SIL_step(void) if ((s285_iter != SIL_DW.SwitchCase_ActiveSubsystem_a) && (s285_iter == 2)) { - /* Disable for SwitchCase: '/Switch Case' */ + /* Disable for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_gz = -1; } switch (SIL_DW.SwitchCase_ActiveSubsystem_a) { case 0: - /* Outputs for IfAction SubSystem: '/hold' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/hold' incorporates: + * ActionPort: '/Action Port' */ - SIL_xbitasmanual(&SIL_B.BusAssignment, &rtb_merged); + SIL_manual(&SIL_B.BusAssignment, &rtb_merged); - /* End of Outputs for SubSystem: '/hold' */ + /* End of Outputs for SubSystem: '/hold' */ break; case 1: - /* Outputs for IfAction SubSystem: '/RTB' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/RTB' incorporates: + * ActionPort: '/Action Port' */ - SIL_xbitasmanual(&SIL_B.BusAssignment, &rtb_merged); + SIL_manual(&SIL_B.BusAssignment, &rtb_merged); - /* End of Outputs for SubSystem: '/RTB' */ + /* End of Outputs for SubSystem: '/RTB' */ break; case 2: if (SIL_DW.SwitchCase_ActiveSubsystem_a != s285_iter) { - /* SystemReset for IfAction SubSystem: '/mission' incorporates: - * ActionPort: '/Action Port' + /* SystemReset for IfAction SubSystem: '/mission' incorporates: + * ActionPort: '/Action Port' */ - /* SystemReset for SwitchCase: '/Switch Case' incorporates: - * Chart: '/mission_proc' + /* SystemReset for SwitchCase: '/Switch Case' incorporates: + * Chart: '/mission_proc' */ SIL_DW.is_active_c48_mission_proc = 0U; SIL_DW.is_c48_mission_proc = SIL_IN_NO_ACTIVE_CHILD_l; SIL_B.last_WP = 1U; SIL_B.mission_mode = 0U; - /* End of SystemReset for SubSystem: '/mission' */ + /* End of SystemReset for SubSystem: '/mission' */ } - /* Outputs for IfAction SubSystem: '/mission' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/mission_proc' */ + /* Chart: '/mission_proc' */ if (SIL_DW.is_active_c48_mission_proc == 0U) { SIL_DW.is_active_c48_mission_proc = 1U; SIL_B.cur_np = SIL_B.BusAssignment.WP_cur; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ while (SIL_B.is_mission) { - x = SIL_B.cur_np + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.cur_np + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.cur_np = (uint16_T)x; + SIL_B.cur_np = (uint16_T)rtb_out_ac; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ } SIL_B.mission_mode = 0U; SIL_B.ac = SIL_B.DataTypeConversion_b; - /* Outputs for Function Call SubSystem: '/valid_test' */ + /* Outputs for Function Call SubSystem: '/valid_test' */ SIL_valid_test(&SIL_B.BusAssignment, SIL_B.command_j, &SIL_B.Merge_p); - /* End of Outputs for SubSystem: '/valid_test' */ + /* End of Outputs for SubSystem: '/valid_test' */ if (SIL_B.Merge_p) { SIL_B.last_WP = SIL_B.cur_np; SIL_DW.is_c48_mission_proc = SIL_IN_Idle_e; @@ -15223,18 +15939,18 @@ void SIL_step(void) } SIL_sf_msg_send_cmd(); - x = SIL_B.cur_np + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.cur_np + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.cur_np = (uint16_T)x; + SIL_B.cur_np = (uint16_T)rtb_out_ac; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ while (SIL_B.is_mission) { SIL_DW.cmd_msgData.id = SIL_B.command_j; for (idx = 0; idx < 7; idx++) { @@ -15242,18 +15958,18 @@ void SIL_step(void) } SIL_sf_msg_send_cmd(); - x = SIL_B.cur_np + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.cur_np + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.cur_np = (uint16_T)x; + SIL_B.cur_np = (uint16_T)rtb_out_ac; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ } SIL_DW.is_c48_mission_proc = SIL_IN_wait; @@ -15261,34 +15977,34 @@ void SIL_step(void) if (SIL_B.BusAssignment.WP_cur != SIL_B.last_WP) { SIL_B.cur_np = SIL_B.BusAssignment.WP_cur; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ while (SIL_B.is_mission) { - x = SIL_B.cur_np + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.cur_np + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.cur_np = (uint16_T)x; + SIL_B.cur_np = (uint16_T)rtb_out_ac; - /* Outputs for Function Call SubSystem: '/get_WP' */ + /* Outputs for Function Call SubSystem: '/get_WP' */ SIL_get_WP(SIL_B.cur_np, &SIL_B.is_mission, &SIL_B.command_j, SIL_B.params, &SIL_B.DataTypeConversion_b); - /* End of Outputs for SubSystem: '/get_WP' */ + /* End of Outputs for SubSystem: '/get_WP' */ } SIL_B.mission_mode = 0U; SIL_B.ac = SIL_B.DataTypeConversion_b; - /* Outputs for Function Call SubSystem: '/valid_test' */ + /* Outputs for Function Call SubSystem: '/valid_test' */ SIL_valid_test(&SIL_B.BusAssignment, SIL_B.command_j, &SIL_B.Merge_p); - /* End of Outputs for SubSystem: '/valid_test' */ + /* End of Outputs for SubSystem: '/valid_test' */ if (SIL_B.Merge_p) { SIL_B.last_WP = SIL_B.cur_np; SIL_DW.is_c48_mission_proc = SIL_IN_Idle_e; @@ -15298,10 +16014,10 @@ void SIL_step(void) } } - /* End of Chart: '/mission_proc' */ + /* End of Chart: '/mission_proc' */ - /* BusAssignment: '/Bus Assignment' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ SIL_B.BusAssignment_g = SIL_B.BusAssignment; SIL_B.BusAssignment_g.WP_cur = SIL_B.last_WP; @@ -15309,8 +16025,8 @@ void SIL_step(void) SIL_B.mission_mode; SIL_B.BusAssignment_g.autocont = SIL_B.ac; - /* SwitchCase: '/Switch Case' incorporates: - * Inport: '/C2_in' + /* SwitchCase: '/Switch Case' incorporates: + * Inport: '/C2_in' */ s285_iter = SIL_DW.SwitchCase_ActiveSubsystem_gz; switch (SIL_B.BusAssignment_g.level4_lgx) { @@ -15334,159 +16050,159 @@ void SIL_step(void) switch (SIL_DW.SwitchCase_ActiveSubsystem_gz) { case 0: if (SIL_DW.SwitchCase_ActiveSubsystem_gz != s285_iter) { - /* SystemReset for IfAction SubSystem: '/takeoff' incorporates: - * ActionPort: '/Action Port' + /* SystemReset for IfAction SubSystem: '/takeoff' incorporates: + * ActionPort: '/Action Port' */ - /* SystemReset for SwitchCase: '/Switch Case' incorporates: - * Chart: '/takeoff_task' + /* SystemReset for SwitchCase: '/Switch Case' incorporates: + * Chart: '/takeoff_task' */ - SIL_DW.temporalCounter_i1_a = 0U; + SIL_DW.temporalCounter_i1_p4 = 0U; SIL_DW.is_active_c28_kb3_autopilot = 0U; SIL_DW.is_c28_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* End of SystemReset for SubSystem: '/takeoff' */ + /* End of SystemReset for SubSystem: '/takeoff' */ } - /* Outputs for IfAction SubSystem: '/takeoff' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/takeoff' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/takeoff_task' incorporates: + /* Chart: '/takeoff_task' incorporates: * Constant: '/Constant1' */ - if (SIL_DW.temporalCounter_i1_a < 1023U) { - SIL_DW.temporalCounter_i1_a++; + if (SIL_DW.temporalCounter_i1_p4 < 1023U) { + SIL_DW.temporalCounter_i1_p4++; } if (SIL_DW.is_active_c28_kb3_autopilot == 0U) { SIL_DW.is_active_c28_kb3_autopilot = 1U; SIL_DW.is_c28_kb3_autopilot = SIL_IN_WaitForLaunch; - SIL_B.mode_c = ENUM_mode_AUTO; - SIL_B.WP_out_f = SIL_B.BusAssignment_g.WP_cur; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_ON_GROUND; - SIL_B.AFCS_VERT_p = ENUM_AFCS_VERT_OFF; - SIL_B.AFCS_LNAV_i = ENUM_AFCS_LAT_OFF; - SIL_B.CSAS_pitch_m = ENUM_CSAS_PITCH_COMMAND; - SIL_B.CSAS_roll_b = ENUM_CSAS_ROLL_OFF; - SIL_B.CSAS_yaw_n = ENUM_CSAS_YAW_OFF; - SIL_B.AT_j = ENUM_AT_COMMAND; - SIL_B.de_c_g = 0.0F; - SIL_B.thr_c_f = SIL_P.max_thr; + SIL_B.mode_m = ENUM_mode_AUTO; + SIL_B.WP_out_o = SIL_B.BusAssignment_g.WP_cur; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_ON_GROUND; + SIL_B.AFCS_VERT_e = ENUM_AFCS_VERT_OFF; + SIL_B.AFCS_LNAV_c = ENUM_AFCS_LAT_OFF; + SIL_B.CSAS_pitch_o = ENUM_CSAS_PITCH_COMMAND; + SIL_B.CSAS_roll_d = ENUM_CSAS_ROLL_OFF; + SIL_B.CSAS_yaw_k = ENUM_CSAS_YAW_OFF; + SIL_B.AT_g = ENUM_AT_COMMAND; + SIL_B.de_c_l = 0.0F; + SIL_B.thr_c_k = SIL_P.max_thr; } else { switch (SIL_DW.is_c28_kb3_autopilot) { case SIL_IN_Active: - SIL_B.CSAS_roll_b = ENUM_CSAS_ROLL_ROLL_CTRL; - SIL_B.CSAS_pitch_m = ENUM_CSAS_PITCH_THT_CTRL; - SIL_B.CSAS_yaw_n = ENUM_CSAS_YAW_DAMPING; - SIL_B.phi_c_i = 0.0F; - if ((SIL_DW.temporalCounter_i1_a >= 1000U) && - (SIL_B.BusAssignment_e.satnum > 6)) { + SIL_B.CSAS_roll_d = ENUM_CSAS_ROLL_ROLL_CTRL; + SIL_B.CSAS_pitch_o = ENUM_CSAS_PITCH_THT_CTRL; + SIL_B.CSAS_yaw_k = ENUM_CSAS_YAW_DAMPING; + SIL_B.phi_c_g = 0.0F; + if ((SIL_DW.temporalCounter_i1_p4 >= 1000U) && + (SIL_B.BusAssignment_j.satnum > 6)) { SIL_DW.is_c28_kb3_autopilot = SIL_IN_LatGuide; - SIL_B.AFCS_LNAV_i = ENUM_AFCS_LAT_LNAV2PHI; + SIL_B.AFCS_LNAV_c = ENUM_AFCS_LAT_LNAV2PHI; } break; case SIL_IN_Done: - SIL_B.mode_c = ENUM_mode_AUTO; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_IN_AIR; + SIL_B.mode_m = ENUM_mode_AUTO; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_IN_AIR; break; case SIL_IN_LatGuide: - SIL_B.AFCS_LNAV_i = ENUM_AFCS_LAT_LNAV2PHI; - if (SIL_B.BusAssignment_e.TAS >= rtb_uDLookupTable) { + SIL_B.AFCS_LNAV_c = ENUM_AFCS_LAT_LNAV2PHI; + if (SIL_B.BusAssignment_j.TAS >= rtb_uDLookupTable) { SIL_DW.is_c28_kb3_autopilot = SIL_IN_Done; - SIL_B.mode_c = ENUM_mode_AUTO; - x = SIL_B.WP_out_f + 1U; - if (x > 65535U) { - x = 65535U; + SIL_B.mode_m = ENUM_mode_AUTO; + rtb_out_ac = SIL_B.WP_out_o + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.WP_out_f = (uint16_T)x; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_IN_AIR; + SIL_B.WP_out_o = (uint16_T)rtb_out_ac; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_IN_AIR; } break; case SIL_IN_Launched: - SIL_B.mode_c = ENUM_mode_AUTO_TAKEOFF; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_TAKEOFF; - if (SIL_DW.temporalCounter_i1_a >= 200U) { + SIL_B.mode_m = ENUM_mode_AUTO_TAKEOFF; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_TAKEOFF; + if (SIL_DW.temporalCounter_i1_p4 >= 200U) { SIL_DW.is_c28_kb3_autopilot = SIL_IN_Active; - SIL_DW.temporalCounter_i1_a = 0U; - SIL_B.CSAS_roll_b = ENUM_CSAS_ROLL_ROLL_CTRL; - SIL_B.CSAS_pitch_m = ENUM_CSAS_PITCH_THT_CTRL; - SIL_B.CSAS_yaw_n = ENUM_CSAS_YAW_DAMPING; - SIL_B.phi_c_i = 0.0F; - SIL_B.tht_c_i = SIL_B.BusAssignment_g.takeoff_tht; + SIL_DW.temporalCounter_i1_p4 = 0U; + SIL_B.CSAS_roll_d = ENUM_CSAS_ROLL_ROLL_CTRL; + SIL_B.CSAS_pitch_o = ENUM_CSAS_PITCH_THT_CTRL; + SIL_B.CSAS_yaw_k = ENUM_CSAS_YAW_DAMPING; + SIL_B.phi_c_g = 0.0F; + SIL_B.tht_c_m = SIL_B.BusAssignment_g.takeoff_tht; } break; default: - SIL_B.mode_c = ENUM_mode_AUTO; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_ON_GROUND; - SIL_B.AFCS_VERT_p = ENUM_AFCS_VERT_OFF; - SIL_B.AFCS_LNAV_i = ENUM_AFCS_LAT_OFF; - SIL_B.CSAS_pitch_m = ENUM_CSAS_PITCH_COMMAND; - SIL_B.CSAS_roll_b = ENUM_CSAS_ROLL_OFF; - SIL_B.CSAS_yaw_n = ENUM_CSAS_YAW_OFF; - SIL_B.AT_j = ENUM_AT_COMMAND; - SIL_B.de_c_g = 0.0F; - if (SIL_B.BusAssignment_e.ax > 30.0F) { + SIL_B.mode_m = ENUM_mode_AUTO; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_ON_GROUND; + SIL_B.AFCS_VERT_e = ENUM_AFCS_VERT_OFF; + SIL_B.AFCS_LNAV_c = ENUM_AFCS_LAT_OFF; + SIL_B.CSAS_pitch_o = ENUM_CSAS_PITCH_COMMAND; + SIL_B.CSAS_roll_d = ENUM_CSAS_ROLL_OFF; + SIL_B.CSAS_yaw_k = ENUM_CSAS_YAW_OFF; + SIL_B.AT_g = ENUM_AT_COMMAND; + SIL_B.de_c_l = 0.0F; + if (SIL_B.BusAssignment_j.ax > 30.0F) { SIL_DW.is_c28_kb3_autopilot = SIL_IN_Launched; - SIL_DW.temporalCounter_i1_a = 0U; - SIL_B.mode_c = ENUM_mode_AUTO_TAKEOFF; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_TAKEOFF; + SIL_DW.temporalCounter_i1_p4 = 0U; + SIL_B.mode_m = ENUM_mode_AUTO_TAKEOFF; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_TAKEOFF; } break; } } - /* End of Chart: '/takeoff_task' */ + /* End of Chart: '/takeoff_task' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_merged = SIL_B.BusAssignment_g; - rtb_merged.mode = SIL_B.mode_c; - rtb_merged.AFCS_LAT = SIL_B.AFCS_LNAV_i; - rtb_merged.AFCS_VERT = SIL_B.AFCS_VERT_p; - rtb_merged.CSAS_roll = SIL_B.CSAS_roll_b; - rtb_merged.CSAS_pitch = SIL_B.CSAS_pitch_m; - rtb_merged.CSAS_yaw = SIL_B.CSAS_yaw_n; - rtb_merged.AT = SIL_B.AT_j; - rtb_merged.landed_state = SIL_B.landed_state_out_p; - rtb_merged.throttle_c = SIL_B.thr_c_f; - rtb_merged.phi_c = SIL_B.phi_c_i; - rtb_merged.tht_c = SIL_B.tht_c_i; - rtb_merged.WP_cur = SIL_B.WP_out_f; - rtb_merged.de_c = SIL_B.de_c_g; + rtb_merged.mode = SIL_B.mode_m; + rtb_merged.AFCS_LAT = SIL_B.AFCS_LNAV_c; + rtb_merged.AFCS_VERT = SIL_B.AFCS_VERT_e; + rtb_merged.CSAS_roll = SIL_B.CSAS_roll_d; + rtb_merged.CSAS_pitch = SIL_B.CSAS_pitch_o; + rtb_merged.CSAS_yaw = SIL_B.CSAS_yaw_k; + rtb_merged.AT = SIL_B.AT_g; + rtb_merged.landed_state = SIL_B.landed_state_out_j; + rtb_merged.throttle_c = SIL_B.thr_c_k; + rtb_merged.phi_c = SIL_B.phi_c_g; + rtb_merged.tht_c = SIL_B.tht_c_m; + rtb_merged.WP_cur = SIL_B.WP_out_o; + rtb_merged.de_c = SIL_B.de_c_l; - /* End of Outputs for SubSystem: '/takeoff' */ + /* End of Outputs for SubSystem: '/takeoff' */ break; case 1: if (SIL_DW.SwitchCase_ActiveSubsystem_gz != s285_iter) { - /* SystemReset for IfAction SubSystem: '/landing' incorporates: - * ActionPort: '/Action Port' + /* SystemReset for IfAction SubSystem: '/landing' incorporates: + * ActionPort: '/Action Port' */ - /* SystemReset for SwitchCase: '/Switch Case' incorporates: - * Chart: '/landing_task' + /* SystemReset for SwitchCase: '/Switch Case' incorporates: + * Chart: '/landing_task' */ SIL_DW.is_active_c17_kb3_autopilot = 0U; SIL_DW.is_c17_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; SIL_B.tht_c = 0.0F; SIL_B.de_c = 0.0F; - /* End of SystemReset for SubSystem: '/landing' */ + /* End of SystemReset for SubSystem: '/landing' */ } - /* Outputs for IfAction SubSystem: '/landing' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/landing' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/landing_task' incorporates: + /* Chart: '/landing_task' incorporates: * Constant: '/Constant5' */ if (SIL_DW.is_active_c17_kb3_autopilot == 0U) { SIL_DW.is_active_c17_kb3_autopilot = 1U; - SIL_DW.is_c17_kb3_autopilot = SIL_IN_WaitForLaunch_h; + SIL_DW.is_c17_kb3_autopilot = SIL_IN_WaitForLaunch_c; rtb_mode = ENUM_mode_AUTO_LAND; - SIL_B.WP_out_o = SIL_B.BusAssignment_g.WP_cur; + SIL_B.WP_out_k = SIL_B.BusAssignment_g.WP_cur; SIL_B.landed_state_out = ENUM_LANDED_STATE_LANDING; SIL_B.AFCS_VERT = ENUM_AFCS_VERT_OFF; rtb_AFCS_LNAV = ENUM_AFCS_LAT_LNAV2PHI; @@ -15495,7 +16211,7 @@ void SIL_step(void) SIL_B.CSAS_yaw = ENUM_CSAS_YAW_DAMPING; SIL_B.AT = ENUM_AT_COMMAND; SIL_B.thr_c = 0.0F; - } else if (SIL_DW.is_c17_kb3_autopilot == SIL_IN_Done_c) { + } else if (SIL_DW.is_c17_kb3_autopilot == SIL_IN_Done_f) { rtb_mode = ENUM_mode_AUTO; rtb_AFCS_LNAV = ENUM_AFCS_LAT_OFF; SIL_B.phi_c = 0.0F; @@ -15509,17 +16225,17 @@ void SIL_step(void) SIL_B.CSAS_yaw = ENUM_CSAS_YAW_DAMPING; SIL_B.AT = ENUM_AT_COMMAND; SIL_B.thr_c = 0.0F; - if (SIL_B.BusAssignment_e.TAS <= 100.0F) { - SIL_DW.is_c17_kb3_autopilot = SIL_IN_Done_c; + if (SIL_B.BusAssignment_j.TAS <= 100.0F) { + SIL_DW.is_c17_kb3_autopilot = SIL_IN_Done_f; rtb_mode = ENUM_mode_AUTO; rtb_AFCS_LNAV = ENUM_AFCS_LAT_OFF; SIL_B.phi_c = 0.0F; } } - /* End of Chart: '/landing_task' */ + /* End of Chart: '/landing_task' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_merged = SIL_B.BusAssignment_g; rtb_merged.mode = rtb_mode; rtb_merged.AFCS_LAT = rtb_AFCS_LNAV; @@ -15532,41 +16248,41 @@ void SIL_step(void) rtb_merged.throttle_c = SIL_B.thr_c; rtb_merged.phi_c = SIL_B.phi_c; rtb_merged.tht_c = SIL_B.tht_c; - rtb_merged.WP_cur = SIL_B.WP_out_o; + rtb_merged.WP_cur = SIL_B.WP_out_k; rtb_merged.de_c = SIL_B.de_c; - /* End of Outputs for SubSystem: '/landing' */ + /* End of Outputs for SubSystem: '/landing' */ break; case 2: if (SIL_DW.SwitchCase_ActiveSubsystem_gz != s285_iter) { - /* SystemReset for IfAction SubSystem: '/waypoint' incorporates: - * ActionPort: '/Action Port' + /* SystemReset for IfAction SubSystem: '/waypoint' incorporates: + * ActionPort: '/Action Port' */ - /* SystemReset for SwitchCase: '/Switch Case' incorporates: - * Chart: '/Chart' + /* SystemReset for SwitchCase: '/Switch Case' incorporates: + * Chart: '/Chart' */ - SIL_DW.temporalCounter_i1_h = 0U; + SIL_DW.temporalCounter_i1_lq = 0U; SIL_DW.is_active_c29_kb3_autopilot = 0U; SIL_DW.is_c29_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* End of SystemReset for SubSystem: '/waypoint' */ + /* End of SystemReset for SubSystem: '/waypoint' */ } - /* Outputs for IfAction SubSystem: '/waypoint' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/waypoint' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' incorporates: + /* Chart: '/Chart' incorporates: * UnitDelay: '/Unit Delay' */ - if (SIL_DW.temporalCounter_i1_h < 255U) { - SIL_DW.temporalCounter_i1_h++; + if (SIL_DW.temporalCounter_i1_lq < 255U) { + SIL_DW.temporalCounter_i1_lq++; } if (SIL_DW.is_active_c29_kb3_autopilot == 0U) { SIL_DW.is_active_c29_kb3_autopilot = 1U; SIL_DW.is_c29_kb3_autopilot = SIL_IN_WP; - SIL_DW.temporalCounter_i1_h = 0U; + SIL_DW.temporalCounter_i1_lq = 0U; SIL_B.mode = ENUM_mode_AUTO_MISSION; SIL_B.WP_out = SIL_B.BusAssignment_g.WP_cur; SIL_B.AFCS_LNAV = ENUM_AFCS_LAT_LNAV2PHI; @@ -15574,7 +16290,7 @@ void SIL_step(void) (SIL_B.BusAssignment_g.AFCS_VERT); } else if (SIL_DW.is_c29_kb3_autopilot == SIL_IN_NextWP) { SIL_DW.is_c29_kb3_autopilot = SIL_IN_WP; - SIL_DW.temporalCounter_i1_h = 0U; + SIL_DW.temporalCounter_i1_lq = 0U; SIL_B.mode = ENUM_mode_AUTO_MISSION; SIL_B.WP_out = SIL_B.BusAssignment_g.WP_cur; SIL_B.AFCS_LNAV = ENUM_AFCS_LAT_LNAV2PHI; @@ -15583,75 +16299,75 @@ void SIL_step(void) } else { SIL_B.mode = ENUM_mode_AUTO_MISSION; SIL_B.AFCS_LNAV = ENUM_AFCS_LAT_LNAV2PHI; - if ((SIL_DW.temporalCounter_i1_h >= 200U) && + if ((SIL_DW.temporalCounter_i1_lq >= 200U) && SIL_B.BusAssignment_g.autocont && (SIL_DW.UnitDelay_DSTATE.dist_offset < SIL_B.BusAssignment_g.dist_trans)) { SIL_DW.is_c29_kb3_autopilot = SIL_IN_NextWP; - x = SIL_B.WP_out + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.WP_out + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - SIL_B.WP_out = (uint16_T)x; + SIL_B.WP_out = (uint16_T)rtb_out_ac; } else { SIL_B.AFCS_VERT_out = SIL_update_vert (SIL_B.BusAssignment_g.AFCS_VERT); } } - /* End of Chart: '/Chart' */ + /* End of Chart: '/Chart' */ - /* BusAssignment: '/Bus Assignment' */ + /* BusAssignment: '/Bus Assignment' */ rtb_merged = SIL_B.BusAssignment_g; rtb_merged.mode = SIL_B.mode; rtb_merged.AFCS_LAT = SIL_B.AFCS_LNAV; rtb_merged.AFCS_VERT = SIL_B.AFCS_VERT_out; rtb_merged.WP_cur = SIL_B.WP_out; - /* End of Outputs for SubSystem: '/waypoint' */ + /* End of Outputs for SubSystem: '/waypoint' */ break; case 3: - /* Outputs for IfAction SubSystem: '/idle' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/idle' incorporates: + * ActionPort: '/Action Port' */ rtb_merged = SIL_B.BusAssignment_g; - /* End of Outputs for SubSystem: '/idle' */ + /* End of Outputs for SubSystem: '/idle' */ break; } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/mission' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/mission' */ break; } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/auto' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/auto' */ break; } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/operational' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/operational' */ break; } - /* End of SwitchCase: '/Switch Case' */ + /* End of SwitchCase: '/Switch Case' */ - /* If: '/If' incorporates: - * Inport: '/C2_in' + /* If: '/If' incorporates: + * Inport: '/C2_in' */ if (rtb_merged.use_mission_traj) { - /* Outputs for IfAction SubSystem: '/update_mission_traj' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/update_mission_traj' incorporates: + * ActionPort: '/Action Port' */ - /* MATLAB Function: '/mav' */ - rtb_Switch_dn = 0U; - rtb_jxi = 0.0; + /* MATLAB Function: '/mav' */ + mode = 0U; + rtb_Divide6 = 0.0; rtb_table2D_Cmq = 0.0; + rtb_gain = 0.0F; rtb_uDLookupTable = 0.0F; - azimuth = 0.0F; elevation_baseline = 0.0F; radius = 0.0F; heading = 0.0F; @@ -15666,18 +16382,18 @@ void SIL_step(void) } if ((cur_np <= dummyMissionCount) && (cur_np > 0)) { - rtb_jxi = (real_T)dummyMission[cur_np - 1].latlon[0] * 1.0E-7; + rtb_Divide6 = (real_T)dummyMission[cur_np - 1].latlon[0] * 1.0E-7; rtb_table2D_Cmq = (real_T)dummyMission[cur_np - 1].latlon[1] * 1.0E-7; - rtb_uDLookupTable = dummyMission[cur_np - 1].params[4]; + rtb_gain = dummyMission[cur_np - 1].params[4]; idx = MAV_FRAME_GLOBAL_RELATIVE_ALT; if (dummyMission[cur_np - 1].frame == idx) { - rtb_uDLookupTable = dummyMission[cur_np - 1].params[4] + + rtb_gain = dummyMission[cur_np - 1].params[4] + rtb_merged.base_asl; } else { if (dummyMission[cur_np - 1].frame == (int32_T) MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { - rtb_uDLookupTable = dummyMission[cur_np - 1].params[4] + + rtb_gain = dummyMission[cur_np - 1].params[4] + rtb_merged.base_asl; } } @@ -15686,7 +16402,7 @@ void SIL_step(void) MAV_CMD_NAV_WAYPOINT) { radius = fabsf(dummyMission[cur_np - 1].params[2]); if (!(radius < 1.0F)) { - rtb_Switch_dn = 1U; + mode = 1U; } } else if ((dummyMission[cur_np - 1].command == (int32_T) MAV_CMD_NAV_LOITER_UNLIM) || (dummyMission[cur_np - 1]. @@ -15694,16 +16410,16 @@ void SIL_step(void) (dummyMission[cur_np - 1].command == (int32_T) MAV_CMD_NAV_LOITER_TIME)) { radius = dummyMission[cur_np - 1].params[2]; - rtb_Switch_dn = 2U; + mode = 2U; } else { if (dummyMission[cur_np - 1].command == (int32_T) MAV_CMD_NAV_LOITER_TO_ALT) { radius = dummyMission[cur_np - 1].params[1]; - rtb_Switch_dn = 2U; + mode = 2U; } } - rtb_q3dot = cos(rtb_jxi * 3.1415926535897931 / 180.0); + rtb_q3dot = cos(rtb_Divide6 * 3.1415926535897931 / 180.0); rtb_table3D_Cm_df = 111699.749 - 1132.978 * rtb_q3dot; rtb_q3dot *= 111321.543; prev_np = (uint16_T)(cur_np - 1); @@ -15732,12 +16448,12 @@ void SIL_step(void) dy = (real32_T)((rtb_table2D_Cmq - (real_T)dummyMission[prev_np - 1].latlon[1] * 1.0E-7) * rtb_q3dot); - heading = (real32_T)((rtb_jxi - (real_T)dummyMission[prev_np - 1]. - latlon[0] * 1.0E-7) * rtb_table3D_Cm_df); + heading = (real32_T)((rtb_Divide6 - (real_T)dummyMission[prev_np - + 1].latlon[0] * 1.0E-7) * rtb_table3D_Cm_df); dist = sqrtf(dy * dy + heading * heading); - azimuth = rt_atan2f_snf(dy, heading); - elevation_baseline = rt_atan2f_snf(rtb_uDLookupTable - - elevation_baseline, dist); + rtb_uDLookupTable = rt_atan2f_snf(dy, heading); + elevation_baseline = rt_atan2f_snf(rtb_gain - elevation_baseline, + dist); } cur_np++; @@ -15762,13 +16478,13 @@ void SIL_step(void) dy = (real32_T)(((real_T)dummyMission[cur_np - 1].latlon[1] * 1.0E-7 - rtb_table2D_Cmq) * rtb_q3dot); heading = (real32_T)(((real_T)dummyMission[cur_np - 1].latlon[0] * - 1.0E-7 - rtb_jxi) * rtb_table3D_Cm_df); + 1.0E-7 - rtb_Divide6) * rtb_table3D_Cm_df); dist2 = sqrtf(dy * dy + heading * heading); heading = rt_atan2f_snf(dy, heading); - elevation_baseline2 = rt_atan2f_snf(elevation_baseline2 - - rtb_uDLookupTable, dist2); - if (rtb_Switch_dn == 1) { - dy = heading - azimuth; + elevation_baseline2 = rt_atan2f_snf(elevation_baseline2 - rtb_gain, + dist2); + if (mode == 1) { + dy = heading - rtb_uDLookupTable; if (dy > 3.1415926535897931) { dy -= 6.28318548F; } else { @@ -15794,133 +16510,133 @@ void SIL_step(void) } } } else { - heading = azimuth; + heading = rtb_uDLookupTable; elevation_baseline2 = elevation_baseline; } if (prev_np == 0) { - azimuth = heading; + rtb_uDLookupTable = heading; elevation_baseline = elevation_baseline2; } } } - /* BusAssignment: '/Bus Assignment' incorporates: - * MATLAB Function: '/mav' + /* BusAssignment: '/Bus Assignment' incorporates: + * MATLAB Function: '/mav' */ rtb_Merge_n = rtb_merged; - rtb_Merge_n.traj.lat1 = rtb_jxi; + rtb_Merge_n.traj.lat1 = rtb_Divide6; rtb_Merge_n.traj.lon1 = rtb_table2D_Cmq; - rtb_Merge_n.traj.h1 = rtb_uDLookupTable; - rtb_Merge_n.traj.azimuth = azimuth; + rtb_Merge_n.traj.h1 = rtb_gain; + rtb_Merge_n.traj.azimuth = rtb_uDLookupTable; rtb_Merge_n.traj.elevation_baseline = elevation_baseline; rtb_Merge_n.traj.radius = radius; rtb_Merge_n.traj.heading = heading; rtb_Merge_n.traj.elevation_baseline2 = elevation_baseline2; - rtb_Merge_n.traj.mode = rtb_Switch_dn; + rtb_Merge_n.traj.mode = mode; - /* End of Outputs for SubSystem: '/update_mission_traj' */ + /* End of Outputs for SubSystem: '/update_mission_traj' */ } else { - /* Outputs for IfAction SubSystem: '/no_updates' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/no_updates' incorporates: + * ActionPort: '/Action Port' */ rtb_Merge_n = rtb_merged; - /* End of Outputs for SubSystem: '/no_updates' */ + /* End of Outputs for SubSystem: '/no_updates' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ /* Outputs for Atomic SubSystem: '/update_nav_info' */ - /* Outputs for IfAction SubSystem: '/case_circle' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/case_circle' incorporates: + * ActionPort: '/Action Port' */ - /* SwitchCase: '/Switch Case' incorporates: - * MATLAB Function: '/nav_circle' - * Math: '/Math Function' - * Math: '/Math Function1' - * Sum: '/Sum' + /* SwitchCase: '/Switch Case' incorporates: + * MATLAB Function: '/nav_circle' + * Math: '/Math Function' + * Math: '/Math Function1' + * Sum: '/Sum' */ - dy = SIL_B.BusAssignment_e.v_n * SIL_B.BusAssignment_e.v_n + - SIL_B.BusAssignment_e.v_e * SIL_B.BusAssignment_e.v_e; + dy = SIL_B.BusAssignment_j.v_n * SIL_B.BusAssignment_j.v_n + + SIL_B.BusAssignment_j.v_e * SIL_B.BusAssignment_j.v_e; - /* End of Outputs for SubSystem: '/case_circle' */ + /* End of Outputs for SubSystem: '/case_circle' */ - /* Sum: '/Sum' */ - rtb_uDLookupTable = dy; + /* Sum: '/Sum' */ + rtb_gain = dy; - /* Saturate: '/Saturation' incorporates: - * Sum: '/Sum' + /* Saturate: '/Saturation' incorporates: + * Sum: '/Sum' */ if (dy <= 0.001F) { - rtb_uDLookupTable = 0.001F; + rtb_gain = 0.001F; } - /* End of Saturate: '/Saturation' */ + /* End of Saturate: '/Saturation' */ - /* BusCreator: '/Bus Creator' incorporates: - * Gain: '/Gain' - * Math: '/Math Function2' - * Sqrt: '/Sqrt' - * Sum: '/Sum1' + /* BusCreator: '/Bus Creator' incorporates: + * Gain: '/Gain' + * Math: '/Math Function2' + * Sqrt: '/Sqrt' + * Sum: '/Sum1' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE.v_gv = sqrtf(-SIL_B.BusAssignment_e.v_d * - -SIL_B.BusAssignment_e.v_d + rtb_uDLookupTable); + SIL_DW.UnitDelay_DSTATE.v_gv = sqrtf(-SIL_B.BusAssignment_j.v_d * + -SIL_B.BusAssignment_j.v_d + rtb_gain); - /* Chart: '/traffic_ctrl' incorporates: - * SubSystem: '/loop_download' + /* Chart: '/traffic_ctrl' incorporates: + * SubSystem: '/loop_download' */ - /* Outputs for IfAction SubSystem: '/gps_raw_int_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/gps_raw_int_enc' incorporates: + * ActionPort: '/Action Port' */ - /* SwitchCase: '/Switch Case' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* SwitchCase: '/Switch Case' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ - rtb_Switch_dn = (uint8_T)SIL_B.BusAssignment_e.gps_fixtype; + mode = (uint8_T)SIL_B.BusAssignment_j.gps_fixtype; - /* End of Outputs for SubSystem: '/gps_raw_int_enc' */ + /* End of Outputs for SubSystem: '/gps_raw_int_enc' */ - /* If: '/If' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* If: '/If' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ - if (rtb_Switch_dn > 3) { - /* Outputs for IfAction SubSystem: '/use_gps_alt' incorporates: - * ActionPort: '/Action Port' + if (mode > 3) { + /* Outputs for IfAction SubSystem: '/use_gps_alt' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBufferForASL' */ - azimuth = SIL_B.BusAssignment_e.msl; + /* SignalConversion: '/OutportBufferForASL' */ + rtb_uDLookupTable = SIL_B.BusAssignment_j.msl; - /* BusCreator: '/Bus Creator' incorporates: - * SignalConversion: '/sens_BusSelector' - * Sum: '/Sum' + /* BusCreator: '/Bus Creator' incorporates: + * SignalConversion: '/sens_BusSelector' + * Sum: '/Sum' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE.rel_alt = SIL_B.BusAssignment_e.msl - + SIL_DW.UnitDelay_DSTATE.rel_alt = SIL_B.BusAssignment_j.msl - rtb_Merge_n.base_asl; - /* End of Outputs for SubSystem: '/use_gps_alt' */ + /* End of Outputs for SubSystem: '/use_gps_alt' */ } else { - /* Outputs for IfAction SubSystem: '/use_baro_alt' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/use_baro_alt' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/OutportBufferForASL' */ - azimuth = SIL_B.BusAssignment_e.asl_baro; + /* SignalConversion: '/OutportBufferForASL' */ + rtb_uDLookupTable = SIL_B.BusAssignment_j.asl_baro; - /* BusCreator: '/Bus Creator' incorporates: - * SignalConversion: '/sens_BusSelector' - * Sum: '/Sum' + /* BusCreator: '/Bus Creator' incorporates: + * SignalConversion: '/sens_BusSelector' + * Sum: '/Sum' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE.rel_alt = SIL_B.BusAssignment_e.asl_baro - + SIL_DW.UnitDelay_DSTATE.rel_alt = SIL_B.BusAssignment_j.asl_baro - rtb_Merge_n.base_asl_baro; - /* End of Outputs for SubSystem: '/use_baro_alt' */ + /* End of Outputs for SubSystem: '/use_baro_alt' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' */ s285_iter = SIL_DW.SwitchCase_ActiveSubsystem_j; switch (rtb_Merge_n.traj.mode) { case 2: @@ -15938,16 +16654,16 @@ void SIL_step(void) switch (SIL_DW.SwitchCase_ActiveSubsystem_j) { case 0: - /* Outputs for IfAction SubSystem: '/case_circle' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/case_circle' incorporates: + * ActionPort: '/Action Port' */ - /* MATLAB Function: '/nav_circle' */ - rtb_jxi = cos(SIL_B.BusAssignment_e.lat * 3.1415926535897931 / 180.0); - dist2 = (real32_T)((111699.749 - 1132.978 * rtb_jxi) * - (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_e.lat)); - heading = (real32_T)((rtb_Merge_n.traj.lon1 - SIL_B.BusAssignment_e.lon) - * (111321.543 * rtb_jxi)); - SIL_B.vert_offset = rtb_Merge_n.traj.h1 - azimuth; + /* MATLAB Function: '/nav_circle' */ + rtb_Divide6 = cos(SIL_B.BusAssignment_j.lat * 3.1415926535897931 / 180.0); + dist2 = (real32_T)((111699.749 - 1132.978 * rtb_Divide6) * + (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_j.lat)); + heading = (real32_T)((rtb_Merge_n.traj.lon1 - SIL_B.BusAssignment_j.lon) + * (111321.543 * rtb_Divide6)); + SIL_B.vert_offset = rtb_Merge_n.traj.h1 - rtb_uDLookupTable; if (rtb_Merge_n.traj.radius > 1.0F) { rtb_linked = true; radius = rtb_Merge_n.traj.radius; @@ -15969,14 +16685,14 @@ void SIL_step(void) if (rtb_linked) { SIL_B.bearing_base = SIL_B.bearing - 1.57079637F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.omega_des = sqrtf(SIL_B.BusAssignment_e.v_n * - SIL_B.BusAssignment_e.v_n + SIL_B.BusAssignment_e.v_e * - SIL_B.BusAssignment_e.v_e) / radius; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.omega_des = sqrtf(SIL_B.BusAssignment_j.v_n * + SIL_B.BusAssignment_j.v_n + SIL_B.BusAssignment_j.v_e * + SIL_B.BusAssignment_j.v_e) / radius; } else { SIL_B.bearing_base = SIL_B.bearing + 1.57079637F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.omega_des = -sqrtf(dy) / radius; } @@ -16007,65 +16723,65 @@ void SIL_step(void) SIL_B.horiz_offset = -SIL_B.horiz_offset; } - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_circle' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_circle' */ - SIL_B.rdot = SIL_B.BusAssignment_e.v_n * cosf(SIL_B.bearing_base) + - SIL_B.BusAssignment_e.v_e * sinf(SIL_B.bearing_base); + SIL_B.rdot = SIL_B.BusAssignment_j.v_n * cosf(SIL_B.bearing_base) + + SIL_B.BusAssignment_j.v_e * sinf(SIL_B.bearing_base); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_circle' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_circle' */ SIL_B.elevation_base = 0.0F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_circle' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_circle' */ SIL_B.dist_offset = radius * dy; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_circle' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_circle' */ SIL_B.elevation = rt_atan2f_snf(SIL_B.vert_offset, SIL_B.dist); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_circle' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_circle' */ SIL_B.ht_diff = SIL_B.vert_offset; - /* End of Outputs for SubSystem: '/case_circle' */ + /* End of Outputs for SubSystem: '/case_circle' */ break; case 1: if (SIL_DW.SwitchCase_ActiveSubsystem_j != s285_iter) { - /* InitializeConditions for IfAction SubSystem: '/case_corner' incorporates: - * ActionPort: '/Action Port' + /* InitializeConditions for IfAction SubSystem: '/case_corner' incorporates: + * ActionPort: '/Action Port' */ - /* InitializeConditions for SwitchCase: '/Switch Case' incorporates: - * UnitDelay: '/Unit Delay' + /* InitializeConditions for SwitchCase: '/Switch Case' incorporates: + * UnitDelay: '/Unit Delay' */ SIL_DW.UnitDelay_DSTATE_c = 0U; - /* End of InitializeConditions for SubSystem: '/case_corner' */ + /* End of InitializeConditions for SubSystem: '/case_corner' */ - /* SystemReset for IfAction SubSystem: '/case_corner' incorporates: - * ActionPort: '/Action Port' + /* SystemReset for IfAction SubSystem: '/case_corner' incorporates: + * ActionPort: '/Action Port' */ - /* SystemReset for SwitchCase: '/Switch Case' incorporates: - * MATLAB Function: '/nav_corner' + /* SystemReset for SwitchCase: '/Switch Case' incorporates: + * MATLAB Function: '/nav_corner' */ SIL_DW.stage_not_empty = false; - /* End of SystemReset for SubSystem: '/case_corner' */ + /* End of SystemReset for SubSystem: '/case_corner' */ } - /* Outputs for IfAction SubSystem: '/case_corner' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/case_corner' incorporates: + * ActionPort: '/Action Port' */ - /* MATLAB Function: '/nav_corner' incorporates: - * UnitDelay: '/Unit Delay' + /* MATLAB Function: '/nav_corner' incorporates: + * UnitDelay: '/Unit Delay' */ - rtb_table2D_Cmq = cos(SIL_B.BusAssignment_e.lat * 3.1415926535897931 / + rtb_table2D_Cmq = cos(SIL_B.BusAssignment_j.lat * 3.1415926535897931 / 180.0); if (!SIL_DW.stage_not_empty) { SIL_DW.stage = 0U; @@ -16088,10 +16804,10 @@ void SIL_step(void) } dist = (real32_T)((111699.749 - 1132.978 * rtb_table2D_Cmq) * - (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_e.lat)); + (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_j.lat)); elevation_baseline = (real32_T)((rtb_Merge_n.traj.lon1 - - SIL_B.BusAssignment_e.lon) * (111321.543 * rtb_table2D_Cmq)); - radius = rtb_Merge_n.traj.h1 - azimuth; + SIL_B.BusAssignment_j.lon) * (111321.543 * rtb_table2D_Cmq)); + radius = rtb_Merge_n.traj.h1 - rtb_uDLookupTable; dy = rtb_Merge_n.traj.heading - rtb_Merge_n.traj.azimuth; if (dy > 3.1415926535897931) { dy -= 6.28318548F; @@ -16125,30 +16841,30 @@ void SIL_step(void) SIL_B.elevation_base = atanf(tan_angle); SIL_B.dist = sqrtf(dist * dist + elevation_baseline * elevation_baseline); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_corner' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_corner' */ SIL_B.omega_des = 0.0F; - /* MATLAB Function: '/nav_corner' */ + /* MATLAB Function: '/nav_corner' */ switch (SIL_DW.stage) { case 0: - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.horiz_offset = lat_s * elevation_baseline2 - lon_s * dist2; SIL_B.dist_offset = lat_s * dist2 + lon_s * elevation_baseline2; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.rdot = dist2 * SIL_B.BusAssignment_e.v_n + elevation_baseline2 * - SIL_B.BusAssignment_e.v_e; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.rdot = dist2 * SIL_B.BusAssignment_j.v_n + elevation_baseline2 * + SIL_B.BusAssignment_j.v_e; SIL_B.ht_diff = h_s - SIL_B.dist_offset * tan_elv_tmp; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.vert_offset = SIL_B.ht_diff * cosf (rtb_Merge_n.traj.elevation_baseline); SIL_B.dist_offset += tan_elv3_tmp; SIL_B.bearing_base = rtb_Merge_n.traj.azimuth; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.elevation_base = rtb_Merge_n.traj.elevation_baseline; if (dist * dist2 + elevation_baseline * elevation_baseline2 < dy) { SIL_DW.stage = 1U; @@ -16156,21 +16872,21 @@ void SIL_step(void) break; case 2: - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.horiz_offset = lat_e * sin_hdg - lon_e * cos_hdg; SIL_B.dist_offset = lat_e * cos_hdg + lon_e * sin_hdg; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.rdot = cos_hdg * SIL_B.BusAssignment_e.v_n + sin_hdg * - SIL_B.BusAssignment_e.v_e; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.rdot = cos_hdg * SIL_B.BusAssignment_j.v_n + sin_hdg * + SIL_B.BusAssignment_j.v_e; SIL_B.ht_diff = SIL_B.dist_offset * tan_elv2 + heading; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.vert_offset = SIL_B.ht_diff * cosf (rtb_Merge_n.traj.elevation_baseline2); SIL_B.bearing_base = rtb_Merge_n.traj.heading; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.elevation_base = rtb_Merge_n.traj.elevation_baseline2; break; @@ -16180,27 +16896,27 @@ void SIL_step(void) dist2 = dist2 * rtb_Merge_n.traj.radius + lon_s; SIL_B.bearing_base = rt_atan2f_snf(dist2, dy) - 1.57079637F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.horiz_offset = rtb_Merge_n.traj.radius - sqrtf(dy * dy + dist2 * dist2); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.omega_des = sqrtf(SIL_B.BusAssignment_e.v_n * - SIL_B.BusAssignment_e.v_n + SIL_B.BusAssignment_e.v_e * - SIL_B.BusAssignment_e.v_e) / rtb_Merge_n.traj.radius; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.omega_des = sqrtf(SIL_B.BusAssignment_j.v_n * + SIL_B.BusAssignment_j.v_n + SIL_B.BusAssignment_j.v_e * + SIL_B.BusAssignment_j.v_e) / rtb_Merge_n.traj.radius; } else { dy = elevation_baseline2 * rtb_Merge_n.traj.radius + lat_s; dist2 = lon_s - dist2 * rtb_Merge_n.traj.radius; SIL_B.bearing_base = rt_atan2f_snf(dist2, dy) + 1.57079637F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.horiz_offset = sqrtf(dy * dy + dist2 * dist2) - rtb_Merge_n.traj.radius; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.omega_des = -sqrtf(SIL_B.BusAssignment_e.v_n * - SIL_B.BusAssignment_e.v_n + SIL_B.BusAssignment_e.v_e * - SIL_B.BusAssignment_e.v_e) / rtb_Merge_n.traj.radius; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.omega_des = -sqrtf(SIL_B.BusAssignment_j.v_n * + SIL_B.BusAssignment_j.v_n + SIL_B.BusAssignment_j.v_e * + SIL_B.BusAssignment_j.v_e) / rtb_Merge_n.traj.radius; } if (SIL_B.bearing_base > 3.1415926535897931) { @@ -16226,136 +16942,136 @@ void SIL_step(void) SIL_B.dist_offset = fabsf(dy) * rtb_Merge_n.traj.radius; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ - SIL_B.rdot = cosf(SIL_B.bearing_base) * SIL_B.BusAssignment_e.v_n + - sinf(SIL_B.bearing_base) * SIL_B.BusAssignment_e.v_e; + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + SIL_B.rdot = cosf(SIL_B.bearing_base) * SIL_B.BusAssignment_j.v_n + + sinf(SIL_B.bearing_base) * SIL_B.BusAssignment_j.v_e; SIL_B.ht_diff = heading - SIL_B.dist_offset * tan_angle; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' */ SIL_B.vert_offset = SIL_B.ht_diff * cosf(SIL_B.elevation_base); break; } - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_corner' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_corner' */ SIL_B.bearing = rt_atan2f_snf(elevation_baseline, dist); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_corner' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_corner' */ SIL_B.elevation = rt_atan2f_snf(radius, SIL_B.dist); - /* Sum: '/Sum' incorporates: - * Constant: '/Constant' - * UnitDelay: '/Unit Delay' + /* Sum: '/Sum' incorporates: + * Constant: '/Constant' + * UnitDelay: '/Unit Delay' */ SIL_DW.UnitDelay_DSTATE_c++; - /* End of Outputs for SubSystem: '/case_corner' */ + /* End of Outputs for SubSystem: '/case_corner' */ break; case 2: - /* Outputs for IfAction SubSystem: '/case_line' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/case_line' incorporates: + * ActionPort: '/Action Port' */ - /* MATLAB Function: '/nav_line' */ - rtb_table2D_Cmq = cos(SIL_B.BusAssignment_e.lat * 3.1415926535897931 / + /* MATLAB Function: '/nav_line' */ + rtb_table2D_Cmq = cos(SIL_B.BusAssignment_j.lat * 3.1415926535897931 / 180.0); dist = (real32_T)((111699.749 - 1132.978 * rtb_table2D_Cmq) * - (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_e.lat)); + (rtb_Merge_n.traj.lat1 - SIL_B.BusAssignment_j.lat)); elevation_baseline = (real32_T)((rtb_Merge_n.traj.lon1 - - SIL_B.BusAssignment_e.lon) * (111321.543 * rtb_table2D_Cmq)); - SIL_B.ht_diff = rtb_Merge_n.traj.h1 - azimuth; + SIL_B.BusAssignment_j.lon) * (111321.543 * rtb_table2D_Cmq)); + SIL_B.ht_diff = rtb_Merge_n.traj.h1 - rtb_uDLookupTable; SIL_B.dist = sqrtf(dist * dist + elevation_baseline * elevation_baseline); radius = cosf(rtb_Merge_n.traj.azimuth); dy = sinf(rtb_Merge_n.traj.azimuth); SIL_B.dist_offset = dist * radius + elevation_baseline * dy; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ - SIL_B.rdot = radius * SIL_B.BusAssignment_e.v_n + dy * - SIL_B.BusAssignment_e.v_e; + SIL_B.rdot = radius * SIL_B.BusAssignment_j.v_n + dy * + SIL_B.BusAssignment_j.v_e; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.elevation_base = rtb_Merge_n.traj.elevation_baseline; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.horiz_offset = dist * dy - elevation_baseline * radius; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.bearing = rt_atan2f_snf(elevation_baseline, dist); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.vert_offset = (SIL_B.ht_diff - SIL_B.dist_offset * tanf (rtb_Merge_n.traj.elevation_baseline)) * cosf (rtb_Merge_n.traj.elevation_baseline); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.elevation = rt_atan2f_snf(SIL_B.ht_diff, SIL_B.dist); - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.omega_des = 0.0F; - /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: - * MATLAB Function: '/nav_line' + /* SignalConversion: '/BusConversion_InsertedFor_nav_out_at_inport_0' incorporates: + * MATLAB Function: '/nav_line' */ SIL_B.bearing_base = rtb_Merge_n.traj.azimuth; - /* End of Outputs for SubSystem: '/case_line' */ + /* End of Outputs for SubSystem: '/case_line' */ break; } - /* Sqrt: '/Sqrt1' */ - rtb_uDLookupTable = sqrtf(rtb_uDLookupTable); + /* Sqrt: '/Sqrt1' */ + rtb_gain = sqrtf(rtb_gain); - /* Trigonometry: '/Trigonometric Function1' incorporates: - * Gain: '/Gain' + /* Trigonometry: '/Trigonometric Function1' incorporates: + * Gain: '/Gain' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE.gamma = rt_atan2f_snf(-SIL_B.BusAssignment_e.v_d, - rtb_uDLookupTable); + SIL_DW.UnitDelay_DSTATE.gamma = rt_atan2f_snf(-SIL_B.BusAssignment_j.v_d, + rtb_gain); - /* MATLAB Function: '/nav_point' incorporates: + /* MATLAB Function: '/nav_point' incorporates: * UnitDelay: '/Unit Delay' */ - rtb_table2D_Cmq = cos(SIL_B.BusAssignment_e.lat * 3.1415926535897931 / + rtb_table2D_Cmq = cos(SIL_B.BusAssignment_j.lat * 3.1415926535897931 / 180.0); dist = (real32_T)((111699.749 - 1132.978 * rtb_table2D_Cmq) * - (rtb_Merge_n.home.lat1 - SIL_B.BusAssignment_e.lat)); + (rtb_Merge_n.home.lat1 - SIL_B.BusAssignment_j.lat)); elevation_baseline = (real32_T)((rtb_Merge_n.home.lon1 - - SIL_B.BusAssignment_e.lon) * (111321.543 * rtb_table2D_Cmq)); + SIL_B.BusAssignment_j.lon) * (111321.543 * rtb_table2D_Cmq)); SIL_DW.UnitDelay_DSTATE.home_bearing = rt_atan2f_snf(elevation_baseline, dist); SIL_DW.UnitDelay_DSTATE.home_dist = sqrtf(dist * dist + elevation_baseline * elevation_baseline); - /* BusCreator: '/Bus Creator' incorporates: - * Gain: '/Gain' - * Sum: '/Sum' - * Sum: '/Sum1' - * Sum: '/Sum2' - * Trigonometry: '/Trigonometric Function' + /* BusCreator: '/Bus Creator' incorporates: + * Gain: '/Gain' + * Sum: '/Sum' + * Sum: '/Sum1' + * Sum: '/Sum2' + * Trigonometry: '/Trigonometric Function' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE.v_g = rtb_uDLookupTable; - SIL_DW.UnitDelay_DSTATE.psi_t = rt_atan2f_snf(SIL_B.BusAssignment_e.v_e, - SIL_B.BusAssignment_e.v_n); - SIL_DW.UnitDelay_DSTATE.abs_alt = azimuth; - SIL_DW.UnitDelay_DSTATE.hdot = -SIL_B.BusAssignment_e.v_d; + SIL_DW.UnitDelay_DSTATE.v_g = rtb_gain; + SIL_DW.UnitDelay_DSTATE.psi_t = rt_atan2f_snf(SIL_B.BusAssignment_j.v_e, + SIL_B.BusAssignment_j.v_n); + SIL_DW.UnitDelay_DSTATE.abs_alt = rtb_uDLookupTable; + SIL_DW.UnitDelay_DSTATE.hdot = -SIL_B.BusAssignment_j.v_d; SIL_DW.UnitDelay_DSTATE.rdot = SIL_B.rdot; SIL_DW.UnitDelay_DSTATE.dist = SIL_B.dist; SIL_DW.UnitDelay_DSTATE.dist_offset = SIL_B.dist_offset - @@ -16522,12 +17238,24 @@ void SIL_step(void) /* Outputs for IfAction SubSystem: '/VNAV' incorporates: * ActionPort: '/Action Port' */ + /* Saturate: '/Saturation' incorporates: + * UnitDelay: '/Unit Delay' + */ + if (SIL_DW.UnitDelay_DSTATE.elevation_baseline > 1.5F) { + radius = 1.5F; + } else if (SIL_DW.UnitDelay_DSTATE.elevation_baseline < -1.5F) { + radius = -1.5F; + } else { + radius = SIL_DW.UnitDelay_DSTATE.elevation_baseline; + } + + /* End of Saturate: '/Saturation' */ + /* Product: '/Product' incorporates: * Trigonometry: '/atan' * UnitDelay: '/Unit Delay' */ - rtb_Merge1_e = atanf(SIL_DW.UnitDelay_DSTATE.elevation_baseline) * - SIL_DW.UnitDelay_DSTATE.v_g; + rtb_Merge1_e = tanf(radius) * SIL_DW.UnitDelay_DSTATE.v_g; rtb_Merge_c = SIL_DW.UnitDelay_DSTATE.vert_offset; /* End of Outputs for SubSystem: '/VNAV' */ @@ -16707,15 +17435,15 @@ void SIL_step(void) * RelationalOperator: '/UpperRelop' * Switch: '/Switch' */ - if (SIL_B.BusAssignment_e.tht > SIL_P.max_tht) { + if (SIL_B.BusAssignment_j.tht > SIL_P.max_tht) { radius = SIL_P.max_tht; - } else if (SIL_B.BusAssignment_e.tht < SIL_P.min_tht) { + } else if (SIL_B.BusAssignment_j.tht < SIL_P.min_tht) { /* Switch: '/Switch' incorporates: * Constant: '/Constant Single' */ radius = SIL_P.min_tht; } else { - radius = SIL_B.BusAssignment_e.tht; + radius = SIL_B.BusAssignment_j.tht; } /* End of Switch: '/Switch2' */ @@ -16758,7 +17486,12 @@ void SIL_step(void) rtb_Switch2_el = rtb_Merge_n.dr_c; rtb_last_hdot_c = rtb_Merge_n.de_c; rtb_Sum1_c = rtb_Merge_n.da_c; - rtb_MinMax = rtb_Merge_n.throttle_c; + rtb_MinMax = rtb_Merge_n.del_c; + rtb_Merge_h_der_c = rtb_Merge_n.der_c; + rtb_Merge_h_dal_c = rtb_Merge_n.dal_c; + rtb_Merge_h_dar_c = rtb_Merge_n.dar_c; + rtb_Merge_h_throttle_c = rtb_Merge_n.throttle_c; + rtb_Merge_h_use_mix = rtb_Merge_n.use_mix; rtb_Merge_h_AFCS_LAT = rtb_Merge_n.AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge_n.AFCS_VERT; rtb_Merge_h_CSAS_roll = rtb_Merge_n.CSAS_roll; @@ -16832,11 +17565,11 @@ void SIL_step(void) rtb_Merge_h_takeoff_tht = rtb_Merge_n.takeoff_tht; rtb_Merge_h_dist_trans = rtb_Merge_n.dist_trans; rtb_Merge_h_df_c = rtb_Merge_n.df_c; - rtb_Merge_h_afterburner_enabled = rtb_Merge_n.afterburner_enabled; rtb_Merge_h_AS_SEL = rtb_Merge_n.AS_SEL; rtb_Merge_h_p500w_enable = rtb_Merge_n.p500w_enable; rtb_Merge_h_actuator_startup = rtb_Merge_n.actuator_startup; rtb_Merge_h_ECU_CMD = rtb_Merge_n.ECU_CMD; + rtb_Merge_h_ECU_RPM = rtb_Merge_n.ECU_RPM; rtb_Merge_h_ccm_ch = rtb_Merge_n.ccm_ch; rtb_Merge_h_ccm_period = rtb_Merge_n.ccm_period; rtb_Merge_h_ccm_sw = rtb_Merge_n.ccm_sw; @@ -16869,11 +17602,11 @@ void SIL_step(void) * ActionPort: '/Action Port' */ /* Gain: '/inv_g' incorporates: - * Constant: '/Constant' - * Constant: '/Constant1' - * Constant: '/Constant2' + * Constant: '/Constant' + * Constant: '/Constant1' + * Constant: '/Constant2' * Product: '/Product' - * Product: '/Product' + * Product: '/Product' * Sum: '/Sum' */ rtb_qbarSc = 2.0F * SIL_P.ksi_v2tht * SIL_P.w_v2tht * (rtb_IAS_lookup - @@ -16890,15 +17623,15 @@ void SIL_step(void) * RelationalOperator: '/UpperRelop' * Switch: '/Switch' */ - if (SIL_B.BusAssignment_e.tht > SIL_P.max_tht) { + if (SIL_B.BusAssignment_j.tht > SIL_P.max_tht) { radius = SIL_P.max_tht; - } else if (SIL_B.BusAssignment_e.tht < SIL_P.min_tht) { + } else if (SIL_B.BusAssignment_j.tht < SIL_P.min_tht) { /* Switch: '/Switch' incorporates: * Constant: '/Constant Single' */ radius = SIL_P.min_tht; } else { - radius = SIL_B.BusAssignment_e.tht; + radius = SIL_B.BusAssignment_j.tht; } /* End of Switch: '/Switch2' */ @@ -16907,13 +17640,13 @@ void SIL_step(void) /* Sum: '/Sum1' incorporates: * Constant: '/Constant' - * Constant: '/Constant' - * Constant: '/Constant1' - * Constant: '/Constant2' + * Constant: '/Constant' + * Constant: '/Constant1' + * Constant: '/Constant2' * Delay: '/Delay' * Product: '/Product1' * Product: '/Product2' - * Product: '/Product1' + * Product: '/Product1' * Sum: '/Sum2' */ rtb_Sum1_oz = (SIL_P.w_v2tht / SIL_P.ksi_v2tht / 2.0F * rtb_qbarSc * @@ -16945,7 +17678,12 @@ void SIL_step(void) rtb_Switch2_el = rtb_Merge_n.dr_c; rtb_last_hdot_c = rtb_Merge_n.de_c; rtb_Sum1_c = rtb_Merge_n.da_c; - rtb_MinMax = rtb_Merge_n.throttle_c; + rtb_MinMax = rtb_Merge_n.del_c; + rtb_Merge_h_der_c = rtb_Merge_n.der_c; + rtb_Merge_h_dal_c = rtb_Merge_n.dal_c; + rtb_Merge_h_dar_c = rtb_Merge_n.dar_c; + rtb_Merge_h_throttle_c = rtb_Merge_n.throttle_c; + rtb_Merge_h_use_mix = rtb_Merge_n.use_mix; rtb_Merge_h_AFCS_LAT = rtb_Merge_n.AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge_n.AFCS_VERT; rtb_Merge_h_CSAS_roll = rtb_Merge_n.CSAS_roll; @@ -17020,11 +17758,11 @@ void SIL_step(void) rtb_Merge_h_takeoff_tht = rtb_Merge_n.takeoff_tht; rtb_Merge_h_dist_trans = rtb_Merge_n.dist_trans; rtb_Merge_h_df_c = rtb_Merge_n.df_c; - rtb_Merge_h_afterburner_enabled = rtb_Merge_n.afterburner_enabled; rtb_Merge_h_AS_SEL = rtb_Merge_n.AS_SEL; rtb_Merge_h_p500w_enable = rtb_Merge_n.p500w_enable; rtb_Merge_h_actuator_startup = rtb_Merge_n.actuator_startup; rtb_Merge_h_ECU_CMD = rtb_Merge_n.ECU_CMD; + rtb_Merge_h_ECU_RPM = rtb_Merge_n.ECU_RPM; rtb_Merge_h_ccm_ch = rtb_Merge_n.ccm_ch; rtb_Merge_h_ccm_period = rtb_Merge_n.ccm_period; rtb_Merge_h_ccm_sw = rtb_Merge_n.ccm_sw; @@ -17047,7 +17785,12 @@ void SIL_step(void) rtb_Switch2_el = rtb_Merge_n.dr_c; rtb_last_hdot_c = rtb_Merge_n.de_c; rtb_Sum1_c = rtb_Merge_n.da_c; - rtb_MinMax = rtb_Merge_n.throttle_c; + rtb_MinMax = rtb_Merge_n.del_c; + rtb_Merge_h_der_c = rtb_Merge_n.der_c; + rtb_Merge_h_dal_c = rtb_Merge_n.dal_c; + rtb_Merge_h_dar_c = rtb_Merge_n.dar_c; + rtb_Merge_h_throttle_c = rtb_Merge_n.throttle_c; + rtb_Merge_h_use_mix = rtb_Merge_n.use_mix; rtb_Merge_h_AFCS_LAT = rtb_Merge_n.AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge_n.AFCS_VERT; rtb_Merge_h_CSAS_pitch = rtb_Merge_n.CSAS_pitch; @@ -17124,11 +17867,11 @@ void SIL_step(void) rtb_Merge_h_takeoff_tht = rtb_Merge_n.takeoff_tht; rtb_Merge_h_dist_trans = rtb_Merge_n.dist_trans; rtb_Merge_h_df_c = rtb_Merge_n.df_c; - rtb_Merge_h_afterburner_enabled = rtb_Merge_n.afterburner_enabled; rtb_Merge_h_AS_SEL = rtb_Merge_n.AS_SEL; rtb_Merge_h_p500w_enable = rtb_Merge_n.p500w_enable; rtb_Merge_h_actuator_startup = rtb_Merge_n.actuator_startup; rtb_Merge_h_ECU_CMD = rtb_Merge_n.ECU_CMD; + rtb_Merge_h_ECU_RPM = rtb_Merge_n.ECU_RPM; rtb_Merge_h_ccm_ch = rtb_Merge_n.ccm_ch; rtb_Merge_h_ccm_period = rtb_Merge_n.ccm_period; rtb_Merge_h_ccm_sw = rtb_Merge_n.ccm_sw; @@ -17163,7 +17906,7 @@ void SIL_step(void) */ SIL_psi_err_Reset(&rtb_out_d); SIL_psi_err_Reset(&rtb_out_f); - SIL_psi_err_Reset(&rtb_out); + SIL_psi_err_Reset(&rtb_out_gz); /* End of SystemReset for SubSystem: '/LNAV2PHI' */ } @@ -17276,12 +18019,13 @@ void SIL_step(void) /* Sum: '/Sum' incorporates: * UnitDelay: '/Unit Delay' */ - rtb_Sum_o = rtb_Saturationcos + SIL_DW.UnitDelay_DSTATE.bearing_baseline; + rtb_Sum_oi = rtb_Saturationcos + + SIL_DW.UnitDelay_DSTATE.bearing_baseline; /* Sum: '/err_psi' incorporates: * UnitDelay: '/Unit Delay' */ - rtb_err_psi = rtb_Sum_o - SIL_DW.UnitDelay_DSTATE.psi_t; + rtb_err_psi = rtb_Sum_oi - SIL_DW.UnitDelay_DSTATE.psi_t; /* Chart: '/psi_err' */ SIL_psi_err(rtb_err_psi, &rtb_out_d); @@ -17347,6 +18091,11 @@ void SIL_step(void) rtb_Saturationcos = rtb_last_hdot_c; rtb_Merge_nh_da_c = rtb_Sum1_c; rtb_max_dpsi = rtb_MinMax; + rtb_Merge_nh_der_c = rtb_Merge_h_der_c; + rtb_Merge_nh_dal_c = rtb_Merge_h_dal_c; + rtb_Merge_nh_dar_c = rtb_Merge_h_dar_c; + rtb_Merge_nh_throttle_c = rtb_Merge_h_throttle_c; + rtb_Merge_nh_use_mix = rtb_Merge_h_use_mix; rtb_Merge_nh_AFCS_LAT = rtb_Merge_h_AFCS_LAT; rtb_Merge_nh_AFCS_VERT = rtb_Merge_h_AFCS_VERT; rtb_Merge_nh_CSAS_pitch = rtb_Merge_h_CSAS_pitch; @@ -17420,11 +18169,11 @@ void SIL_step(void) rtb_Merge_nh_takeoff_tht = rtb_Merge_h_takeoff_tht; rtb_Merge_nh_dist_trans = rtb_Merge_h_dist_trans; rtb_Merge_nh_df_c = rtb_Merge_h_df_c; - rtb_Merge_nh_afterburner_enabled = rtb_Merge_h_afterburner_enabled; rtb_Merge_nh_AS_SEL = rtb_Merge_h_AS_SEL; rtb_Merge_nh_p500w_enable = rtb_Merge_h_p500w_enable; rtb_Merge_nh_actuator_startup = rtb_Merge_h_actuator_startup; rtb_Merge_nh_ECU_CMD = rtb_Merge_h_ECU_CMD; + rtb_Merge_nh_ECU_RPM = rtb_Merge_h_ECU_RPM; rtb_Merge_nh_ccm_ch = rtb_Merge_h_ccm_ch; rtb_Merge_nh_ccm_period = rtb_Merge_h_ccm_period; rtb_Merge_nh_ccm_sw = rtb_Merge_h_ccm_sw; @@ -17435,13 +18184,13 @@ void SIL_step(void) /* Sum: '/err_psi1' incorporates: * UnitDelay: '/Unit Delay' */ - rtb_err_psi1 = SIL_DW.UnitDelay_DSTATE.psi_t - SIL_B.BusAssignment_e.psi; + rtb_err_psi1 = SIL_DW.UnitDelay_DSTATE.psi_t - SIL_B.BusAssignment_j.psi; /* Chart: '/psi_err1' */ SIL_psi_err(rtb_err_psi1, &rtb_out_f); /* Chart: '/psi_err2' */ - SIL_psi_err(rtb_Sum_o, &rtb_out); + SIL_psi_err(rtb_Sum_oi, &rtb_out_gz); /* End of Outputs for SubSystem: '/LNAV2PHI' */ break; @@ -17454,6 +18203,11 @@ void SIL_step(void) rtb_Saturationcos = rtb_last_hdot_c; rtb_Merge_nh_da_c = rtb_Sum1_c; rtb_max_dpsi = rtb_MinMax; + rtb_Merge_nh_der_c = rtb_Merge_h_der_c; + rtb_Merge_nh_dal_c = rtb_Merge_h_dal_c; + rtb_Merge_nh_dar_c = rtb_Merge_h_dar_c; + rtb_Merge_nh_throttle_c = rtb_Merge_h_throttle_c; + rtb_Merge_nh_use_mix = rtb_Merge_h_use_mix; rtb_Merge_nh_AFCS_LAT = rtb_Merge_h_AFCS_LAT; rtb_Merge_nh_AFCS_VERT = rtb_Merge_h_AFCS_VERT; rtb_Merge_nh_CSAS_pitch = rtb_Merge_h_CSAS_pitch; @@ -17530,11 +18284,11 @@ void SIL_step(void) rtb_Merge_nh_takeoff_tht = rtb_Merge_h_takeoff_tht; rtb_Merge_nh_dist_trans = rtb_Merge_h_dist_trans; rtb_Merge_nh_df_c = rtb_Merge_h_df_c; - rtb_Merge_nh_afterburner_enabled = rtb_Merge_h_afterburner_enabled; rtb_Merge_nh_AS_SEL = rtb_Merge_h_AS_SEL; rtb_Merge_nh_p500w_enable = rtb_Merge_h_p500w_enable; rtb_Merge_nh_actuator_startup = rtb_Merge_h_actuator_startup; rtb_Merge_nh_ECU_CMD = rtb_Merge_h_ECU_CMD; + rtb_Merge_nh_ECU_RPM = rtb_Merge_h_ECU_RPM; rtb_Merge_nh_ccm_ch = rtb_Merge_h_ccm_ch; rtb_Merge_nh_ccm_period = rtb_Merge_h_ccm_period; rtb_Merge_nh_ccm_sw = rtb_Merge_h_ccm_sw; @@ -17626,18 +18380,18 @@ void SIL_step(void) */ /* Outputs for Atomic SubSystem: '/phi_ctrl' */ /* Saturate: '/Saturation' */ - if (SIL_B.BusAssignment_e.tht > 1.0F) { + if (SIL_B.BusAssignment_j.tht > 1.0F) { radius = 1.0F; - } else if (SIL_B.BusAssignment_e.tht < -1.0F) { + } else if (SIL_B.BusAssignment_j.tht < -1.0F) { radius = -1.0F; } else { - radius = SIL_B.BusAssignment_e.tht; + radius = SIL_B.BusAssignment_j.tht; } /* End of Saturate: '/Saturation' */ /* Sum: '/Sum' incorporates: - * Constant: '/Constant3' + * Constant: '/Constant3' * Gain: '/Gain1' * Product: '/Product' * Product: '/Product1' @@ -17650,9 +18404,9 @@ void SIL_step(void) * Trigonometry: '/Trigonometric Function1' * Trigonometry: '/Trigonometric Function2' */ - rtb_Sum_j = (rtb_Product1_d - SIL_B.BusAssignment_e.phi) * 2.0F - - (SIL_B.BusAssignment_e.q * sinf(SIL_B.BusAssignment_e.phi) + - SIL_B.BusAssignment_e.r * cosf(SIL_B.BusAssignment_e.phi)) * tanf + rtb_Sum_j = (rtb_Product1_d - SIL_B.BusAssignment_j.phi) * 2.0F - + (SIL_B.BusAssignment_j.q * sinf(SIL_B.BusAssignment_j.phi) + + SIL_B.BusAssignment_j.r * cosf(SIL_B.BusAssignment_j.phi)) * tanf (radius); /* Gain: '/neg1' incorporates: @@ -17695,7 +18449,7 @@ void SIL_step(void) /* Switch: '/Switch' incorporates: * Constant: '/Constant1' - * Constant: '/Constant3' + * Constant: '/Constant3' * Gain: '/Gain1' * Sum: '/Sum' * Sum: '/Sum2' @@ -17715,7 +18469,7 @@ void SIL_step(void) * Sum: '/Sum1' * UnitDelay: '/Unit Delay' */ - rtb_Saturation2 = -(SIL_DW.UnitDelay_DSTATE_k - SIL_B.BusAssignment_e.p); + rtb_Saturation2 = -(SIL_DW.UnitDelay_DSTATE_k - SIL_B.BusAssignment_j.p); /* Gain: '/Gain4' incorporates: * Delay: '/Delay' @@ -17770,7 +18524,7 @@ void SIL_step(void) /* Product: '/Product1' incorporates: * Constant: '/Constant5' */ - rtb_Saturation2 *= SIL_B.BusAssignment_e.p; + rtb_Saturation2 *= SIL_B.BusAssignment_j.p; /* Gain: '/Gain2' */ rtb_Saturation2 *= 2000.0F; @@ -17804,10 +18558,10 @@ void SIL_step(void) * Product: '/Product2' */ rtb_product1_i = (rtb_Switch2_c * SIL_DW.Delay_DSTATE + rtb_Switch2_p) + - rtb_Switch2_j * SIL_B.BusAssignment_e.p; + rtb_Switch2_j * SIL_B.BusAssignment_j.p; /* Sum: '/Sum5' incorporates: - * Constant: '/Constant4' + * Constant: '/Constant4' * Delay: '/Delay' * Gain: '/dt' * Product: '/Product' @@ -17864,7 +18618,12 @@ void SIL_step(void) /* BusAssignment: '/Bus Assignment' */ rtb_Merge_m_dr_c = rtb_posv_g; rtb_Switch_fp = rtb_Saturationcos; - rtb_Merge_m_throttle_c = rtb_max_dpsi; + rtb_Merge_m_del_c = rtb_max_dpsi; + rtb_Merge_m_der_c = rtb_Merge_nh_der_c; + rtb_Merge_m_dal_c = rtb_Merge_nh_dal_c; + rtb_Merge_m_dar_c = rtb_Merge_nh_dar_c; + rtb_Merge_m_throttle_c = rtb_Merge_nh_throttle_c; + rtb_Merge_m_use_mix = rtb_Merge_nh_use_mix; rtb_Merge_m_AFCS_LAT = rtb_Merge_nh_AFCS_LAT; rtb_Merge_m_AFCS_VERT = rtb_Merge_nh_AFCS_VERT; rtb_Merge_m_CSAS_pitch = rtb_Merge_nh_CSAS_pitch; @@ -17928,7 +18687,7 @@ void SIL_step(void) rtb_Merge_m_home_elevation_baseline2 = rtb_Merge_nh_home_elevation_baseline2; rtb_Merge_m_home_mode = rtb_Merge_nh_home_mode; - rtb_Switch_l = rtb_Merge_nh_q_c; + rtb_Switch_gb = rtb_Merge_nh_q_c; rtb_Merge_m_r_c = rtb_Merge_nh_r_c; rtb_Merge_m_tht_c = rtb_Merge_nh_tht_c; rtb_Merge_m_phi_c = rtb_Product1_d; @@ -17940,11 +18699,11 @@ void SIL_step(void) rtb_Merge_m_takeoff_tht = rtb_Merge_nh_takeoff_tht; rtb_Merge_m_dist_trans = rtb_Merge_nh_dist_trans; rtb_Merge_m_df_c = rtb_Merge_nh_df_c; - rtb_Merge_m_afterburner_enabled = rtb_Merge_nh_afterburner_enabled; rtb_Merge_m_AS_SEL = rtb_Merge_nh_AS_SEL; rtb_Merge_m_p500w_enable = rtb_Merge_nh_p500w_enable; rtb_Merge_m_actuator_startup = rtb_Merge_nh_actuator_startup; rtb_Merge_m_ECU_CMD = rtb_Merge_nh_ECU_CMD; + rtb_Merge_m_ECU_RPM = rtb_Merge_nh_ECU_RPM; rtb_Merge_m_ccm_ch = rtb_Merge_nh_ccm_ch; rtb_Merge_m_ccm_period = rtb_Merge_nh_ccm_period; rtb_Merge_m_ccm_sw = rtb_Merge_nh_ccm_sw; @@ -17983,7 +18742,12 @@ void SIL_step(void) rtb_Merge_m_dr_c = rtb_posv_g; rtb_Switch_fp = rtb_Saturationcos; rtb_Sum_j = rtb_Merge_nh_da_c; - rtb_Merge_m_throttle_c = rtb_max_dpsi; + rtb_Merge_m_del_c = rtb_max_dpsi; + rtb_Merge_m_der_c = rtb_Merge_nh_der_c; + rtb_Merge_m_dal_c = rtb_Merge_nh_dal_c; + rtb_Merge_m_dar_c = rtb_Merge_nh_dar_c; + rtb_Merge_m_throttle_c = rtb_Merge_nh_throttle_c; + rtb_Merge_m_use_mix = rtb_Merge_nh_use_mix; rtb_Merge_m_AFCS_LAT = rtb_Merge_nh_AFCS_LAT; rtb_Merge_m_AFCS_VERT = rtb_Merge_nh_AFCS_VERT; rtb_Merge_m_CSAS_pitch = rtb_Merge_nh_CSAS_pitch; @@ -18047,7 +18811,7 @@ void SIL_step(void) rtb_Merge_m_home_elevation_baseline2 = rtb_Merge_nh_home_elevation_baseline2; rtb_Merge_m_home_mode = rtb_Merge_nh_home_mode; - rtb_Switch_l = rtb_Merge_nh_q_c; + rtb_Switch_gb = rtb_Merge_nh_q_c; rtb_Merge_m_p_c = rtb_Switch_b; rtb_Merge_m_r_c = rtb_Merge_nh_r_c; rtb_Merge_m_tht_c = rtb_Merge_nh_tht_c; @@ -18060,11 +18824,11 @@ void SIL_step(void) rtb_Merge_m_takeoff_tht = rtb_Merge_nh_takeoff_tht; rtb_Merge_m_dist_trans = rtb_Merge_nh_dist_trans; rtb_Merge_m_df_c = rtb_Merge_nh_df_c; - rtb_Merge_m_afterburner_enabled = rtb_Merge_nh_afterburner_enabled; rtb_Merge_m_AS_SEL = rtb_Merge_nh_AS_SEL; rtb_Merge_m_p500w_enable = rtb_Merge_nh_p500w_enable; rtb_Merge_m_actuator_startup = rtb_Merge_nh_actuator_startup; rtb_Merge_m_ECU_CMD = rtb_Merge_nh_ECU_CMD; + rtb_Merge_m_ECU_RPM = rtb_Merge_nh_ECU_RPM; rtb_Merge_m_ccm_ch = rtb_Merge_nh_ccm_ch; rtb_Merge_m_ccm_period = rtb_Merge_nh_ccm_period; rtb_Merge_m_ccm_sw = rtb_Merge_nh_ccm_sw; @@ -18082,7 +18846,12 @@ void SIL_step(void) */ rtb_Merge_m_dr_c = rtb_posv_g; rtb_Switch_fp = rtb_Saturationcos; - rtb_Merge_m_throttle_c = rtb_max_dpsi; + rtb_Merge_m_del_c = rtb_max_dpsi; + rtb_Merge_m_der_c = rtb_Merge_nh_der_c; + rtb_Merge_m_dal_c = rtb_Merge_nh_dal_c; + rtb_Merge_m_dar_c = rtb_Merge_nh_dar_c; + rtb_Merge_m_throttle_c = rtb_Merge_nh_throttle_c; + rtb_Merge_m_use_mix = rtb_Merge_nh_use_mix; rtb_Merge_m_AFCS_LAT = rtb_Merge_nh_AFCS_LAT; rtb_Merge_m_AFCS_VERT = rtb_Merge_nh_AFCS_VERT; rtb_Merge_m_CSAS_pitch = rtb_Merge_nh_CSAS_pitch; @@ -18146,7 +18915,7 @@ void SIL_step(void) rtb_Merge_m_home_elevation_baseline2 = rtb_Merge_nh_home_elevation_baseline2; rtb_Merge_m_home_mode = rtb_Merge_nh_home_mode; - rtb_Switch_l = rtb_Merge_nh_q_c; + rtb_Switch_gb = rtb_Merge_nh_q_c; rtb_Merge_m_p_c = rtb_Switch_b; rtb_Merge_m_r_c = rtb_Merge_nh_r_c; rtb_Merge_m_tht_c = rtb_Merge_nh_tht_c; @@ -18159,11 +18928,11 @@ void SIL_step(void) rtb_Merge_m_takeoff_tht = rtb_Merge_nh_takeoff_tht; rtb_Merge_m_dist_trans = rtb_Merge_nh_dist_trans; rtb_Merge_m_df_c = rtb_Merge_nh_df_c; - rtb_Merge_m_afterburner_enabled = rtb_Merge_nh_afterburner_enabled; rtb_Merge_m_AS_SEL = rtb_Merge_nh_AS_SEL; rtb_Merge_m_p500w_enable = rtb_Merge_nh_p500w_enable; rtb_Merge_m_actuator_startup = rtb_Merge_nh_actuator_startup; rtb_Merge_m_ECU_CMD = rtb_Merge_nh_ECU_CMD; + rtb_Merge_m_ECU_RPM = rtb_Merge_nh_ECU_RPM; rtb_Merge_m_ccm_ch = rtb_Merge_nh_ccm_ch; rtb_Merge_m_ccm_period = rtb_Merge_nh_ccm_period; rtb_Merge_m_ccm_sw = rtb_Merge_nh_ccm_sw; @@ -18176,7 +18945,7 @@ void SIL_step(void) /* End of SwitchCase: '/Switch Case' */ - /* Outputs for Atomic SubSystem: '/pitch' */ + /* Outputs for Atomic SubSystem: '/pitch' */ /* SwitchCase: '/Switch Case' incorporates: * Constant: '/Constant' * Constant: '/Constant3' @@ -18255,12 +19024,12 @@ void SIL_step(void) */ /* Outputs for Atomic SubSystem: '/tht_ctrl' */ /* Saturate: '/Saturation' */ - if (SIL_B.BusAssignment_e.phi > 1.0F) { - rtb_Switch_l = 1.0F; - } else if (SIL_B.BusAssignment_e.phi < -1.0F) { - rtb_Switch_l = -1.0F; + if (SIL_B.BusAssignment_j.phi > 1.0F) { + rtb_Switch_gb = 1.0F; + } else if (SIL_B.BusAssignment_j.phi < -1.0F) { + rtb_Switch_gb = -1.0F; } else { - rtb_Switch_l = SIL_B.BusAssignment_e.phi; + rtb_Switch_gb = SIL_B.BusAssignment_j.phi; } /* End of Saturate: '/Saturation' */ @@ -18273,14 +19042,14 @@ void SIL_step(void) * Trigonometry: '/Trigonometric Function' * Trigonometry: '/Trigonometric Function1' */ - rtb_Divide = ((rtb_Merge_m_tht_c - SIL_B.BusAssignment_e.tht) * 2.0F + - SIL_B.BusAssignment_e.r * sinf(rtb_Switch_l)) / cosf - (rtb_Switch_l); + rtb_Divide = ((rtb_Merge_m_tht_c - SIL_B.BusAssignment_j.tht) * 2.0F + + SIL_B.BusAssignment_j.r * sinf(rtb_Switch_gb)) / cosf + (rtb_Switch_gb); /* Gain: '/Gain3' incorporates: * Constant: '/Constant6' */ - rtb_Switch_l = -SIL_P.max_q; + rtb_Switch_gb = -SIL_P.max_q; /* Switch: '/Switch' incorporates: * Constant: '/Constant6' @@ -18288,7 +19057,7 @@ void SIL_step(void) * RelationalOperator: '/UpperRelop' */ if (!(rtb_Divide < -SIL_P.max_q)) { - rtb_Switch_l = rtb_Divide; + rtb_Switch_gb = rtb_Divide; } /* End of Switch: '/Switch' */ @@ -18299,7 +19068,7 @@ void SIL_step(void) */ if (rtb_Divide > SIL_P.max_q) { /* SignalConversion: '/OutportBufferForq_c' */ - rtb_Switch_l = SIL_P.max_q; + rtb_Switch_gb = SIL_P.max_q; } /* End of Switch: '/Switch2' */ @@ -18317,7 +19086,7 @@ void SIL_step(void) /* Switch: '/Switch' incorporates: * Constant: '/Constant1' - * Constant: '/Constant4' + * Constant: '/Constant4' * Gain: '/Gain1' * Sum: '/Sum' * Sum: '/Sum2' @@ -18338,7 +19107,7 @@ void SIL_step(void) * UnitDelay: '/Unit Delay' */ rtb_Saturation2_n = -(SIL_DW.UnitDelay_DSTATE_n - - SIL_B.BusAssignment_e.q); + SIL_B.BusAssignment_j.q); /* Gain: '/Gain4' incorporates: * Delay: '/Delay' @@ -18393,7 +19162,7 @@ void SIL_step(void) /* Product: '/Product1' incorporates: * Constant: '/Constant5' */ - rtb_Saturation2_n *= SIL_B.BusAssignment_e.q; + rtb_Saturation2_n *= SIL_B.BusAssignment_j.q; /* Gain: '/Gain2' */ rtb_Saturation2_n *= 2500.0F; @@ -18426,20 +19195,20 @@ void SIL_step(void) * Product: '/Product1' * Product: '/Product2' */ - rtb_Product1_d = (rtb_Switch2_pa * SIL_DW.Delay_DSTATE_f + + rtb_Product3_n = (rtb_Switch2_pa * SIL_DW.Delay_DSTATE_f + rtb_Switch2_g1) + rtb_Switch2_jw * - SIL_B.BusAssignment_e.q; + SIL_B.BusAssignment_j.q; /* Sum: '/Sum5' incorporates: - * Constant: '/Constant4' + * Constant: '/Constant4' * Delay: '/Delay' * Gain: '/dt' * Product: '/Product' * Product: '/Product1' * Sum: '/Sum' */ - rtb_posv_g = (rtb_Switch_fp * rtb_Switch_l - rtb_Product1_d) * 7.0F * - 0.005F + SIL_DW.Delay_DSTATE_f; + rtb_Product1_d = (rtb_Switch_fp * rtb_Switch_gb - rtb_Product3_n) * 7.0F + * 0.005F + SIL_DW.Delay_DSTATE_f; /* Switch: '/Switch2' incorporates: * Gain: '/Gain' @@ -18447,21 +19216,21 @@ void SIL_step(void) * RelationalOperator: '/UpperRelop' * Switch: '/Switch' */ - if (rtb_posv_g > rtb_qdot_max) { - rtb_posv_g = rtb_qdot_max; + if (rtb_Product1_d > rtb_qdot_max) { + rtb_Product1_d = rtb_qdot_max; } else { - if (rtb_posv_g < -rtb_qdot_max) { + if (rtb_Product1_d < -rtb_qdot_max) { /* Switch: '/Switch' incorporates: * Gain: '/Gain' */ - rtb_posv_g = -rtb_qdot_max; + rtb_Product1_d = -rtb_qdot_max; } } /* End of Switch: '/Switch2' */ /* SignalConversion: '/Signal Copy' */ - rec_hi.qdot_c = rtb_posv_g; + rec_hi.qdot_c = rtb_Product1_d; /* Product: '/Divide' */ rtb_Divide = rec_hi.qdot_c / scale; @@ -18485,7 +19254,12 @@ void SIL_step(void) /* BusAssignment: '/Bus Assignment' */ rtb_Merge_f_dr_c = rtb_Merge_m_dr_c; rtb_Merge_f_da_c = rtb_Sum_j; + rtb_Merge_f_del_c = rtb_Merge_m_del_c; + rtb_Merge_f_der_c = rtb_Merge_m_der_c; + rtb_Merge_f_dal_c = rtb_Merge_m_dal_c; + rtb_Merge_f_dar_c = rtb_Merge_m_dar_c; rtb_Merge_f_throttle_c = rtb_Merge_m_throttle_c; + rtb_Merge_f_use_mix = rtb_Merge_m_use_mix; rtb_Merge_f_AFCS_LAT = rtb_Merge_m_AFCS_LAT; rtb_Merge_f_AFCS_VERT = rtb_Merge_m_AFCS_VERT; rtb_Merge_f_CSAS_pitch = rtb_Merge_m_CSAS_pitch; @@ -18561,16 +19335,16 @@ void SIL_step(void) rtb_Merge_f_takeoff_tht = rtb_Merge_m_takeoff_tht; rtb_Merge_f_dist_trans = rtb_Merge_m_dist_trans; rtb_Merge_f_df_c = rtb_Merge_m_df_c; - rtb_Merge_f_afterburner_enabled = rtb_Merge_m_afterburner_enabled; rtb_Merge_f_AS_SEL = rtb_Merge_m_AS_SEL; rtb_Merge_f_p500w_enable = rtb_Merge_m_p500w_enable; rtb_Merge_f_actuator_startup = rtb_Merge_m_actuator_startup; rtb_Merge_f_ECU_CMD = rtb_Merge_m_ECU_CMD; + rtb_Merge_f_ECU_RPM = rtb_Merge_m_ECU_RPM; rtb_Merge_f_ccm_ch = rtb_Merge_m_ccm_ch; rtb_Merge_f_ccm_period = rtb_Merge_m_ccm_period; rtb_Merge_f_ccm_sw = rtb_Merge_m_ccm_sw; rtb_Merge_f_aspd_error = rtb_Merge_m_aspd_error; - rtb_Merge_f_q_c = rtb_Switch_l; + rtb_Merge_f_q_c = rtb_Switch_gb; /* Sum: '/Sum5' incorporates: * Gain: '/dt' @@ -18578,7 +19352,7 @@ void SIL_step(void) * Sum: '/Sum' * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE_n += (rtb_Product1_d - rtb_Switch_fp * + SIL_DW.UnitDelay_DSTATE_n += (rtb_Product3_n - rtb_Switch_fp * SIL_DW.UnitDelay_DSTATE_n) * 0.005F; /* SignalConversion: '/Signal Copy4' */ @@ -18592,7 +19366,7 @@ void SIL_step(void) /* Update for Delay: '/Delay' */ SIL_DW.icLoad_g = 0U; - SIL_DW.Delay_DSTATE_f = rtb_posv_g; + SIL_DW.Delay_DSTATE_f = rtb_Product1_d; /* End of Outputs for SubSystem: '/THT_Q_CTRL' */ break; @@ -18604,7 +19378,12 @@ void SIL_step(void) rtb_Merge_f_dr_c = rtb_Merge_m_dr_c; rtb_Divide = rtb_Switch_fp; rtb_Merge_f_da_c = rtb_Sum_j; + rtb_Merge_f_del_c = rtb_Merge_m_del_c; + rtb_Merge_f_der_c = rtb_Merge_m_der_c; + rtb_Merge_f_dal_c = rtb_Merge_m_dal_c; + rtb_Merge_f_dar_c = rtb_Merge_m_dar_c; rtb_Merge_f_throttle_c = rtb_Merge_m_throttle_c; + rtb_Merge_f_use_mix = rtb_Merge_m_use_mix; rtb_Merge_f_AFCS_LAT = rtb_Merge_m_AFCS_LAT; rtb_Merge_f_AFCS_VERT = rtb_Merge_m_AFCS_VERT; rtb_Merge_f_CSAS_pitch = rtb_Merge_m_CSAS_pitch; @@ -18668,7 +19447,7 @@ void SIL_step(void) rtb_Merge_f_home_elevation_baseline2 = rtb_Merge_m_home_elevation_baseline2; rtb_Merge_f_home_mode = rtb_Merge_m_home_mode; - rtb_Merge_f_q_c = rtb_Switch_l; + rtb_Merge_f_q_c = rtb_Switch_gb; rtb_Merge_f_p_c = rtb_Merge_m_p_c; rtb_Merge_f_r_c = rtb_Merge_m_r_c; rtb_Merge_f_tht_c = rtb_Merge_m_tht_c; @@ -18681,11 +19460,11 @@ void SIL_step(void) rtb_Merge_f_takeoff_tht = rtb_Merge_m_takeoff_tht; rtb_Merge_f_dist_trans = rtb_Merge_m_dist_trans; rtb_Merge_f_df_c = rtb_Merge_m_df_c; - rtb_Merge_f_afterburner_enabled = rtb_Merge_m_afterburner_enabled; rtb_Merge_f_AS_SEL = rtb_Merge_m_AS_SEL; rtb_Merge_f_p500w_enable = rtb_Merge_m_p500w_enable; rtb_Merge_f_actuator_startup = rtb_Merge_m_actuator_startup; rtb_Merge_f_ECU_CMD = rtb_Merge_m_ECU_CMD; + rtb_Merge_f_ECU_RPM = rtb_Merge_m_ECU_RPM; rtb_Merge_f_ccm_ch = rtb_Merge_m_ccm_ch; rtb_Merge_f_ccm_period = rtb_Merge_m_ccm_period; rtb_Merge_f_ccm_sw = rtb_Merge_m_ccm_sw; @@ -18703,7 +19482,12 @@ void SIL_step(void) */ rtb_Merge_f_dr_c = rtb_Merge_m_dr_c; rtb_Merge_f_da_c = rtb_Sum_j; + rtb_Merge_f_del_c = rtb_Merge_m_del_c; + rtb_Merge_f_der_c = rtb_Merge_m_der_c; + rtb_Merge_f_dal_c = rtb_Merge_m_dal_c; + rtb_Merge_f_dar_c = rtb_Merge_m_dar_c; rtb_Merge_f_throttle_c = rtb_Merge_m_throttle_c; + rtb_Merge_f_use_mix = rtb_Merge_m_use_mix; rtb_Merge_f_AFCS_LAT = rtb_Merge_m_AFCS_LAT; rtb_Merge_f_AFCS_VERT = rtb_Merge_m_AFCS_VERT; rtb_Merge_f_CSAS_pitch = rtb_Merge_m_CSAS_pitch; @@ -18767,7 +19551,7 @@ void SIL_step(void) rtb_Merge_f_home_elevation_baseline2 = rtb_Merge_m_home_elevation_baseline2; rtb_Merge_f_home_mode = rtb_Merge_m_home_mode; - rtb_Merge_f_q_c = rtb_Switch_l; + rtb_Merge_f_q_c = rtb_Switch_gb; rtb_Merge_f_p_c = rtb_Merge_m_p_c; rtb_Merge_f_r_c = rtb_Merge_m_r_c; rtb_Merge_f_tht_c = rtb_Merge_m_tht_c; @@ -18780,11 +19564,11 @@ void SIL_step(void) rtb_Merge_f_takeoff_tht = rtb_Merge_m_takeoff_tht; rtb_Merge_f_dist_trans = rtb_Merge_m_dist_trans; rtb_Merge_f_df_c = rtb_Merge_m_df_c; - rtb_Merge_f_afterburner_enabled = rtb_Merge_m_afterburner_enabled; rtb_Merge_f_AS_SEL = rtb_Merge_m_AS_SEL; rtb_Merge_f_p500w_enable = rtb_Merge_m_p500w_enable; rtb_Merge_f_actuator_startup = rtb_Merge_m_actuator_startup; rtb_Merge_f_ECU_CMD = rtb_Merge_m_ECU_CMD; + rtb_Merge_f_ECU_RPM = rtb_Merge_m_ECU_RPM; rtb_Merge_f_ccm_ch = rtb_Merge_m_ccm_ch; rtb_Merge_f_ccm_period = rtb_Merge_m_ccm_period; rtb_Merge_f_ccm_sw = rtb_Merge_m_ccm_sw; @@ -18796,7 +19580,7 @@ void SIL_step(void) } /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/pitch' */ + /* End of Outputs for SubSystem: '/pitch' */ /* SwitchCase: '/Switch Case' incorporates: * Inport: '/C2_in_Inport_1' @@ -18838,7 +19622,7 @@ void SIL_step(void) * Constant: '/Constant3' * Product: '/Product' */ - SIL_DW.DiscreteTransferFcn_tmp_p = SIL_B.BusAssignment_e.r * 0.25F - + SIL_DW.DiscreteTransferFcn_tmp_p = SIL_B.BusAssignment_j.r * 0.25F - SIL_P.washout_r_den[1] * SIL_DW.DiscreteTransferFcn_states_m; /* BusAssignment: '/Bus Assignment' incorporates: @@ -18847,7 +19631,12 @@ void SIL_step(void) */ rtb_Merge_h0_de_c = rtb_Divide; rtb_Merge_h0_da_c = rtb_Merge_f_da_c; + rtb_Merge_h0_del_c = rtb_Merge_f_del_c; + rtb_Merge_h0_der_c = rtb_Merge_f_der_c; + rtb_Merge_h0_dal_c = rtb_Merge_f_dal_c; + rtb_Merge_h0_dar_c = rtb_Merge_f_dar_c; rtb_Merge_h0_throttle_c = rtb_Merge_f_throttle_c; + rtb_Merge_h0_use_mix = rtb_Merge_f_use_mix; rtb_Merge_h0_AFCS_LAT = rtb_Merge_f_AFCS_LAT; rtb_Merge_h0_AFCS_VERT = rtb_Merge_f_AFCS_VERT; rtb_Merge_h0_CSAS_pitch = rtb_Merge_f_CSAS_pitch; @@ -18924,11 +19713,11 @@ void SIL_step(void) rtb_Merge_h0_takeoff_tht = rtb_Merge_f_takeoff_tht; rtb_Merge_h0_dist_trans = rtb_Merge_f_dist_trans; rtb_Merge_h0_df_c = rtb_Merge_f_df_c; - rtb_Merge_h0_afterburner_enabled = rtb_Merge_f_afterburner_enabled; rtb_Merge_h0_AS_SEL = rtb_Merge_f_AS_SEL; rtb_Merge_h0_p500w_enable = rtb_Merge_f_p500w_enable; rtb_Merge_h0_actuator_startup = rtb_Merge_f_actuator_startup; rtb_Merge_h0_ECU_CMD = rtb_Merge_f_ECU_CMD; + rtb_Merge_h0_ECU_RPM = rtb_Merge_f_ECU_RPM; rtb_Merge_h0_ccm_ch = rtb_Merge_f_ccm_ch; rtb_Merge_h0_ccm_period = rtb_Merge_f_ccm_period; rtb_Merge_h0_ccm_sw = rtb_Merge_f_ccm_sw; @@ -18950,7 +19739,12 @@ void SIL_step(void) rtb_Merge_h0_dr_c = rtb_Merge_f_dr_c; rtb_Merge_h0_de_c = rtb_Divide; rtb_Merge_h0_da_c = rtb_Merge_f_da_c; + rtb_Merge_h0_del_c = rtb_Merge_f_del_c; + rtb_Merge_h0_der_c = rtb_Merge_f_der_c; + rtb_Merge_h0_dal_c = rtb_Merge_f_dal_c; + rtb_Merge_h0_dar_c = rtb_Merge_f_dar_c; rtb_Merge_h0_throttle_c = rtb_Merge_f_throttle_c; + rtb_Merge_h0_use_mix = rtb_Merge_f_use_mix; rtb_Merge_h0_AFCS_LAT = rtb_Merge_f_AFCS_LAT; rtb_Merge_h0_AFCS_VERT = rtb_Merge_f_AFCS_VERT; rtb_Merge_h0_CSAS_pitch = rtb_Merge_f_CSAS_pitch; @@ -19027,11 +19821,11 @@ void SIL_step(void) rtb_Merge_h0_takeoff_tht = rtb_Merge_f_takeoff_tht; rtb_Merge_h0_dist_trans = rtb_Merge_f_dist_trans; rtb_Merge_h0_df_c = rtb_Merge_f_df_c; - rtb_Merge_h0_afterburner_enabled = rtb_Merge_f_afterburner_enabled; rtb_Merge_h0_AS_SEL = rtb_Merge_f_AS_SEL; rtb_Merge_h0_p500w_enable = rtb_Merge_f_p500w_enable; rtb_Merge_h0_actuator_startup = rtb_Merge_f_actuator_startup; rtb_Merge_h0_ECU_CMD = rtb_Merge_f_ECU_CMD; + rtb_Merge_h0_ECU_RPM = rtb_Merge_f_ECU_RPM; rtb_Merge_h0_ccm_ch = rtb_Merge_f_ccm_ch; rtb_Merge_h0_ccm_period = rtb_Merge_f_ccm_period; rtb_Merge_h0_ccm_sw = rtb_Merge_f_ccm_sw; @@ -19049,7 +19843,12 @@ void SIL_step(void) */ rtb_Merge_h0_de_c = rtb_Divide; rtb_Merge_h0_da_c = rtb_Merge_f_da_c; + rtb_Merge_h0_del_c = rtb_Merge_f_del_c; + rtb_Merge_h0_der_c = rtb_Merge_f_der_c; + rtb_Merge_h0_dal_c = rtb_Merge_f_dal_c; + rtb_Merge_h0_dar_c = rtb_Merge_f_dar_c; rtb_Merge_h0_throttle_c = rtb_Merge_f_throttle_c; + rtb_Merge_h0_use_mix = rtb_Merge_f_use_mix; rtb_Merge_h0_AFCS_LAT = rtb_Merge_f_AFCS_LAT; rtb_Merge_h0_AFCS_VERT = rtb_Merge_f_AFCS_VERT; rtb_Merge_h0_CSAS_pitch = rtb_Merge_f_CSAS_pitch; @@ -19126,11 +19925,11 @@ void SIL_step(void) rtb_Merge_h0_takeoff_tht = rtb_Merge_f_takeoff_tht; rtb_Merge_h0_dist_trans = rtb_Merge_f_dist_trans; rtb_Merge_h0_df_c = rtb_Merge_f_df_c; - rtb_Merge_h0_afterburner_enabled = rtb_Merge_f_afterburner_enabled; rtb_Merge_h0_AS_SEL = rtb_Merge_f_AS_SEL; rtb_Merge_h0_p500w_enable = rtb_Merge_f_p500w_enable; rtb_Merge_h0_actuator_startup = rtb_Merge_f_actuator_startup; rtb_Merge_h0_ECU_CMD = rtb_Merge_f_ECU_CMD; + rtb_Merge_h0_ECU_RPM = rtb_Merge_f_ECU_RPM; rtb_Merge_h0_ccm_ch = rtb_Merge_f_ccm_ch; rtb_Merge_h0_ccm_period = rtb_Merge_f_ccm_period; rtb_Merge_h0_ccm_sw = rtb_Merge_f_ccm_sw; @@ -19150,95 +19949,7 @@ void SIL_step(void) /* Outputs for IfAction SubSystem: '/COMMAND' incorporates: * ActionPort: '/Action Port' */ - SIL_B.Merge.dr_c = rtb_Merge_h0_dr_c; - SIL_B.Merge.de_c = rtb_Merge_h0_de_c; - SIL_B.Merge.da_c = rtb_Merge_h0_da_c; - SIL_B.Merge.throttle_c = rtb_Merge_h0_throttle_c; - SIL_B.Merge.AFCS_LAT = rtb_Merge_h0_AFCS_LAT; - SIL_B.Merge.AFCS_VERT = rtb_Merge_h0_AFCS_VERT; - SIL_B.Merge.CSAS_pitch = rtb_Merge_h0_CSAS_pitch; - SIL_B.Merge.CSAS_roll = rtb_Merge_h0_CSAS_roll; - SIL_B.Merge.CSAS_yaw = rtb_Merge_h0_CSAS_yaw; - SIL_B.Merge.AT = ENUM_AT_COMMAND; - SIL_B.Merge.level1_lgx = rtb_Merge_h0_level1_lgx; - SIL_B.Merge.level2_lgx = rtb_Merge_h0_level2_lgx; - SIL_B.Merge.level3_lgx = rtb_Merge_h0_level3_lgx; - SIL_B.Merge.level3_auto_lgx = rtb_Merge_h0_level3_auto_lgx; - SIL_B.Merge.level4_lgx = rtb_Merge_h0_level4_lgx; - SIL_B.Merge.mode = rtb_Merge_h0_mode; - SIL_B.Merge.traj.lat1 = rtb_Merge_h0_traj_lat1; - SIL_B.Merge.traj.lon1 = rtb_Merge_h0_traj_lon1; - SIL_B.Merge.traj.h1 = rtb_Merge_h0_traj_h1; - SIL_B.Merge.traj.azimuth = rtb_Merge_h0_traj_azimuth; - SIL_B.Merge.traj.elevation_baseline = - rtb_Merge_h0_traj_elevation_baseline; - SIL_B.Merge.traj.radius = rtb_Merge_h0_traj_radius; - SIL_B.Merge.traj.heading = rtb_Merge_h0_traj_heading; - SIL_B.Merge.traj.elevation_baseline2 = - rtb_Merge_h0_traj_elevation_baseline2; - SIL_B.Merge.traj.mode = rtb_Merge_h0_traj_mode; - SIL_B.Merge.use_mission_traj = rtb_Merge_h0_use_mission_traj; - SIL_B.Merge.rc.pitch_cmd = rtb_Merge_h0_rc_pitch_cmd; - SIL_B.Merge.rc.roll_cmd = rtb_Merge_h0_rc_roll_cmd; - SIL_B.Merge.rc.yaw_cmd = rtb_Merge_h0_rc_yaw_cmd; - SIL_B.Merge.rc.throttle_cmd = rtb_Merge_h0_rc_throttle_cmd; - SIL_B.Merge.rc.ele_cmd = rtb_Merge_h0_rc_ele_cmd; - SIL_B.Merge.rc.flap = rtb_Merge_h0_rc_flap; - SIL_B.Merge.rc.auto_mode = rtb_Merge_h0_rc_auto_mode; - SIL_B.Merge.rc.aux_mode = rtb_Merge_h0_rc_aux_mode; - SIL_B.Merge.rc.id = rtb_Merge_h0_rc_id; - SIL_B.Merge.rc.seq = rtb_Merge_h0_rc_seq; - SIL_B.Merge.rc.brake = rtb_Merge_h0_rc_brake; - SIL_B.Merge.rc.gear_up = rtb_Merge_h0_rc_gear_up; - SIL_B.Merge.rc.connected = rtb_Merge_h0_rc_connected; - SIL_B.Merge.boot_time = rtb_Merge_h0_boot_time; - SIL_B.Merge.armed = rtb_Merge_h0_armed; - SIL_B.Merge.state = rtb_Merge_h0_state; - SIL_B.Merge.vtol_state = rtb_Merge_h0_vtol_state; - SIL_B.Merge.landed_state = rtb_Merge_h0_landed_state; - SIL_B.Merge.linked = rtb_Merge_h0_linked; - SIL_B.Merge.WP_cur = rtb_Merge_h0_WP_cur; - SIL_B.Merge.base_asl = rtb_Merge_h0_base_asl; - SIL_B.Merge.base_asl_baro = rtb_Merge_h0_base_asl_baro; - SIL_B.Merge.standby_cmd = rtb_Merge_h0_standby_cmd; - SIL_B.Merge.xbit_cmd = rtb_Merge_h0_xbit_cmd; - SIL_B.Merge.autocont = rtb_Merge_h0_autocont; - SIL_B.Merge.dist_offset_addins = rtb_Merge_h0_dist_offset_addins; - SIL_B.Merge.horiz_offset_addins = rtb_Merge_h0_horiz_offset_addins; - SIL_B.Merge.vert_offset_addins = rtb_Merge_h0_vert_offset_addins; - SIL_B.Merge.home.lat1 = rtb_Merge_h0_home_lat1; - SIL_B.Merge.home.lon1 = rtb_Merge_h0_home_lon1; - SIL_B.Merge.home.h1 = rtb_Merge_h0_home_h1; - SIL_B.Merge.home.azimuth = rtb_Merge_h0_home_azimuth; - SIL_B.Merge.home.elevation_baseline = - rtb_Merge_h0_home_elevation_baseline; - SIL_B.Merge.home.radius = rtb_Merge_h0_home_radius; - SIL_B.Merge.home.heading = rtb_Merge_h0_home_heading; - SIL_B.Merge.home.elevation_baseline2 = - rtb_Merge_h0_home_elevation_baseline2; - SIL_B.Merge.home.mode = rtb_Merge_h0_home_mode; - SIL_B.Merge.q_c = rtb_Merge_h0_q_c; - SIL_B.Merge.p_c = rtb_Merge_h0_p_c; - SIL_B.Merge.r_c = rtb_Merge_h0_r_c; - SIL_B.Merge.tht_c = rtb_Merge_h0_tht_c; - SIL_B.Merge.phi_c = rtb_Merge_h0_phi_c; - SIL_B.Merge.hdot_c = rtb_Merge_h0_hdot_c; - SIL_B.Merge.gamma_c = rtb_Merge_h0_gamma_c; - SIL_B.Merge.h_c = rtb_Merge_h0_h_c; - SIL_B.Merge.as_c = rtb_Merge_h0_as_c; - SIL_B.Merge.gs_c = rtb_Merge_h0_gs_c; - SIL_B.Merge.takeoff_tht = rtb_Merge_h0_takeoff_tht; - SIL_B.Merge.dist_trans = rtb_Merge_h0_dist_trans; - SIL_B.Merge.df_c = rtb_Merge_h0_df_c; - SIL_B.Merge.afterburner_enabled = rtb_Merge_h0_afterburner_enabled; - SIL_B.Merge.AS_SEL = rtb_Merge_h0_AS_SEL; - SIL_B.Merge.p500w_enable = rtb_Merge_h0_p500w_enable; - SIL_B.Merge.actuator_startup = rtb_Merge_h0_actuator_startup; - SIL_B.Merge.ECU_CMD = rtb_Merge_h0_ECU_CMD; - SIL_B.Merge.ccm_ch = rtb_Merge_h0_ccm_ch; - SIL_B.Merge.ccm_period = rtb_Merge_h0_ccm_period; - SIL_B.Merge.ccm_sw = rtb_Merge_h0_ccm_sw; - SIL_B.Merge.aspd_error = rtb_Merge_h0_aspd_error; + rtb_Merge_h0_AT = ENUM_AT_COMMAND; /* End of Outputs for SubSystem: '/COMMAND' */ } else { @@ -19248,10 +19959,162 @@ void SIL_step(void) /* BusAssignment: '/Bus Assignment' incorporates: * Constant: '/Constant' */ + rtb_Merge_h0_throttle_c = 0.0F; + + /* End of Outputs for SubSystem: '/OFF' */ + } + + /* End of SwitchCase: '/Switch Case' */ + + /* If: '/If' */ + if (rtb_Merge_h0_armed) { + /* Outputs for IfAction SubSystem: '/AP2ECU' incorporates: + * ActionPort: '/Action Port' + */ + /* If: '/If' incorporates: + * Chart: '/Chart' + */ + if (rtb_Merge_h0_throttle_c < 1.0F) { + /* Outputs for IfAction SubSystem: '/no_afterburning' incorporates: + * ActionPort: '/Action Port' + */ + /* SignalConversion: '/OutportBuffer_InsertedFor_CMD_at_inport_0' incorporates: + * Constant: '/Constant' + */ + rtb_Merge_h0_ECU_CMD = 69U; + + /* Lookup_n-D: '/min_rpm' */ + rtb_Sum_j = look1_iflf_binlcpw(SIL_B.BusAssignment_j.asl_baro, + SIL_P.h_thr2rpm, SIL_P.min_rpm, 2U); + + /* Sum: '/Sum' incorporates: + * Lookup_n-D: '/max_rpm' + * Lookup_n-D: '/min_rpm' + * Product: '/Product' + * Sum: '/subtract' + */ + rtb_Sum_j += (look1_iflf_binlcpw(SIL_B.BusAssignment_j.asl_baro, + SIL_P.h_thr2rpm, SIL_P.max_rpm, 2U) - rtb_Sum_j) * + rtb_Merge_h0_throttle_c; + + /* End of Outputs for SubSystem: '/no_afterburning' */ + } else { + /* Outputs for IfAction SubSystem: '/afterburning' incorporates: + * ActionPort: '/Action Port' + */ + if (rtb_Merge_h0_throttle_c > 1.5F) { + /* Chart: '/Chart' */ + if (rtb_Merge_h0_throttle_c > 2.0F) { + if (rtb_Merge_h0_throttle_c > 3.0F) { + if (rtb_Merge_h0_throttle_c > 4.0F) { + /* SignalConversion: '/OutportBufferForCMD' */ + rtb_Merge_h0_ECU_CMD = 150U; + } else { + /* SignalConversion: '/OutportBufferForCMD' */ + rtb_Merge_h0_ECU_CMD = (uint8_T)roundf + ((rtb_Merge_h0_throttle_c - 3.0F) * 160.0F + 22.0F); + } + } else { + /* SignalConversion: '/OutportBufferForCMD' */ + rtb_Merge_h0_ECU_CMD = (uint8_T)roundf((rtb_Merge_h0_throttle_c + - 2.0F) * 160.0F + 28.0F); + } + } else { + /* SignalConversion: '/OutportBufferForCMD' */ + rtb_Merge_h0_ECU_CMD = 133U; + } + } else { + /* SignalConversion: '/OutportBufferForCMD' incorporates: + * Chart: '/Chart' + */ + rtb_Merge_h0_ECU_CMD = 117U; + } + + /* Lookup_n-D: '/max_rpm' */ + rtb_Sum_j = look1_iflf_binlcpw(SIL_B.BusAssignment_j.asl_baro, + SIL_P.h_thr2rpm, SIL_P.max_rpm, 2U); + + /* End of Outputs for SubSystem: '/afterburning' */ + } + + /* End of If: '/If' */ + + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_nh_use_mix = true; + + /* DataTypeConversion: '/Data Type Conversion' */ + radius = floorf(rtb_Sum_j); + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 65536.0F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * DataTypeConversion: '/Data Type Conversion' + */ + rtb_Merge_h0_ECU_RPM = (uint16_T)(radius < 0.0F ? (int32_T)(uint16_T) + -(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); + + /* End of Outputs for SubSystem: '/AP2ECU' */ + } else { + /* Outputs for IfAction SubSystem: '/ECU2AP' incorporates: + * ActionPort: '/Action Port' + */ + /* Lookup_n-D: '/min_rpm' */ + rtb_Merge_h0_throttle_c = look1_iflf_binlcpw + (SIL_B.BusAssignment_j.asl_baro, SIL_P.h_thr2rpm, SIL_P.min_rpm, 2U); + + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_nh_use_mix = false; + + /* Product: '/divide' incorporates: + * Lookup_n-D: '/max_rpm' + * Lookup_n-D: '/min_rpm' + * Sum: '/subtract' + * Sum: '/subtract1' + */ + rtb_Merge_h0_throttle_c = ((real32_T)rtb_Merge_h0_ECU_RPM - + rtb_Merge_h0_throttle_c) / (look1_iflf_binlcpw + (SIL_B.BusAssignment_j.asl_baro, SIL_P.h_thr2rpm, SIL_P.max_rpm, 2U) - + rtb_Merge_h0_throttle_c); + + /* Saturate: '/Saturation' */ + if (rtb_Merge_h0_throttle_c > 1.0F) { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_h0_throttle_c = 1.0F; + } else { + if (rtb_Merge_h0_throttle_c < 0.0F) { + /* BusAssignment: '/Bus Assignment' */ + rtb_Merge_h0_throttle_c = 0.0F; + } + } + + /* End of Saturate: '/Saturation' */ + /* End of Outputs for SubSystem: '/ECU2AP' */ + } + + /* End of If: '/If' */ + + /* If: '/If' incorporates: + * Inport: '/In1' + */ + if (rtb_Merge_h0_use_mix) { + /* Outputs for IfAction SubSystem: '/mix' incorporates: + * ActionPort: '/Action Port' + */ + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain' + */ SIL_B.Merge.dr_c = rtb_Merge_h0_dr_c; SIL_B.Merge.de_c = rtb_Merge_h0_de_c; SIL_B.Merge.da_c = rtb_Merge_h0_da_c; + SIL_B.Merge.del_c = rtb_Merge_h0_del_c; + SIL_B.Merge.der_c = rtb_Merge_h0_der_c; + SIL_B.Merge.dal_c = rtb_Merge_h0_dal_c; + SIL_B.Merge.dar_c = rtb_Merge_h0_dar_c; SIL_B.Merge.throttle_c = rtb_Merge_h0_throttle_c; + SIL_B.Merge.use_mix = true; SIL_B.Merge.AFCS_LAT = rtb_Merge_h0_AFCS_LAT; SIL_B.Merge.AFCS_VERT = rtb_Merge_h0_AFCS_VERT; SIL_B.Merge.CSAS_pitch = rtb_Merge_h0_CSAS_pitch; @@ -19290,7 +20153,7 @@ void SIL_step(void) SIL_B.Merge.rc.gear_up = rtb_Merge_h0_rc_gear_up; SIL_B.Merge.rc.connected = rtb_Merge_h0_rc_connected; SIL_B.Merge.boot_time = rtb_Merge_h0_boot_time; - SIL_B.Merge.armed = rtb_Merge_h0_armed; + SIL_B.Merge.armed = rtb_Merge_nh_use_mix; SIL_B.Merge.state = rtb_Merge_h0_state; SIL_B.Merge.vtol_state = rtb_Merge_h0_vtol_state; SIL_B.Merge.landed_state = rtb_Merge_h0_landed_state; @@ -19328,64 +20191,167 @@ void SIL_step(void) SIL_B.Merge.takeoff_tht = rtb_Merge_h0_takeoff_tht; SIL_B.Merge.dist_trans = rtb_Merge_h0_dist_trans; SIL_B.Merge.df_c = rtb_Merge_h0_df_c; - SIL_B.Merge.afterburner_enabled = rtb_Merge_h0_afterburner_enabled; SIL_B.Merge.AS_SEL = rtb_Merge_h0_AS_SEL; SIL_B.Merge.p500w_enable = rtb_Merge_h0_p500w_enable; SIL_B.Merge.actuator_startup = rtb_Merge_h0_actuator_startup; SIL_B.Merge.ECU_CMD = rtb_Merge_h0_ECU_CMD; + SIL_B.Merge.ECU_RPM = rtb_Merge_h0_ECU_RPM; SIL_B.Merge.ccm_ch = rtb_Merge_h0_ccm_ch; SIL_B.Merge.ccm_period = rtb_Merge_h0_ccm_period; SIL_B.Merge.ccm_sw = rtb_Merge_h0_ccm_sw; SIL_B.Merge.aspd_error = rtb_Merge_h0_aspd_error; - SIL_B.Merge.throttle_c = 0.0F; + SIL_B.Merge.del_c = rtb_Merge_h0_de_c; + SIL_B.Merge.der_c = rtb_Merge_h0_de_c; + SIL_B.Merge.dal_c = -rtb_Merge_h0_da_c; + SIL_B.Merge.dar_c = rtb_Merge_h0_da_c; - /* End of Outputs for SubSystem: '/OFF' */ + /* End of Outputs for SubSystem: '/mix' */ + } else { + /* Outputs for IfAction SubSystem: '/no_mix' incorporates: + * ActionPort: '/Action Port' + */ + SIL_B.Merge.dr_c = rtb_Merge_h0_dr_c; + SIL_B.Merge.de_c = rtb_Merge_h0_de_c; + SIL_B.Merge.da_c = rtb_Merge_h0_da_c; + SIL_B.Merge.del_c = rtb_Merge_h0_del_c; + SIL_B.Merge.der_c = rtb_Merge_h0_der_c; + SIL_B.Merge.dal_c = rtb_Merge_h0_dal_c; + SIL_B.Merge.dar_c = rtb_Merge_h0_dar_c; + SIL_B.Merge.throttle_c = rtb_Merge_h0_throttle_c; + SIL_B.Merge.use_mix = false; + SIL_B.Merge.AFCS_LAT = rtb_Merge_h0_AFCS_LAT; + SIL_B.Merge.AFCS_VERT = rtb_Merge_h0_AFCS_VERT; + SIL_B.Merge.CSAS_pitch = rtb_Merge_h0_CSAS_pitch; + SIL_B.Merge.CSAS_roll = rtb_Merge_h0_CSAS_roll; + SIL_B.Merge.CSAS_yaw = rtb_Merge_h0_CSAS_yaw; + SIL_B.Merge.AT = rtb_Merge_h0_AT; + SIL_B.Merge.level1_lgx = rtb_Merge_h0_level1_lgx; + SIL_B.Merge.level2_lgx = rtb_Merge_h0_level2_lgx; + SIL_B.Merge.level3_lgx = rtb_Merge_h0_level3_lgx; + SIL_B.Merge.level3_auto_lgx = rtb_Merge_h0_level3_auto_lgx; + SIL_B.Merge.level4_lgx = rtb_Merge_h0_level4_lgx; + SIL_B.Merge.mode = rtb_Merge_h0_mode; + SIL_B.Merge.traj.lat1 = rtb_Merge_h0_traj_lat1; + SIL_B.Merge.traj.lon1 = rtb_Merge_h0_traj_lon1; + SIL_B.Merge.traj.h1 = rtb_Merge_h0_traj_h1; + SIL_B.Merge.traj.azimuth = rtb_Merge_h0_traj_azimuth; + SIL_B.Merge.traj.elevation_baseline = + rtb_Merge_h0_traj_elevation_baseline; + SIL_B.Merge.traj.radius = rtb_Merge_h0_traj_radius; + SIL_B.Merge.traj.heading = rtb_Merge_h0_traj_heading; + SIL_B.Merge.traj.elevation_baseline2 = + rtb_Merge_h0_traj_elevation_baseline2; + SIL_B.Merge.traj.mode = rtb_Merge_h0_traj_mode; + SIL_B.Merge.use_mission_traj = rtb_Merge_h0_use_mission_traj; + SIL_B.Merge.rc.pitch_cmd = rtb_Merge_h0_rc_pitch_cmd; + SIL_B.Merge.rc.roll_cmd = rtb_Merge_h0_rc_roll_cmd; + SIL_B.Merge.rc.yaw_cmd = rtb_Merge_h0_rc_yaw_cmd; + SIL_B.Merge.rc.throttle_cmd = rtb_Merge_h0_rc_throttle_cmd; + SIL_B.Merge.rc.ele_cmd = rtb_Merge_h0_rc_ele_cmd; + SIL_B.Merge.rc.flap = rtb_Merge_h0_rc_flap; + SIL_B.Merge.rc.auto_mode = rtb_Merge_h0_rc_auto_mode; + SIL_B.Merge.rc.aux_mode = rtb_Merge_h0_rc_aux_mode; + SIL_B.Merge.rc.id = rtb_Merge_h0_rc_id; + SIL_B.Merge.rc.seq = rtb_Merge_h0_rc_seq; + SIL_B.Merge.rc.brake = rtb_Merge_h0_rc_brake; + SIL_B.Merge.rc.gear_up = rtb_Merge_h0_rc_gear_up; + SIL_B.Merge.rc.connected = rtb_Merge_h0_rc_connected; + SIL_B.Merge.boot_time = rtb_Merge_h0_boot_time; + SIL_B.Merge.armed = rtb_Merge_nh_use_mix; + SIL_B.Merge.state = rtb_Merge_h0_state; + SIL_B.Merge.vtol_state = rtb_Merge_h0_vtol_state; + SIL_B.Merge.landed_state = rtb_Merge_h0_landed_state; + SIL_B.Merge.linked = rtb_Merge_h0_linked; + SIL_B.Merge.WP_cur = rtb_Merge_h0_WP_cur; + SIL_B.Merge.base_asl = rtb_Merge_h0_base_asl; + SIL_B.Merge.base_asl_baro = rtb_Merge_h0_base_asl_baro; + SIL_B.Merge.standby_cmd = rtb_Merge_h0_standby_cmd; + SIL_B.Merge.xbit_cmd = rtb_Merge_h0_xbit_cmd; + SIL_B.Merge.autocont = rtb_Merge_h0_autocont; + SIL_B.Merge.dist_offset_addins = rtb_Merge_h0_dist_offset_addins; + SIL_B.Merge.horiz_offset_addins = rtb_Merge_h0_horiz_offset_addins; + SIL_B.Merge.vert_offset_addins = rtb_Merge_h0_vert_offset_addins; + SIL_B.Merge.home.lat1 = rtb_Merge_h0_home_lat1; + SIL_B.Merge.home.lon1 = rtb_Merge_h0_home_lon1; + SIL_B.Merge.home.h1 = rtb_Merge_h0_home_h1; + SIL_B.Merge.home.azimuth = rtb_Merge_h0_home_azimuth; + SIL_B.Merge.home.elevation_baseline = + rtb_Merge_h0_home_elevation_baseline; + SIL_B.Merge.home.radius = rtb_Merge_h0_home_radius; + SIL_B.Merge.home.heading = rtb_Merge_h0_home_heading; + SIL_B.Merge.home.elevation_baseline2 = + rtb_Merge_h0_home_elevation_baseline2; + SIL_B.Merge.home.mode = rtb_Merge_h0_home_mode; + SIL_B.Merge.q_c = rtb_Merge_h0_q_c; + SIL_B.Merge.p_c = rtb_Merge_h0_p_c; + SIL_B.Merge.r_c = rtb_Merge_h0_r_c; + SIL_B.Merge.tht_c = rtb_Merge_h0_tht_c; + SIL_B.Merge.phi_c = rtb_Merge_h0_phi_c; + SIL_B.Merge.hdot_c = rtb_Merge_h0_hdot_c; + SIL_B.Merge.gamma_c = rtb_Merge_h0_gamma_c; + SIL_B.Merge.h_c = rtb_Merge_h0_h_c; + SIL_B.Merge.as_c = rtb_Merge_h0_as_c; + SIL_B.Merge.gs_c = rtb_Merge_h0_gs_c; + SIL_B.Merge.takeoff_tht = rtb_Merge_h0_takeoff_tht; + SIL_B.Merge.dist_trans = rtb_Merge_h0_dist_trans; + SIL_B.Merge.df_c = rtb_Merge_h0_df_c; + SIL_B.Merge.AS_SEL = rtb_Merge_h0_AS_SEL; + SIL_B.Merge.p500w_enable = rtb_Merge_h0_p500w_enable; + SIL_B.Merge.actuator_startup = rtb_Merge_h0_actuator_startup; + SIL_B.Merge.ECU_CMD = rtb_Merge_h0_ECU_CMD; + SIL_B.Merge.ECU_RPM = rtb_Merge_h0_ECU_RPM; + SIL_B.Merge.ccm_ch = rtb_Merge_h0_ccm_ch; + SIL_B.Merge.ccm_period = rtb_Merge_h0_ccm_period; + SIL_B.Merge.ccm_sw = rtb_Merge_h0_ccm_sw; + SIL_B.Merge.aspd_error = rtb_Merge_h0_aspd_error; + + /* End of Outputs for SubSystem: '/no_mix' */ } - /* End of SwitchCase: '/Switch Case' */ + /* End of If: '/If' */ - /* Sum: '/Subtract' incorporates: - * Constant: '/Constant' + /* Sum: '/Subtract' incorporates: + * Constant: '/Constant' */ SIL_B.Subtract_m = (uint16_T)(SIL_B.Merge.WP_cur - 1); - /* Chart: '/proc_queue' */ + /* Chart: '/proc_queue' */ SIL_DW.msgs_isValid = false; if (SIL_sf_msg_pop_msgs()) { SIL_B.msg = *(mavlink_message_t *)SIL_DW.msgs_msgDataPtr; - /* Outputs for Function Call SubSystem: '/dec_and_proc_each' */ - /* SwitchCase: '/Switch Case' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* Outputs for Function Call SubSystem: '/dec_and_proc_each' */ + /* SwitchCase: '/Switch Case' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ switch ((int32_T)SIL_B.msg.msgid) { case MAV_TYPE_VTOL_QUADROTOR: - /* Outputs for IfAction SubSystem: '/param_req_get_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/param_req_get_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_param_request_read_decode): '/mav_param_req_read' */ + /* S-Function (mav_param_request_read_decode): '/mav_param_req_read' */ mav_param_request_read_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_param_req_read); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_param_req_read' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_param_req_read' */ - /* Chart: '/Chart_proc_param_req_read' */ + /* Chart: '/Chart_proc_param_req_read' */ if (SIL_B.mav_param_req_read.target_system == SIL_P.system_id) { if (SIL_B.mav_param_req_read.param_index < 0) { for (idx = 0; idx < 16; idx++) { SIL_B.name_g[idx] = SIL_B.mav_param_req_read.param_id[idx]; } - /* Outputs for Function Call SubSystem: '/find_idx' */ - /* S-Function (find_param_idx): '/find_idx_capi' */ + /* Outputs for Function Call SubSystem: '/find_idx' */ + /* S-Function (find_param_idx): '/find_idx_capi' */ find_param_idx_Outputs_wrapper(&SIL_B.name_g[0], &SIL_B.param_idx_p); - /* End of Outputs for SubSystem: '/find_idx' */ + /* End of Outputs for SubSystem: '/find_idx' */ if (SIL_B.param_idx_p >= 0) { SIL_DW.resp_msgData_n = (uint16_T)SIL_B.param_idx_p; SIL_sf_msg_send_resp(); @@ -19397,48 +20363,48 @@ void SIL_step(void) } } - /* End of Chart: '/Chart_proc_param_req_read' */ - /* End of Outputs for SubSystem: '/param_req_get_dec' */ + /* End of Chart: '/Chart_proc_param_req_read' */ + /* End of Outputs for SubSystem: '/param_req_get_dec' */ break; case MAV_TYPE_VTOL_TILTROTOR: - /* Outputs for IfAction SubSystem: '/param_req_lst_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/param_req_lst_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_param_request_list_decode): '/mav_param_request_list' */ + /* S-Function (mav_param_request_list_decode): '/mav_param_request_list' */ mav_param_request_list_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_param_request_list); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_param_req_lst' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_param_req_lst' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ if (SIL_B.mav_param_request_list.target_system == SIL_P.system_id) { SIL_DW.resp_msgData_f = 0U; SIL_sf_msg_send_resp_i(); } - /* End of Chart: '/Chart' */ - /* End of Outputs for SubSystem: '/param_req_lst_dec' */ + /* End of Chart: '/Chart' */ + /* End of Outputs for SubSystem: '/param_req_lst_dec' */ break; case MAV_TYPE_VTOL_RESERVED3: - /* Outputs for IfAction SubSystem: '/param_set_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/param_set_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_param_set_decode): '/mav_param_set' */ + /* S-Function (mav_param_set_decode): '/mav_param_set' */ mav_param_set_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_param_set); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_param_set' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_param_set' */ - /* Chart: '/Chart_proc_param_set' */ + /* Chart: '/Chart_proc_param_set' */ if (SIL_B.mav_param_set.target_system == SIL_P.system_id) { for (idx = 0; idx < 16; idx++) { SIL_B.name[idx] = SIL_B.mav_param_set.param_id[idx]; @@ -19446,68 +20412,68 @@ void SIL_step(void) SIL_B.f = SIL_B.mav_param_set.param_value; - /* Outputs for Function Call SubSystem: '/f2u' */ - /* S-Function (any2byte): '/Byte Pack' */ + /* Outputs for Function Call SubSystem: '/f2u' */ + /* S-Function (any2byte): '/Byte Pack' */ - /* Pack: /Byte Pack */ + /* Pack: /Byte Pack */ (void) memcpy(&SIL_B.BytePack[0], &SIL_B.f, 4); - /* End of Outputs for SubSystem: '/f2u' */ + /* End of Outputs for SubSystem: '/f2u' */ SIL_B.value_n[0] = SIL_B.BytePack[0]; SIL_B.value_n[1] = SIL_B.BytePack[1]; SIL_B.value_n[2] = SIL_B.BytePack[2]; SIL_B.value_n[3] = SIL_B.BytePack[3]; SIL_B.type_f = SIL_B.mav_param_set.param_type; - /* Outputs for Function Call SubSystem: '/set_val' */ - /* S-Function (set_param_val): '/set_val_capi' */ + /* Outputs for Function Call SubSystem: '/set_val' */ + /* S-Function (set_param_val): '/set_val_capi' */ set_param_val_Outputs_wrapper(&SIL_B.name[0], &SIL_B.value_n[0], &SIL_B.type_f, &SIL_B.param_idx); - /* End of Outputs for SubSystem: '/set_val' */ + /* End of Outputs for SubSystem: '/set_val' */ if (SIL_B.param_idx >= 0) { SIL_DW.resp_msgData = (uint16_T)SIL_B.param_idx; SIL_sf_msg_send_resp_j(); } } - /* End of Chart: '/Chart_proc_param_set' */ - /* End of Outputs for SubSystem: '/param_set_dec' */ + /* End of Chart: '/Chart_proc_param_set' */ + /* End of Outputs for SubSystem: '/param_set_dec' */ break; case MAV_COMP_ID_USER16: case MAV_COMP_ID_USER27: - /* Outputs for IfAction SubSystem: '/mission_req_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_req_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_request_decode): '/mav_mission_request' */ + /* S-Function (mav_mission_request_decode): '/mav_mission_request' */ mav_mission_request_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_request); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_req' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_req' */ - /* Chart: '/Chart_proc_mission_req' */ + /* Chart: '/Chart_proc_mission_req' */ if (SIL_B.mav_mission_request.target_system == SIL_P.system_id) { SIL_B.seq_e = SIL_B.mav_mission_request.seq; SIL_B.type_b = SIL_B.mav_mission_request.mission_type; - /* Outputs for Function Call SubSystem: '/user-defined get_mission_item' */ - /* Chart: '/chat_get_mission_item' */ + /* Outputs for Function Call SubSystem: '/user-defined get_mission_item' */ + /* Chart: '/chat_get_mission_item' */ switch (SIL_B.type_b) { case 1: if (SIL_B.seq_e < dummyFenceCount) { SIL_B.ack_iw = 0U; - x = SIL_B.seq_e + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq_e + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - expl_temp_0 = &dummyFence[(int32_T)x - 1]; + expl_temp_0 = &dummyFence[(int32_T)rtb_out_ac - 1]; SIL_B.frame_l = 5U; SIL_B.command_p = expl_temp_0->command; SIL_B.autocont = 0U; @@ -19522,12 +20488,12 @@ void SIL_step(void) case 2: if (SIL_B.seq_e < dummyRallyCount) { SIL_B.ack_iw = 0U; - x = SIL_B.seq_e + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq_e + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - expl_temp_1 = &dummyRally[(int32_T)x - 1]; + expl_temp_1 = &dummyRally[(int32_T)rtb_out_ac - 1]; SIL_B.command_p = 5100U; SIL_B.x_k = expl_temp_1->latlon[0]; SIL_B.y_m = expl_temp_1->latlon[1]; @@ -19540,12 +20506,12 @@ void SIL_step(void) default: if (SIL_B.seq_e < dummyMissionCount) { SIL_B.ack_iw = 0U; - x = SIL_B.seq_e + 1U; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = SIL_B.seq_e + 1U; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - expl_temp = &dummyMission[(int32_T)x - 1]; + expl_temp = &dummyMission[(int32_T)rtb_out_ac - 1]; SIL_B.frame_l = expl_temp->frame; SIL_B.command_p = expl_temp->command; SIL_B.autocont = expl_temp->autocont; @@ -19562,8 +20528,8 @@ void SIL_step(void) break; } - /* End of Chart: '/chat_get_mission_item' */ - /* End of Outputs for SubSystem: '/user-defined get_mission_item' */ + /* End of Chart: '/chat_get_mission_item' */ + /* End of Outputs for SubSystem: '/user-defined get_mission_item' */ if (SIL_B.ack_iw == 0) { SIL_DW.send_item_msgData.current = (uint8_T)((SIL_B.Subtract_m == SIL_B.seq_e) && (SIL_B.type_b == 0)); @@ -19587,54 +20553,54 @@ void SIL_step(void) } } - /* End of Chart: '/Chart_proc_mission_req' */ - /* End of Outputs for SubSystem: '/mission_req_dec' */ + /* End of Chart: '/Chart_proc_mission_req' */ + /* End of Outputs for SubSystem: '/mission_req_dec' */ break; case MAV_COMP_ID_USER17: - /* Outputs for IfAction SubSystem: '/mission_set_cur_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_set_cur_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_set_current_decode): '/mav_mission_set_current' */ + /* S-Function (mav_mission_set_current_decode): '/mav_mission_set_current' */ mav_mission_set_current_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_set_current); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_set_cur' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_set_cur' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ if (SIL_B.mav_mission_set_current.target_system == SIL_P.system_id) { SIL_DW.req_cur_msgData_d = SIL_B.mav_mission_set_current.seq; SIL_sf_msg_send_req_cur(); } - /* End of Chart: '/Chart' */ - /* End of Outputs for SubSystem: '/mission_set_cur_dec' */ + /* End of Chart: '/Chart' */ + /* End of Outputs for SubSystem: '/mission_set_cur_dec' */ break; case MAV_COMP_ID_USER19: - /* Outputs for IfAction SubSystem: '/mission_req_lst_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_req_lst_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_request_list_decode): '/mav_mission_request_list' */ + /* S-Function (mav_mission_request_list_decode): '/mav_mission_request_list' */ mav_mission_request_list_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_request_list); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_req_lst' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_req_lst' */ - /* Chart: '/Chart_proc_mission_req_lst' */ + /* Chart: '/Chart_proc_mission_req_lst' */ if (SIL_B.mav_mission_request_list.target_system == SIL_P.system_id) { SIL_B.type = SIL_B.mav_mission_request_list.mission_type; - /* Outputs for Function Call SubSystem: '/user-defined get_mission_cnt' */ - /* Chart: '/chat_get_mission_cnt' */ + /* Outputs for Function Call SubSystem: '/user-defined get_mission_cnt' */ + /* Chart: '/chat_get_mission_cnt' */ switch (SIL_B.type) { case 1: SIL_B.cnt = dummyFenceCount; @@ -19649,136 +20615,136 @@ void SIL_step(void) break; } - /* End of Chart: '/chat_get_mission_cnt' */ - /* End of Outputs for SubSystem: '/user-defined get_mission_cnt' */ + /* End of Chart: '/chat_get_mission_cnt' */ + /* End of Outputs for SubSystem: '/user-defined get_mission_cnt' */ SIL_DW.send_cnt_msgData_d.count = SIL_B.cnt; SIL_DW.send_cnt_msgData_d.mission_type = SIL_B.type; SIL_sf_msg_send_send_cnt(); } - /* End of Chart: '/Chart_proc_mission_req_lst' */ - /* End of Outputs for SubSystem: '/mission_req_lst_dec' */ + /* End of Chart: '/Chart_proc_mission_req_lst' */ + /* End of Outputs for SubSystem: '/mission_req_lst_dec' */ break; case MAV_COMP_ID_USER20: - /* Outputs for IfAction SubSystem: '/mission_cnt_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_cnt_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_count_decode): '/mav_mission_count' */ + /* S-Function (mav_mission_count_decode): '/mav_mission_count' */ mav_mission_count_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_count); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_cnt' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_cnt' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ if ((SIL_B.mav_mission_count.target_system == SIL_P.system_id) && SIL_B.enable_cnt) { SIL_DW.send_cnt_msgData = SIL_B.mav_mission_count; SIL_sf_msg_send_send_cnt_j(); } - /* End of Chart: '/Chart' */ - /* End of Outputs for SubSystem: '/mission_cnt_dec' */ + /* End of Chart: '/Chart' */ + /* End of Outputs for SubSystem: '/mission_cnt_dec' */ break; case MAV_COMP_ID_USER21: - /* Outputs for IfAction SubSystem: '/mission_clr_all_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_clr_all_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_clear_all_decode): '/mav_mission_clear_all' */ + /* S-Function (mav_mission_clear_all_decode): '/mav_mission_clear_all' */ mav_mission_clear_all_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_clear_all); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_clr_all' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_clr_all' */ - /* Chart: '/Chart_proc_mission_clr_all' */ + /* Chart: '/Chart_proc_mission_clr_all' */ if (SIL_B.mav_mission_clear_all.target_system == SIL_P.system_id) { SIL_B.mission_type_g = SIL_B.mav_mission_clear_all.mission_type; - /* Outputs for Function Call SubSystem: '/dummy clear_mission' */ + /* Outputs for Function Call SubSystem: '/dummy clear_mission' */ SIL_dummyclear_mission(SIL_B.mission_type_g, &SIL_B.ack_f); - /* End of Outputs for SubSystem: '/dummy clear_mission' */ + /* End of Outputs for SubSystem: '/dummy clear_mission' */ SIL_DW.send_ack_msgData_j.mission_type = SIL_B.mission_type_g; SIL_DW.send_ack_msgData_j.type = SIL_B.ack_f; SIL_sf_msg_send_send_ack_d(); } - /* End of Chart: '/Chart_proc_mission_clr_all' */ - /* End of Outputs for SubSystem: '/mission_clr_all_dec' */ + /* End of Chart: '/Chart_proc_mission_clr_all' */ + /* End of Outputs for SubSystem: '/mission_clr_all_dec' */ break; case MAV_COMP_ID_USER49: - /* Outputs for IfAction SubSystem: '/mission_item_int_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/mission_item_int_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_mission_item_int_decode): '/mav_mission_item_int' */ + /* S-Function (mav_mission_item_int_decode): '/mav_mission_item_int' */ mav_mission_item_int_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_mission_item_int); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_mission_item' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_mission_item' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ if ((SIL_B.mav_mission_item_int.target_system == SIL_P.system_id) && SIL_B.enable_item) { SIL_DW.send_req_msgData = SIL_B.mav_mission_item_int; SIL_sf_msg_send_send_req(); } - /* End of Chart: '/Chart' */ - /* End of Outputs for SubSystem: '/mission_item_int_dec' */ + /* End of Chart: '/Chart' */ + /* End of Outputs for SubSystem: '/mission_item_int_dec' */ break; case MAV_COMP_ID_USER52: - /* Outputs for IfAction SubSystem: '/cmd_long_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/cmd_long_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_command_long_decode): '/mav_command_long' */ + /* S-Function (mav_command_long_decode): '/mav_command_long' */ mav_command_long_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_command_long); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_cmd_long' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_cmd_long' */ - /* If: '/If' incorporates: - * Constant: '/system_id' + /* If: '/If' incorporates: + * Constant: '/system_id' */ if ((SIL_B.mav_command_long.target_system == SIL_P.system_id) || (SIL_B.mav_command_long.target_system == 0)) { - /* Outputs for IfAction SubSystem: '/proc_by_id' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/proc_by_id' incorporates: + * ActionPort: '/Action Port' */ - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' */ if (SIL_B.mav_command_long.command == 520) { - /* Outputs for IfAction SubSystem: '/REQUEST_AUTOPILOT_CAPABILITIES' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/REQUEST_AUTOPILOT_CAPABILITIES' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/send_auto_hw' */ + /* Chart: '/send_auto_hw' */ SIL_DW.ap_ver_msgData.capabilities = 57348U; SIL_DW.ap_ver_msgData.flight_sw_version = 17039616U; SIL_sf_msg_send_ap_ver(); - /* End of Outputs for SubSystem: '/REQUEST_AUTOPILOT_CAPABILITIES' */ + /* End of Outputs for SubSystem: '/REQUEST_AUTOPILOT_CAPABILITIES' */ } else { - /* Outputs for IfAction SubSystem: '/default' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/default' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/send_cmd' */ + /* Chart: '/send_cmd' */ SIL_DW.msg_msgData.id = SIL_B.mav_command_long.command; SIL_DW.msg_msgData.params[0] = SIL_B.mav_command_long.param1; SIL_DW.msg_msgData.params[1] = SIL_B.mav_command_long.param2; @@ -19789,39 +20755,39 @@ void SIL_step(void) SIL_DW.msg_msgData.params[6] = SIL_B.mav_command_long.param7; SIL_sf_msg_send_msg(); - /* End of Outputs for SubSystem: '/default' */ + /* End of Outputs for SubSystem: '/default' */ } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/proc_by_id' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/proc_by_id' */ } - /* End of If: '/If' */ - /* End of Outputs for SubSystem: '/cmd_long_dec' */ + /* End of If: '/If' */ + /* End of Outputs for SubSystem: '/cmd_long_dec' */ break; case MAV_COMP_ID_USER46: - /* Outputs for IfAction SubSystem: '/rc_channels_override_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/rc_channels_override_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_rc_channels_override_decode): '/mav_rc_channels_override' */ + /* S-Function (mav_rc_channels_override_decode): '/mav_rc_channels_override' */ mav_rc_channels_override_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_rc_channels_override); - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_rc_chs_ov' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_rc_chs_ov' */ - /* If: '/If' incorporates: - * Constant: '/system_id' + /* If: '/If' incorporates: + * Constant: '/system_id' */ if (SIL_B.mav_rc_channels_override.target_system == SIL_P.system_id) { - /* Outputs for IfAction SubSystem: '/proc_by_id' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/proc_by_id' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ SIL_B.channels_e[0] = SIL_B.mav_rc_channels_override.chan1_raw; SIL_B.channels_e[1] = SIL_B.mav_rc_channels_override.chan2_raw; SIL_B.channels_e[2] = SIL_B.mav_rc_channels_override.chan3_raw; @@ -19841,72 +20807,72 @@ void SIL_step(void) SIL_B.channels_e[16] = SIL_B.mav_rc_channels_override.chan17_raw; SIL_B.channels_e[17] = SIL_B.mav_rc_channels_override.chan18_raw; - /* SignalConversion: '/Signal Copy' */ + /* SignalConversion: '/Signal Copy' */ SIL_B.id_g = SIL_B.mav_rc_channels_override.target_component; - /* UnitDelay: '/Unit Delay' */ - SIL_B.seq_g = SIL_DW.UnitDelay_DSTATE_h; + /* UnitDelay: '/Unit Delay' */ + SIL_B.seq_g = SIL_DW.UnitDelay_DSTATE_ho; - /* Sum: '/Sum' incorporates: - * Constant: '/one' - * UnitDelay: '/Unit Delay' + /* Sum: '/Sum' incorporates: + * Constant: '/one' + * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE_h = (uint8_T)(1U + SIL_B.seq_g); + SIL_DW.UnitDelay_DSTATE_ho = (uint8_T)(1U + SIL_B.seq_g); - /* SignalConversion: '/TmpBufferAttrueOutport1' incorporates: - * Constant: '/true' + /* SignalConversion: '/TmpBufferAttrueOutport1' incorporates: + * Constant: '/true' */ SIL_B.valid_o = true; - /* End of Outputs for SubSystem: '/proc_by_id' */ + /* End of Outputs for SubSystem: '/proc_by_id' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ for (idx = 0; idx < 18; idx++) { - /* SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ + /* SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ SIL_B.channels[idx] = SIL_B.channels_e[idx]; } - /* End of Outputs for SubSystem: '/rc_channels_override_dec' */ + /* End of Outputs for SubSystem: '/rc_channels_override_dec' */ break; case MAV_AUTOPILOT_FP: - /* Outputs for IfAction SubSystem: '/set_mode_dec' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/set_mode_dec' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_set_mode_decode): '/mav_set_mode' */ + /* S-Function (mav_set_mode_decode): '/mav_set_mode' */ mav_set_mode_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_set_mode); - /* End of Outputs for SubSystem: '/set_mode_dec' */ + /* End of Outputs for SubSystem: '/set_mode_dec' */ break; case MAVLINK_MSG_ID_GPS_RTCM_DATA: - /* Outputs for IfAction SubSystem: '/gps_rtcm_data' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/gps_rtcm_data' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/parse_and_proc' incorporates: - * SubSystem: '/Function-Call Subsystem' + /* Chart: '/parse_and_proc' incorporates: + * SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_gps_rtcm_data_decode): '/mav_gps_rtcm_data' */ + /* S-Function (mav_gps_rtcm_data_decode): '/mav_gps_rtcm_data' */ mav_gps_rtcm_data_decode_Outputs_wrapper(&SIL_B.msg, &SIL_B.mav_gps_rtcm_data); - /* End of Outputs for SubSystem: '/gps_rtcm_data' */ + /* End of Outputs for SubSystem: '/gps_rtcm_data' */ break; } - /* End of SwitchCase: '/Switch Case' */ - /* End of Outputs for SubSystem: '/dec_and_proc_each' */ + /* End of SwitchCase: '/Switch Case' */ + /* End of Outputs for SubSystem: '/dec_and_proc_each' */ } SIL_sf_msg_discard_msgs(); - /* End of Chart: '/proc_queue' */ + /* End of Chart: '/proc_queue' */ - /* Chart: '/req_cur' */ + /* Chart: '/req_cur' */ if (SIL_DW.temporalCounter_i1_py < 2047U) { SIL_DW.temporalCounter_i1_py++; } @@ -19930,7 +20896,7 @@ void SIL_step(void) SIL_sf_msg_discard_req_cur(); - /* End of Chart: '/req_cur' */ + /* End of Chart: '/req_cur' */ /* DataStoreWrite: '/Data Store Write' */ SIL_DW.CC = SIL_B.Merge; @@ -19941,7 +20907,6 @@ void SIL_step(void) SIL_B.DataTypeConversion = (uint8_T)SIL_P.system_id; /* Sum: '/Sum' incorporates: - * BusCreator: '/Bus Creator' * Constant: '/Constant' * Gain: '/Gain' */ @@ -19957,132 +20922,127 @@ void SIL_step(void) /* End of Sum: '/Sum' */ - /* Switch: '/if' incorporates: - * Constant: '/Constant' - * Constant: '/Constant1' + /* DataTypeConversion: '/Data Type Conversion' incorporates: + * Constant: '/Constant5' + * Gain: '/Gain4' + * Gain: '/gain' + * Sum: '/Sum4' */ - if (SIL_B.Merge.afterburner_enabled) { - SIL_B.if_i = 2000U; + radius = floorf((SIL_B.Merge.dar_c - SIL_P.dar0) * SIL_P.k_dar * + 53640.3086F); + if (radius < 32768.0F) { + if (radius >= -32768.0F) { + /* DataTypeConversion: '/Data Type Conversion1' */ + SIL_B.DataTypeConversion1_c = (uint16_T)(int16_T)radius; + } else { + /* DataTypeConversion: '/Data Type Conversion1' */ + SIL_B.DataTypeConversion1_c = 32768U; + } } else { - SIL_B.if_i = 1000U; + /* DataTypeConversion: '/Data Type Conversion1' */ + SIL_B.DataTypeConversion1_c = 32767U; } - /* End of Switch: '/if' */ + /* End of DataTypeConversion: '/Data Type Conversion' */ /* DataTypeConversion: '/Data Type Conversion' incorporates: - * Gain: '/Gain4' + * Constant: '/Constant4' + * Gain: '/Gain3' * Gain: '/gain' - * Sum: '/Sum1' + * Sum: '/Sum3' */ - radius = floorf((SIL_B.Merge.da_c + SIL_B.Merge.df_c) * SIL_P.k_dar * + radius = floorf((SIL_B.Merge.dal_c - SIL_P.dal0) * SIL_P.k_dal * 53640.3086F); if (radius < 32768.0F) { if (radius >= -32768.0F) { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_c = (uint16_T)(int16_T)radius; + SIL_B.DataTypeConversion1_o = (uint16_T)(int16_T)radius; } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_c = 32768U; + SIL_B.DataTypeConversion1_o = 32768U; } } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_c = 32767U; + SIL_B.DataTypeConversion1_o = 32767U; } /* End of DataTypeConversion: '/Data Type Conversion' */ /* DataTypeConversion: '/Data Type Conversion' incorporates: - * Gain: '/Gain3' + * Constant: '/Constant2' + * Gain: '/Gain' * Gain: '/gain' - * Sum: '/Sum3' + * Sum: '/Sum1' */ - radius = floorf((SIL_B.Merge.df_c - SIL_B.Merge.da_c) * SIL_P.k_dal * - 53640.3086F); + radius = floorf((SIL_B.Merge.der_c - SIL_P.der0) * SIL_P.k_der * + 75096.4297F); if (radius < 32768.0F) { if (radius >= -32768.0F) { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_o = (uint16_T)(int16_T)radius; + SIL_B.DataTypeConversion1_f = (uint16_T)(int16_T)radius; } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_o = 32768U; + SIL_B.DataTypeConversion1_f = 32768U; } } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_o = 32767U; + SIL_B.DataTypeConversion1_f = 32767U; } /* End of DataTypeConversion: '/Data Type Conversion' */ /* DataTypeConversion: '/Data Type Conversion' incorporates: - * Gain: '/Gain' + * Constant: '/Constant' + * Gain: '/Gain1' * Gain: '/gain' - * Sum: '/Sum' + * Sum: '/Sum' */ - radius = floorf(SIL_P.k_der * SIL_B.Merge.de_c * 75096.4297F); + radius = floorf((SIL_B.Merge.del_c - SIL_P.del0) * SIL_P.k_del * + 75096.4297F); if (radius < 32768.0F) { if (radius >= -32768.0F) { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_f = (uint16_T)(int16_T)radius; + SIL_B.DataTypeConversion1_nd = (uint16_T)(int16_T)radius; } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_f = 32768U; + SIL_B.DataTypeConversion1_nd = 32768U; } } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_f = 32767U; + SIL_B.DataTypeConversion1_nd = 32767U; } /* End of DataTypeConversion: '/Data Type Conversion' */ /* DataTypeConversion: '/Data Type Conversion' incorporates: - * Gain: '/Gain1' + * Constant: '/Constant3' + * Gain: '/Gain2' * Gain: '/gain' - * Sum: '/Sum2' + * Sum: '/Sum2' */ - radius = floorf(SIL_P.k_del * SIL_B.Merge.de_c * 75096.4297F); + radius = floorf((SIL_B.Merge.dr_c - SIL_P.dr0) * SIL_P.k_dr * 75096.4297F); if (radius < 32768.0F) { if (radius >= -32768.0F) { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_nd = (uint16_T)(int16_T)radius; + SIL_B.DataTypeConversion1_g = (uint16_T)(int16_T)radius; } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_nd = 32768U; + SIL_B.DataTypeConversion1_g = 32768U; } } else { /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_nd = 32767U; + SIL_B.DataTypeConversion1_g = 32767U; } /* End of DataTypeConversion: '/Data Type Conversion' */ - /* DataTypeConversion: '/Data Type Conversion' incorporates: - * BusCreator: '/Bus Creator' - * Gain: '/Gain2' - * Gain: '/gain' - */ - radius = floorf(SIL_P.k_dr * SIL_B.Merge.dr_c * 75096.4297F); - if (radius < 32768.0F) { - if (radius >= -32768.0F) { - /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_g = (uint16_T)(int16_T)radius; - } else { - /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_g = 32768U; - } - } else { - /* DataTypeConversion: '/Data Type Conversion1' */ - SIL_B.DataTypeConversion1_g = 32767U; - } - - /* End of DataTypeConversion: '/Data Type Conversion' */ - - /* Sum: '/Sum' incorporates: - * Constant: '/Constant1' - * UnitDelay: '/Unit Delay' + /* Sum: '/Sum' incorporates: + * Constant: '/Constant1' + * UnitDelay: '/Unit Delay' */ SIL_DW.UnitDelay_DSTATE_g++; - /* Chart: '/Chart_send_ack' */ + /* Chart: '/Chart_send_ack' */ SIL_DW.ack_isValid = false; if (SIL_DW.is_active_c20_kb3_autopilot == 0U) { SIL_DW.is_active_c20_kb3_autopilot = 1U; @@ -20098,9 +21058,9 @@ void SIL_step(void) SIL_sf_msg_discard_ack(); - /* End of Chart: '/Chart_send_ack' */ + /* End of Chart: '/Chart_send_ack' */ - /* Chart: '/proc_param_value' */ + /* Chart: '/proc_param_value' */ if (SIL_DW.temporalCounter_i1_i < 63U) { SIL_DW.temporalCounter_i1_i++; } @@ -20133,11 +21093,11 @@ void SIL_step(void) SIL_DW.is_c31_mavlink_utils = SIL_IN_SendOne; SIL_DW.temporalCounter_i1_i = 0U; - /* Outputs for Function Call SubSystem: '/find_val' */ + /* Outputs for Function Call SubSystem: '/find_val' */ SIL_find_val(SIL_B.idx, SIL_B.param_name, SIL_B.param_value, &SIL_B.param_type, &SIL_B.param_cnt, &SIL_B.param_index); - /* End of Outputs for SubSystem: '/find_val' */ + /* End of Outputs for SubSystem: '/find_val' */ SIL_DW.msg_msgData_e.param_index = SIL_B.param_index; for (idx = 0; idx < 16; idx++) { SIL_DW.msg_msgData_e.param_id[idx] = SIL_B.param_name[idx]; @@ -20148,10 +21108,10 @@ void SIL_step(void) SIL_B.u[2] = SIL_B.param_value[2]; SIL_B.u[3] = SIL_B.param_value[3]; - /* Outputs for Function Call SubSystem: '/u2f' */ + /* Outputs for Function Call SubSystem: '/u2f' */ SIL_u2f(SIL_B.u, &SIL_B.ByteUnpack); - /* End of Outputs for SubSystem: '/u2f' */ + /* End of Outputs for SubSystem: '/u2f' */ SIL_DW.msg_msgData_e.param_value = SIL_B.ByteUnpack; SIL_DW.msg_msgData_e.param_type = SIL_B.param_type; SIL_DW.msg_msgData_e.param_count = SIL_B.param_cnt; @@ -20166,11 +21126,11 @@ void SIL_step(void) SIL_DW.is_c31_mavlink_utils = SIL_IN_SendOne; SIL_DW.temporalCounter_i1_i = 0U; - /* Outputs for Function Call SubSystem: '/find_val' */ + /* Outputs for Function Call SubSystem: '/find_val' */ SIL_find_val(SIL_B.idx, SIL_B.param_name, SIL_B.param_value, &SIL_B.param_type, &SIL_B.param_cnt, &SIL_B.param_index); - /* End of Outputs for SubSystem: '/find_val' */ + /* End of Outputs for SubSystem: '/find_val' */ SIL_DW.msg_msgData_e.param_index = SIL_B.param_index; for (idx = 0; idx < 16; idx++) { SIL_DW.msg_msgData_e.param_id[idx] = SIL_B.param_name[idx]; @@ -20181,10 +21141,10 @@ void SIL_step(void) SIL_B.u[2] = SIL_B.param_value[2]; SIL_B.u[3] = SIL_B.param_value[3]; - /* Outputs for Function Call SubSystem: '/u2f' */ + /* Outputs for Function Call SubSystem: '/u2f' */ SIL_u2f(SIL_B.u, &SIL_B.ByteUnpack); - /* End of Outputs for SubSystem: '/u2f' */ + /* End of Outputs for SubSystem: '/u2f' */ SIL_DW.msg_msgData_e.param_value = SIL_B.ByteUnpack; SIL_DW.msg_msgData_e.param_type = SIL_B.param_type; SIL_DW.msg_msgData_e.param_count = SIL_B.param_cnt; @@ -20199,9 +21159,9 @@ void SIL_step(void) SIL_sf_msg_discard_param_req_lst(); SIL_sf_msg_discard_param_set(); - /* End of Chart: '/proc_param_value' */ + /* End of Chart: '/proc_param_value' */ - /* Chart: '/merge_ack' */ + /* Chart: '/merge_ack' */ SIL_DW.ack1_isValid = false; SIL_DW.ack2_isValid = false; SIL_DW.ack3_isValid = false; @@ -20225,7 +21185,7 @@ void SIL_step(void) SIL_sf_msg_discard_ack2(); SIL_sf_msg_discard_ack3(); - /* End of Chart: '/merge_ack' */ + /* End of Chart: '/merge_ack' */ if (SIL_DW.temporalCounter_i1 < 1048575U) { SIL_DW.temporalCounter_i1++; } @@ -20238,16 +21198,16 @@ void SIL_step(void) SIL_DW.mission_req_int_queue_isValid = false; SIL_DW.command_ack_queue_isValid = false; SIL_DW.ap_ver_queue_isValid = false; - if (SIL_DW.is_active_c34_kb3_autopilot == 0U) { - SIL_DW.is_active_c34_kb3_autopilot = 1U; - SIL_DW.is_c34_kb3_autopilot = SIL_IN_Idle_e; - } else if (SIL_DW.is_c34_kb3_autopilot == SIL_IN_Idle_e) { + if (SIL_DW.is_active_c36_kb3_autopilot == 0U) { + SIL_DW.is_active_c36_kb3_autopilot = 1U; + SIL_DW.is_c36_kb3_autopilot = SIL_IN_Idle_e; + } else if (SIL_DW.is_c36_kb3_autopilot == SIL_IN_Idle_e) { if (SIL_sf_msg_pop_command_ack_queue()) { SIL_B.command_ack = *(mavlink_command_ack_t *) SIL_DW.command_ack_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/cmd_ack_enc' */ - /* S-Function (mav_command_ack_encode): '/mav_command_ack_enc' incorporates: + /* Outputs for Function Call SubSystem: '/cmd_ack_enc' */ + /* S-Function (mav_command_ack_encode): '/mav_command_ack_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20255,13 +21215,13 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/cmd_ack_enc' */ + /* End of Outputs for SubSystem: '/cmd_ack_enc' */ } else if (SIL_sf_msg_pop_mission_cur_queue()) { SIL_B.mission_cur = *(mavlink_mission_current_t *) SIL_DW.mission_cur_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/mission_cur_enc' */ - /* S-Function (mav_mission_current_encode): '/mav_mission_current_enc' incorporates: + /* Outputs for Function Call SubSystem: '/mission_cur_enc' */ + /* S-Function (mav_mission_current_encode): '/mav_mission_current_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20269,13 +21229,13 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/mission_cur_enc' */ + /* End of Outputs for SubSystem: '/mission_cur_enc' */ } else if (SIL_sf_msg_pop_mission_cnt_queue()) { SIL_B.mission_cnt = *(mavlink_mission_count_t *) SIL_DW.mission_cnt_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/mission_cnt_enc' */ - /* S-Function (mav_mission_count_encode): '/mav_mission_count_enc' incorporates: + /* Outputs for Function Call SubSystem: '/mission_cnt_enc' */ + /* S-Function (mav_mission_count_encode): '/mav_mission_count_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20283,13 +21243,13 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/mission_cnt_enc' */ + /* End of Outputs for SubSystem: '/mission_cnt_enc' */ } else if (SIL_sf_msg_pop_mission_item_int_queue()) { SIL_B.mission_item_int = *(mavlink_mission_item_int_t *) SIL_DW.mission_item_int_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/mission_item_int_enc' */ - /* S-Function (mav_mission_item_int_encode): '/mav_mission_item_int_enc' incorporates: + /* Outputs for Function Call SubSystem: '/mission_item_int_enc' */ + /* S-Function (mav_mission_item_int_encode): '/mav_mission_item_int_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20297,42 +21257,42 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/mission_item_int_enc' */ + /* End of Outputs for SubSystem: '/mission_item_int_enc' */ } else if (SIL_sf_msg_pop_mission_ack_queue()) { - SIL_B.mission_ack_g = *(mavlink_mission_ack_t *) + SIL_B.mission_ack_h = *(mavlink_mission_ack_t *) SIL_DW.mission_ack_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/mission_ack_enc' */ - /* S-Function (mav_mission_ack_encode): '/mav_mission_ack_enc' incorporates: + /* Outputs for Function Call SubSystem: '/mission_ack_enc' */ + /* S-Function (mav_mission_ack_encode): '/mav_mission_ack_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ - mav_mission_ack_encode_Outputs_wrapper(&SIL_B.mission_ack_g, + mav_mission_ack_encode_Outputs_wrapper(&SIL_B.mission_ack_h, &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/mission_ack_enc' */ + /* End of Outputs for SubSystem: '/mission_ack_enc' */ } else if (SIL_sf_msg_pop_mission_req_int_queue()) { - SIL_B.mission_req_int_b = *(mavlink_mission_request_int_t *) + SIL_B.mission_req_int_f = *(mavlink_mission_request_int_t *) SIL_DW.mission_req_int_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/mission_req_int_enc' */ - /* S-Function (mav_mission_request_int_encode): '/mav_mission_request_int_enc' incorporates: + /* Outputs for Function Call SubSystem: '/mission_req_int_enc' */ + /* S-Function (mav_mission_request_int_encode): '/mav_mission_request_int_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ mav_mission_request_int_encode_Outputs_wrapper - (&SIL_B.mission_req_int_b, &SIL_B.DataTypeConversion, + (&SIL_B.mission_req_int_f, &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/mission_req_int_enc' */ + /* End of Outputs for SubSystem: '/mission_req_int_enc' */ } else if (SIL_sf_msg_pop_param_val_queue()) { SIL_B.param_val = *(mavlink_param_value_t *) SIL_DW.param_val_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/param_val_enc' */ - /* S-Function (mav_param_value_encode): '/mav_param_value_enc' incorporates: + /* Outputs for Function Call SubSystem: '/param_val_enc' */ + /* S-Function (mav_param_value_encode): '/mav_param_value_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20340,43 +21300,43 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/param_val_enc' */ + /* End of Outputs for SubSystem: '/param_val_enc' */ } else if (SIL_sf_msg_pop_ap_ver_queue()) { - SIL_B.ap_ver_b = *(mavlink_autopilot_version_t *) + SIL_B.ap_ver_o = *(mavlink_autopilot_version_t *) SIL_DW.ap_ver_queue_msgDataPtr; - /* Outputs for Function Call SubSystem: '/ap_ver_enc' */ - /* S-Function (mav_autopilot_version_encode): '/mav_autopilot_version_enc' incorporates: + /* Outputs for Function Call SubSystem: '/ap_ver_enc' */ + /* S-Function (mav_autopilot_version_encode): '/mav_autopilot_version_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ - mav_autopilot_version_encode_Outputs_wrapper(&SIL_B.ap_ver_b, + mav_autopilot_version_encode_Outputs_wrapper(&SIL_B.ap_ver_o, &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/ap_ver_enc' */ + /* End of Outputs for SubSystem: '/ap_ver_enc' */ } else { - /* Outputs for Function Call SubSystem: '/loop_download' */ - /* UnitDelay: '/Unit Delay' */ - rtb_Rem = SIL_DW.UnitDelay_DSTATE_b; + /* Outputs for Function Call SubSystem: '/loop_download' */ + /* UnitDelay: '/Unit Delay' */ + rtb_Rem = SIL_DW.UnitDelay_DSTATE_b4; - /* Sum: '/Sum' incorporates: - * Constant: '/Constant' - * UnitDelay: '/Unit Delay' + /* Sum: '/Sum' incorporates: + * Constant: '/Constant' + * UnitDelay: '/Unit Delay' */ - SIL_DW.UnitDelay_DSTATE_b++; + SIL_DW.UnitDelay_DSTATE_b4++; - /* Math: '/Rem' */ + /* Math: '/Rem' */ rtb_Rem = (uint8_T)(rtb_Rem % 21); - /* SwitchCase: '/Switch Case' */ + /* SwitchCase: '/Switch Case' */ switch (rtb_Rem) { case 1: - /* Outputs for IfAction SubSystem: '/ccm_state' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/ccm_state' incorporates: + * ActionPort: '/Action Port' */ - /* BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' incorporates: - * DataTypeConversion: '/Data Type Conversion' + /* BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' incorporates: + * DataTypeConversion: '/Data Type Conversion' */ SIL_B.BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1_h.time_boot_ms = SIL_B.Merge.boot_time; @@ -20401,7 +21361,7 @@ void SIL_step(void) SIL_B.BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1_h.echo_seq = (uint8_T)SIL_B.seq_f; - /* S-Function (ccm_state_enc): '/S-Function' incorporates: + /* S-Function (ccm_state_enc): '/S-Function' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20410,25 +21370,25 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/ccm_state' */ + /* End of Outputs for SubSystem: '/ccm_state' */ break; case 0: case 8: case 15: - /* Outputs for IfAction SubSystem: '/attitude_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/attitude_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ SIL_B.att.time_boot_ms = SIL_B.Merge.boot_time; - SIL_B.att.roll = SIL_B.BusAssignment_e.phi; - SIL_B.att.pitch = SIL_B.BusAssignment_e.tht; - SIL_B.att.yaw = SIL_B.BusAssignment_e.psi; - SIL_B.att.rollspeed = SIL_B.BusAssignment_e.p; - SIL_B.att.pitchspeed = SIL_B.BusAssignment_e.q; - SIL_B.att.yawspeed = SIL_B.BusAssignment_e.r; + SIL_B.att.roll = SIL_B.BusAssignment_j.phi; + SIL_B.att.pitch = SIL_B.BusAssignment_j.tht; + SIL_B.att.yaw = SIL_B.BusAssignment_j.psi; + SIL_B.att.rollspeed = SIL_B.BusAssignment_j.p; + SIL_B.att.pitchspeed = SIL_B.BusAssignment_j.q; + SIL_B.att.yawspeed = SIL_B.BusAssignment_j.r; - /* S-Function (mav_attitude_encode): '/mav_attitude_enc' incorporates: + /* S-Function (mav_attitude_encode): '/mav_attitude_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20436,30 +21396,29 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/attitude_enc' */ + /* End of Outputs for SubSystem: '/attitude_enc' */ break; case 2: - case 13: - /* Outputs for IfAction SubSystem: '/glb_pos_int_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/glb_pos_int_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ SIL_B.ins.time_boot_ms = SIL_B.Merge.boot_time; - SIL_B.ins.lat = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_e.lat * + SIL_B.ins.lat = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_j.lat * 1.0E+7); - SIL_B.ins.lon = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_e.lon * + SIL_B.ins.lon = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_j.lon * 1.0E+7); - SIL_B.ins.alt = (int32_T)roundf(SIL_B.BusAssignment_e.msl * 1000.0F); - SIL_B.ins.relative_alt = (int32_T)roundf((SIL_B.BusAssignment_e.msl + SIL_B.ins.alt = (int32_T)roundf(SIL_B.BusAssignment_j.msl * 1000.0F); + SIL_B.ins.relative_alt = (int32_T)roundf((SIL_B.BusAssignment_j.msl - SIL_B.Merge.base_asl) * 1000.0F); - SIL_B.ins.vx = (int16_T)roundf(SIL_B.BusAssignment_e.v_n * 100.0F); - SIL_B.ins.vy = (int16_T)roundf(SIL_B.BusAssignment_e.v_e * 100.0F); - SIL_B.ins.vz = (int16_T)roundf(SIL_B.BusAssignment_e.v_d * 100.0F); + SIL_B.ins.vx = (int16_T)roundf(SIL_B.BusAssignment_j.v_n * 100.0F); + SIL_B.ins.vy = (int16_T)roundf(SIL_B.BusAssignment_j.v_e * 100.0F); + SIL_B.ins.vz = (int16_T)roundf(SIL_B.BusAssignment_j.v_d * 100.0F); SIL_B.ins.hdg = (uint16_T)roundf(SIL_get_yaw - (SIL_B.BusAssignment_e.psi)); + (SIL_B.BusAssignment_j.psi)); - /* S-Function (mav_global_position_int_encode): '/mav_global_position_int_enc' incorporates: + /* S-Function (mav_global_position_int_encode): '/mav_global_position_int_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20467,74 +21426,74 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/glb_pos_int_enc' */ + /* End of Outputs for SubSystem: '/glb_pos_int_enc' */ break; case 3: - /* Outputs for IfAction SubSystem: '/gps_raw_int_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/gps_raw_int_enc' incorporates: + * ActionPort: '/Action Port' */ - SIL_B.gps.time_usec = SIL_B.BusAssignment_e.TOW; - SIL_B.gps.fix_type = rtb_Switch_dn; - SIL_B.gps.lat = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_e.lat * + SIL_B.gps.time_usec = SIL_B.BusAssignment_j.TOW; + SIL_B.gps.fix_type = mode; + SIL_B.gps.lat = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_j.lat * 1.0E+7); - SIL_B.gps.lon = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_e.lon * + SIL_B.gps.lon = (int32_T)rt_roundd_snf(SIL_B.BusAssignment_j.lon * 1.0E+7); - SIL_B.gps.alt = (int32_T)roundf(SIL_B.BusAssignment_e.msl * 1000.0F); - SIL_B.gps.eph = SIL_B.BusAssignment_e.HDOP; - SIL_B.gps.epv = SIL_B.BusAssignment_e.VDOP; - SIL_B.vn = SIL_B.BusAssignment_e.v_n; - SIL_B.ve = SIL_B.BusAssignment_e.v_e; + SIL_B.gps.alt = (int32_T)roundf(SIL_B.BusAssignment_j.msl * 1000.0F); + SIL_B.gps.eph = SIL_B.BusAssignment_j.HDOP; + SIL_B.gps.epv = SIL_B.BusAssignment_j.VDOP; + SIL_B.vn = SIL_B.BusAssignment_j.v_n; + SIL_B.ve = SIL_B.BusAssignment_j.v_e; - /* Chart: '/Chart' incorporates: - * SubSystem: '/get_vel' + /* Chart: '/Chart' incorporates: + * SubSystem: '/get_vel' */ - /* Sqrt: '/Sqrt' incorporates: - * Math: '/Math Function' - * Math: '/Math Function1' - * Sum: '/Sum' + /* Sqrt: '/Sqrt' incorporates: + * Math: '/Math Function' + * Math: '/Math Function1' + * Sum: '/Sum' */ SIL_B.Sqrt = sqrtf(SIL_B.vn * SIL_B.vn + SIL_B.ve * SIL_B.ve); SIL_B.gps.vel = (uint16_T)roundf(SIL_B.Sqrt * 100.0F); - SIL_B.vn_g = SIL_B.BusAssignment_e.v_n; - SIL_B.ve_p = SIL_B.BusAssignment_e.v_e; + SIL_B.vn_g = SIL_B.BusAssignment_j.v_n; + SIL_B.ve_d = SIL_B.BusAssignment_j.v_e; - /* Chart: '/Chart' incorporates: - * SubSystem: '/get_cog' + /* Chart: '/Chart' incorporates: + * SubSystem: '/get_cog' */ - /* Gain: '/Gain' incorporates: - * Trigonometry: '/Trigonometric Function' + /* Gain: '/Gain' incorporates: + * Trigonometry: '/Trigonometric Function' */ - SIL_B.Merge_f = 57.2957802F * rt_atan2f_snf(SIL_B.ve_p, SIL_B.vn_g); + SIL_B.Merge_f = 57.2957802F * rt_atan2f_snf(SIL_B.ve_d, SIL_B.vn_g); - /* If: '/If' */ + /* If: '/If' */ if (SIL_B.Merge_f < 0.0F) { - /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/If Action Subsystem1' incorporates: + * ActionPort: '/Action Port' */ - /* Sum: '/Sum' incorporates: - * Constant: '/Constant' + /* Sum: '/Sum' incorporates: + * Constant: '/Constant' */ SIL_B.Merge_f += 360.0F; - /* End of Outputs for SubSystem: '/If Action Subsystem1' */ + /* End of Outputs for SubSystem: '/If Action Subsystem1' */ } - /* End of If: '/If' */ + /* End of If: '/If' */ SIL_B.gps.cog = (uint16_T)roundf(SIL_B.Merge_f * 100.0F); - SIL_B.gps.satellites_visible = SIL_B.BusAssignment_e.satnum; + SIL_B.gps.satellites_visible = SIL_B.BusAssignment_j.satnum; SIL_B.gps.alt_ellipsoid = (int32_T)roundf - (SIL_B.BusAssignment_e.alt_ellipsoid * 1000.0F); - SIL_B.gps.h_acc = (uint32_T)roundf(SIL_B.BusAssignment_e.h_acc * + (SIL_B.BusAssignment_j.alt_ellipsoid * 1000.0F); + SIL_B.gps.h_acc = (uint32_T)roundf(SIL_B.BusAssignment_j.h_acc * 1000.0F); - SIL_B.gps.v_acc = (uint32_T)roundf(SIL_B.BusAssignment_e.v_acc * + SIL_B.gps.v_acc = (uint32_T)roundf(SIL_B.BusAssignment_j.v_acc * 1000.0F); - SIL_B.gps.vel_acc = (uint32_T)roundf(SIL_B.BusAssignment_e.vel_acc * + SIL_B.gps.vel_acc = (uint32_T)roundf(SIL_B.BusAssignment_j.vel_acc * 1000.0F); - SIL_B.gps.hdg_acc = (uint32_T)roundf(SIL_B.BusAssignment_e.hdg_acc * + SIL_B.gps.hdg_acc = (uint32_T)roundf(SIL_B.BusAssignment_j.hdg_acc * 5.73E+6F); - /* S-Function (mav_gps_raw_int_encode): '/mav_gps_raw_int_enc' incorporates: + /* S-Function (mav_gps_raw_int_encode): '/mav_gps_raw_int_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20542,17 +21501,17 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/gps_raw_int_enc' */ + /* End of Outputs for SubSystem: '/gps_raw_int_enc' */ break; case 4: case 11: case 18: - /* Outputs for IfAction SubSystem: '/svo_out_raw_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/svo_out_raw_enc' incorporates: + * ActionPort: '/Action Port' */ - /* SignalConversion: '/TmpSignal ConversionAt SFunction Inport3' incorporates: - * Chart: '/Chart' + /* SignalConversion: '/TmpSignal ConversionAt SFunction Inport3' incorporates: + * Chart: '/Chart' */ SIL_B.TmpSignalConversionAtSFunctionInport3[0] = SIL_B.DataTypeConversion1_nd; @@ -20565,17 +21524,16 @@ void SIL_step(void) SIL_B.TmpSignalConversionAtSFunctionInport3[4] = SIL_B.DataTypeConversion1_c; SIL_B.TmpSignalConversionAtSFunctionInport3[5] = SIL_B.Sum_lp; - SIL_B.TmpSignalConversionAtSFunctionInport3[6] = SIL_B.if_i; + SIL_B.TmpSignalConversionAtSFunctionInport3[6] = 0U; SIL_B.TmpSignalConversionAtSFunctionInport3[7] = 0U; SIL_B.TmpSignalConversionAtSFunctionInport3[8] = 0U; - SIL_B.TmpSignalConversionAtSFunctionInport3[9] = 0U; - for (idx = 0; idx < 6; idx++) { - SIL_B.TmpSignalConversionAtSFunctionInport3[idx + 10] = 0U; + for (idx = 0; idx < 7; idx++) { + SIL_B.TmpSignalConversionAtSFunctionInport3[idx + 9] = 0U; } - /* End of SignalConversion: '/TmpSignal ConversionAt SFunction Inport3' */ + /* End of SignalConversion: '/TmpSignal ConversionAt SFunction Inport3' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ SIL_B.servos.time_usec = SIL_B.Merge.boot_time; SIL_B.servos.port = SIL_DW.port_num; SIL_B.servos.servo1_raw = SIL_get_pwm_by_ch((uint8_T)((uint8_T) @@ -20616,7 +21574,7 @@ void SIL_step(void) SIL_DW.port_num = 0U; } - /* S-Function (mav_servo_output_raw_encode): '/mav_servo_output_raw_enc' incorporates: + /* S-Function (mav_servo_output_raw_encode): '/mav_servo_output_raw_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20624,15 +21582,15 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/svo_out_raw_enc' */ + /* End of Outputs for SubSystem: '/svo_out_raw_enc' */ break; case 6: case 17: - /* Outputs for IfAction SubSystem: '/nav_ctrl_out_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/nav_ctrl_out_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' incorporates: + /* Chart: '/Chart' incorporates: * UnitDelay: '/Unit Delay' */ SIL_B.nav.nav_roll = SIL_B.Merge.phi_c * 57.3F; @@ -20646,7 +21604,7 @@ void SIL_step(void) SIL_B.nav.aspd_error = SIL_B.Merge.aspd_error; SIL_B.nav.xtrack_error = SIL_DW.UnitDelay_DSTATE.horiz_offset; - /* S-Function (mav_nav_controller_output_encode): '/mav_nav_controller_output_enc' incorporates: + /* S-Function (mav_nav_controller_output_encode): '/mav_nav_controller_output_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20654,49 +21612,52 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/nav_ctrl_out_enc' */ + /* End of Outputs for SubSystem: '/nav_ctrl_out_enc' */ break; case 5: - /* Outputs for IfAction SubSystem: '/scal_pres_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/emb_atmo_com_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ - SIL_B.pres.time_boot_ms = SIL_B.Merge.boot_time; - SIL_B.pres.press_abs = SIL_B.BusAssignment_e.baro * 0.01F; - SIL_B.pres.press_diff = SIL_B.BusAssignment_e.qbar * 0.01F; - SIL_B.pres.temperature = (int16_T)roundf(SIL_B.BusAssignment_e.temp * - 100.0F); + /* Chart: '/Chart' */ + SIL_B.atmos.time_boot_ms = SIL_B.Merge.boot_time; + SIL_B.atmos.ps = SIL_B.BusAssignment_j.baro; + SIL_B.atmos.qbar = SIL_B.BusAssignment_j.qbar; + SIL_B.atmos.alpha = SIL_B.BusAssignment_j.alpha * 57.3F; + SIL_B.atmos.beta = SIL_B.BusAssignment_j.beta * 57.3F; + SIL_B.atmos.Airspeed = SIL_B.BusAssignment_j.TAS; + SIL_B.atmos.mach = SIL_B.BusAssignment_j.Mach; + SIL_B.atmos.seq = (uint8_T)roundf(SIL_B.BusAssignment_j.temp); - /* S-Function (mav_scaled_pressure_encode): '/mav_scaled_pressure_enc' incorporates: + /* S-Function (mav_emb_atmo_com_encode): '/mav_emb_atmo_com_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ - mav_scaled_pressure_encode_Outputs_wrapper(&SIL_B.pres, + mav_emb_atmo_com_encode_Outputs_wrapper(&SIL_B.atmos, &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/scal_pres_enc' */ + /* End of Outputs for SubSystem: '/emb_atmo_com_enc' */ break; case 9: case 19: - /* Outputs for IfAction SubSystem: '/vfr_hud_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/vfr_hud_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' incorporates: + /* Chart: '/Chart' incorporates: * UnitDelay: '/Unit Delay' */ - SIL_B.hud.airspeed = SIL_B.BusAssignment_e.IAS; + SIL_B.hud.airspeed = SIL_B.BusAssignment_j.IAS; SIL_B.hud.groundspeed = SIL_DW.UnitDelay_DSTATE.v_g; SIL_B.hud.heading = (int16_T)roundf(SIL_get_yaw (SIL_DW.UnitDelay_DSTATE.psi_t)); SIL_B.hud.throttle = (uint16_T)roundf(SIL_B.Merge.throttle_c * 100.0F); - SIL_B.hud.alt = SIL_B.BusAssignment_e.msl; + SIL_B.hud.alt = SIL_B.BusAssignment_j.msl; SIL_B.hud.climb = SIL_DW.UnitDelay_DSTATE.hdot; - /* S-Function (mav_vfr_hud_encode): '/mav_vfr_hud_enc' incorporates: + /* S-Function (mav_vfr_hud_encode): '/mav_vfr_hud_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20704,51 +21665,51 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/vfr_hud_enc' */ + /* End of Outputs for SubSystem: '/vfr_hud_enc' */ break; case 7: - /* Outputs for IfAction SubSystem: '/sys_stat_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/sys_stat_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ SIL_B.sys_status.onboard_control_sensors_present = - SIL_B.BusAssignment_e.sensors_present; + SIL_B.BusAssignment_j.sensors_present; SIL_B.sys_status.onboard_control_sensors_enabled = - SIL_B.BusAssignment_e.sensors_enabled; + SIL_B.BusAssignment_j.sensors_enabled; SIL_B.sys_status.onboard_control_sensors_health = - SIL_B.BusAssignment_e.sensors_health; - SIL_B.sys_status.load = SIL_B.BusAssignment_e.load; + SIL_B.BusAssignment_j.sensors_health; + SIL_B.sys_status.load = SIL_B.BusAssignment_j.load; SIL_B.sys_status.voltage_battery = - SIL_B.BusAssignment_e.voltage_battery; + SIL_B.BusAssignment_j.voltage_battery; SIL_B.sys_status.current_battery = - SIL_B.BusAssignment_e.current_battery; + SIL_B.BusAssignment_j.current_battery; SIL_B.sys_status.battery_remaining = - SIL_B.BusAssignment_e.battery_remaining; + SIL_B.BusAssignment_j.battery_remaining; - /* Product: '/Divide' incorporates: - * Constant: '/Constant' + /* Product: '/Divide' incorporates: + * Constant: '/Constant' */ - x = 1000U * SIL_B.mav_status.packet_rx_drop_count; - if (x > 65535U) { - x = 65535U; + rtb_out_ac = 1000U * SIL_B.mav_status.packet_rx_drop_count; + if (rtb_out_ac > 65535U) { + rtb_out_ac = 65535U; } - /* Chart: '/Chart' incorporates: - * Constant: '/Constant1' - * Product: '/Divide' - * Sum: '/Sum' + /* Chart: '/Chart' incorporates: + * Constant: '/Constant1' + * Product: '/Divide' + * Sum: '/Sum' */ - SIL_B.sys_status.drop_rate_comm = (uint16_T)(x / (((uint32_T) - SIL_B.mav_status.packet_rx_drop_count + - SIL_B.mav_status.packet_rx_success_count) + 1U)); + SIL_B.sys_status.drop_rate_comm = (uint16_T)(rtb_out_ac / + (((uint32_T)SIL_B.mav_status.packet_rx_drop_count + + SIL_B.mav_status.packet_rx_success_count) + 1U)); SIL_B.sys_status.errors_comm = SIL_B.mav_status.packet_rx_drop_count; - SIL_B.sys_status.errors_count1 = SIL_B.BusAssignment_e.errors_count1; - SIL_B.sys_status.errors_count2 = SIL_B.BusAssignment_e.errors_count2; - SIL_B.sys_status.errors_count3 = SIL_B.BusAssignment_e.errors_count3; - SIL_B.sys_status.errors_count4 = SIL_B.BusAssignment_e.errors_count4; + SIL_B.sys_status.errors_count1 = SIL_B.BusAssignment_j.errors_count1; + SIL_B.sys_status.errors_count2 = SIL_B.BusAssignment_j.errors_count2; + SIL_B.sys_status.errors_count3 = SIL_B.BusAssignment_j.errors_count3; + SIL_B.sys_status.errors_count4 = SIL_B.BusAssignment_j.errors_count4; - /* S-Function (mav_sys_status_encode): '/mav_sys_status_enc' incorporates: + /* S-Function (mav_sys_status_encode): '/mav_sys_status_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20756,18 +21717,18 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/sys_stat_enc' */ + /* End of Outputs for SubSystem: '/sys_stat_enc' */ break; case 10: - /* Outputs for IfAction SubSystem: '/ext_sys_stat_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/ext_sys_stat_enc' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' */ + /* Chart: '/Chart' */ SIL_B.ext_sys_stat.vtol_state = (uint8_T)SIL_B.Merge.vtol_state; SIL_B.ext_sys_stat.landed_state = (uint8_T)SIL_B.Merge.landed_state; - /* S-Function (mav_ext_sys_stat_encode): '/mav_ext_sys_stat_enc' incorporates: + /* S-Function (mav_ext_sys_stat_encode): '/mav_ext_sys_stat_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20775,56 +21736,109 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/ext_sys_stat_enc' */ + /* End of Outputs for SubSystem: '/ext_sys_stat_enc' */ break; case 12: - /* Outputs for IfAction SubSystem: '/rc_chan_raw_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/ins1_state' incorporates: + * ActionPort: '/Action Port' */ - /* Chart: '/Chart' incorporates: - * DataTypeConversion: '/Data Type Conversion' - * DataTypeConversion: '/Data Type Conversion1' - * DataTypeConversion: '/Data Type Conversion3' - * DataTypeConversion: '/Data Type Conversion4' + /* DataTypeConversion: '/Data Type Conversion2' incorporates: + * Logic: '/not' + * S-Function (sfix_bitop): '/Bitwise AND1' */ - SIL_B.rc_channels.time_boot_ms = SIL_B.Merge.boot_time; - SIL_B.rc_channels.port = SIL_B.Merge.rc.id; - SIL_B.rc_channels.chan1_raw = (uint16_T)roundf - (SIL_B.Merge.rc.roll_cmd * 400.0F + 1500.0F); - SIL_B.rc_channels.chan2_raw = (uint16_T)roundf - (SIL_B.Merge.rc.pitch_cmd * 400.0F + 1500.0F); - SIL_B.rc_channels.chan3_raw = (uint16_T)roundf - (SIL_B.Merge.rc.throttle_cmd * 800.0F + 1100.0F); - SIL_B.rc_channels.chan4_raw = (uint16_T)roundf - (SIL_B.Merge.rc.yaw_cmd * 400.0F + 1500.0F); - SIL_B.rc_channels.chan5_raw = (uint16_T)((uint16_T) - (SIL_B.Merge.rc.auto_mode * 400) + 1100); - SIL_B.rc_channels.chan6_raw = (uint16_T)((uint16_T) - (SIL_B.Merge.rc.aux_mode * 400) + 1100); - SIL_B.rc_channels.chan7_raw = (uint16_T)roundf(SIL_B.Merge.rc.flap * - 800.0F + 1100.0F); - SIL_B.rc_channels.chan8_raw = (uint16_T)(SIL_B.Merge.rc.brake * 800 - + 1100); - SIL_B.rc_channels.chan9_raw = (uint16_T)(SIL_B.Merge.rc.gear_up * - 800 + 1100); + rtb_Rem = (uint8_T)((SIL_B.gps_pos_status_d & 63U) == 0U); - /* S-Function (mav_rc_channels_raw_encode): '/mav_rc_channels_raw_enc' incorporates: + /* Chart: '/fixtype' */ + SIL_fixtype(SIL_B.gps_pos_status_d, &rtb_fixtype_e); + + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' + * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * DataTypeConversion: '/Data Type Conversion3' + * Gain: '/Gain' + * Gain: '/Gain1' + * Gain: '/Gain2' + * Gain: '/Gain3' + * Gain: '/Gain4' + * Gain: '/Gain5' + * Gain: '/Gain6' + * Gain: '/Gain' + * Sum: '/Sum' + */ + SIL_B.BusAssignment_i = SIL_rtZmavlink_ins1_t; + SIL_B.BusAssignment_i.time_boot_ms = SIL_B.Merge.boot_time; + SIL_B.BusAssignment_i.pitch = SIL_B.eulers_f[0]; + SIL_B.BusAssignment_i.roll = SIL_B.eulers_f[1]; + SIL_B.BusAssignment_i.yaw = SIL_B.eulers_f[2]; + SIL_B.BusAssignment_i.lon = SIL_B.LLA_i[0]; + SIL_B.BusAssignment_i.lat = SIL_B.LLA_i[1]; + SIL_B.BusAssignment_i.alt = (real32_T)SIL_B.LLA_i[2]; + SIL_B.BusAssignment_i.v_north = SIL_B.vel_ned_ma[0]; + SIL_B.BusAssignment_i.v_east = SIL_B.vel_ned_ma[1]; + SIL_B.BusAssignment_i.v_up = -SIL_B.vel_ned_ma[2]; + SIL_B.BusAssignment_i.gx = 57.2957802F * SIL_B.pqr_i[0]; + SIL_B.BusAssignment_i.gy = 57.2957802F * SIL_B.pqr_i[1]; + SIL_B.BusAssignment_i.gz = 57.2957802F * SIL_B.pqr_i[2]; + SIL_B.BusAssignment_i.ax = SIL_B.Accels_f[0]; + SIL_B.BusAssignment_i.ay = SIL_B.Accels_f[1]; + SIL_B.BusAssignment_i.az = SIL_B.Accels_f[2]; + SIL_B.BusAssignment_i.time = ((((1.0000007168E+10 * (real_T) + SIL_B.year_k + 1.00139008E+8 * (real_T)SIL_B.month_p) + 999424.0 * + (real_T)SIL_B.day_m) + 9984.0 * (real_T)SIL_B.hour_c) + 100.0 * + (real_T)SIL_B.min_f) + (real_T)SIL_B.sec_a; + SIL_B.BusAssignment_i.sys_status = rtb_Rem; + SIL_B.BusAssignment_i.com_status = rtb_Rem; + SIL_B.BusAssignment_i.gps_status = (uint8_T)rtb_fixtype_e; + SIL_B.BusAssignment_i.BIT = 0U; + SIL_B.BusAssignment_i.seq = (uint8_T)SIL_B.good_n; + + /* Gain: '/Gain7' */ + radius = floorf(100.0F * SIL_B.LLA_acc_m[0]); + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 65536.0F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain7' + */ + SIL_B.BusAssignment_i.eph = (uint16_T)(radius < 0.0F ? (int32_T) + (uint16_T)-(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); + + /* Gain: '/Gain8' */ + radius = floorf(100.0F * SIL_B.LLA_acc_m[2]); + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 65536.0F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain8' + */ + SIL_B.BusAssignment_i.epv = (uint16_T)(radius < 0.0F ? (int32_T) + (uint16_T)-(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); + SIL_B.BusAssignment_i.satellites_visible = SIL_B.sv_used_d; + + /* S-Function (mav_ins1_encode): '/mav_ins1_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ - mav_rc_channels_raw_encode_Outputs_wrapper(&SIL_B.rc_channels, + mav_ins1_encode_Outputs_wrapper(&SIL_B.BusAssignment_i, &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/rc_chan_raw_enc' */ + /* End of Outputs for SubSystem: '/ins1_state' */ break; case 14: - /* Outputs for IfAction SubSystem: '/turbine_state' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/turbine_state' incorporates: + * ActionPort: '/Action Port' */ - /* S-Function (turbine_state_enc): '/S-Function' incorporates: + /* S-Function (turbine_state_enc): '/S-Function' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20833,14 +21847,14 @@ void SIL_step(void) &rtCP_ConstantBP1_Value_g, &SIL_B.Merge.boot_time, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/turbine_state' */ + /* End of Outputs for SubSystem: '/turbine_state' */ break; case 16: - /* Outputs for IfAction SubSystem: '/bmu_state' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/bmu_state' incorporates: + * ActionPort: '/Action Port' */ - /* BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' */ + /* BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' */ SIL_B.BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1.time_boot_ms = SIL_B.Merge.boot_time; SIL_B.BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1.BAT1_group_voltage_mv @@ -20892,9 +21906,9 @@ void SIL_step(void) SIL_B.BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1.p500w_enabled = SIL_B.P500w_enabled; - /* End of BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' */ + /* End of BusCreator: '/BusConversion_InsertedFor_S-Function_at_inport_0' */ - /* S-Function (bmu_state_enc): '/S-Function' incorporates: + /* S-Function (bmu_state_enc): '/S-Function' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20903,23 +21917,118 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/bmu_state' */ + /* End of Outputs for SubSystem: '/bmu_state' */ + break; + + case 13: + /* Outputs for IfAction SubSystem: '/ins2_state' incorporates: + * ActionPort: '/Action Port' + */ + /* DataTypeConversion: '/Data Type Conversion2' incorporates: + * Logic: '/not' + * S-Function (sfix_bitop): '/Bitwise AND1' + */ + rtb_Rem = (uint8_T)((SIL_B.gps_pos_status & 63U) == 0U); + + /* Chart: '/fixtype' */ + SIL_fixtype(SIL_B.gps_pos_status, &rtb_fixtype); + + /* BusAssignment: '/Bus Assignment' incorporates: + * Constant: '/Constant' + * DataTypeConversion: '/Data Type Conversion' + * DataTypeConversion: '/Data Type Conversion1' + * DataTypeConversion: '/Data Type Conversion3' + * Gain: '/Gain' + * Gain: '/Gain1' + * Gain: '/Gain2' + * Gain: '/Gain3' + * Gain: '/Gain4' + * Gain: '/Gain5' + * Gain: '/Gain6' + * Gain: '/Gain' + * Sum: '/Sum' + */ + SIL_B.BusAssignment_p = SIL_rtZmavlink_ins2_t; + SIL_B.BusAssignment_p.time_boot_ms = SIL_B.Merge.boot_time; + SIL_B.BusAssignment_p.pitch = SIL_B.eulers[0]; + SIL_B.BusAssignment_p.roll = SIL_B.eulers[1]; + SIL_B.BusAssignment_p.yaw = SIL_B.eulers[2]; + SIL_B.BusAssignment_p.lon = SIL_B.LLA[0]; + SIL_B.BusAssignment_p.lat = SIL_B.LLA[1]; + SIL_B.BusAssignment_p.alt = (real32_T)SIL_B.LLA[2]; + SIL_B.BusAssignment_p.v_north = SIL_B.vel_ned[0]; + SIL_B.BusAssignment_p.v_east = SIL_B.vel_ned[1]; + SIL_B.BusAssignment_p.v_up = -SIL_B.vel_ned[2]; + SIL_B.BusAssignment_p.gx = 57.2957802F * SIL_B.pqr_e[0]; + SIL_B.BusAssignment_p.gy = 57.2957802F * SIL_B.pqr_e[1]; + SIL_B.BusAssignment_p.gz = 57.2957802F * SIL_B.pqr_e[2]; + SIL_B.BusAssignment_p.ax = SIL_B.Accels_a[0]; + SIL_B.BusAssignment_p.ay = SIL_B.Accels_a[1]; + SIL_B.BusAssignment_p.az = SIL_B.Accels_a[2]; + SIL_B.BusAssignment_p.time = ((((1.0000007168E+10 * (real_T) + SIL_B.year + 1.00139008E+8 * (real_T)SIL_B.month) + 999424.0 * + (real_T)SIL_B.day) + 9984.0 * (real_T)SIL_B.hour) + 100.0 * + (real_T)SIL_B.min) + (real_T)SIL_B.sec; + SIL_B.BusAssignment_p.sys_status = rtb_Rem; + SIL_B.BusAssignment_p.com_status = rtb_Rem; + SIL_B.BusAssignment_p.gps_status = (uint8_T)rtb_fixtype; + SIL_B.BusAssignment_p.BIT = 0U; + SIL_B.BusAssignment_p.seq = (uint8_T)SIL_B.good; + + /* Gain: '/Gain7' */ + radius = floorf(100.0F * SIL_B.LLA_acc[0]); + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 65536.0F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain7' + */ + SIL_B.BusAssignment_p.eph = (uint16_T)(radius < 0.0F ? (int32_T) + (uint16_T)-(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); + + /* Gain: '/Gain8' */ + radius = floorf(100.0F * SIL_B.LLA_acc[2]); + if (rtIsNaNF(radius) || rtIsInfF(radius)) { + radius = 0.0F; + } else { + radius = fmodf(radius, 65536.0F); + } + + /* BusAssignment: '/Bus Assignment' incorporates: + * Gain: '/Gain8' + */ + SIL_B.BusAssignment_p.epv = (uint16_T)(radius < 0.0F ? (int32_T) + (uint16_T)-(int16_T)(uint16_T)-radius : (int32_T)(uint16_T)radius); + SIL_B.BusAssignment_p.satellites_visible = SIL_B.sv_used; + + /* S-Function (mav_ins2_encode): '/mav_ins2_enc' incorporates: + * Constant: '/Constant BP' + * Constant: '/Constant BP1' + */ + mav_ins2_encode_Outputs_wrapper(&SIL_B.BusAssignment_p, + &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, + &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); + + /* End of Outputs for SubSystem: '/ins2_state' */ break; default: - /* Outputs for IfAction SubSystem: '/heartbeat_enc' incorporates: - * ActionPort: '/Action Port' + /* Outputs for IfAction SubSystem: '/heartbeat_enc' incorporates: + * ActionPort: '/Action Port' */ - /* S-Function (sfix_bitop): '/Bitwise Operator' */ + /* S-Function (sfix_bitop): '/Bitwise Operator' */ SIL_B.BitwiseOperator = 5U; - /* DataTypeConversion: '/Data Type Conversion' incorporates: - * Constant: '/Constant' + /* DataTypeConversion: '/Data Type Conversion' incorporates: + * Constant: '/Constant' */ SIL_B.DataTypeConversion_d = (uint8_T)MAV_AUTOPILOT_RESERVED; - /* Chart: '/Chart' incorporates: - * Constant: '/mav_autopilot_ZT' + /* Chart: '/Chart' incorporates: + * Constant: '/mav_autopilot_ZT' */ SIL_B.heartbeat.type = SIL_B.DataTypeConversion_d; SIL_B.heartbeat.autopilot = 19U; @@ -20927,7 +22036,7 @@ void SIL_step(void) SIL_B.heartbeat.custom_mode = SIL_get_mode(); SIL_B.heartbeat.system_status = SIL_get_status(); - /* S-Function (mav_heartbeat_encode): '/mav_heartbeat_enc' incorporates: + /* S-Function (mav_heartbeat_encode): '/mav_heartbeat_enc' incorporates: * Constant: '/Constant BP' * Constant: '/Constant BP1' */ @@ -20935,36 +22044,37 @@ void SIL_step(void) &SIL_B.DataTypeConversion, &rtCP_ConstantBP_Value_h, &rtCP_ConstantBP1_Value_g, &SIL_B.Merged_msg); - /* End of Outputs for SubSystem: '/heartbeat_enc' */ + /* End of Outputs for SubSystem: '/heartbeat_enc' */ break; } - /* End of Outputs for SubSystem: '/loop_download' */ + /* End of Outputs for SubSystem: '/loop_download' */ } - SIL_DW.is_c34_kb3_autopilot = SIL_IN_Wait; + SIL_DW.is_c36_kb3_autopilot = SIL_IN_Wait; SIL_DW.temporalCounter_i1 = 0U; - /* Outputs for Function Call SubSystem: '/Function-Call Subsystem' */ - /* S-Function (mav_msg2buff): '/mav_msg2buff' */ + /* Outputs for Function Call SubSystem: '/Function-Call Subsystem' */ + /* S-Function (mav_msg2buff): '/mav_msg2buff' */ mav_msg2buff_Outputs_wrapper(&SIL_B.Merged_msg, &SIL_B.mav_msg2buff_o1[0], &SIL_B.mav_msg2buff_o2, 256); - /* End of Outputs for SubSystem: '/Function-Call Subsystem' */ - SIL_B.seq_p++; - x = SIL_B.mav_msg2buff_o2 * 1000000U; + /* End of Outputs for SubSystem: '/Function-Call Subsystem' */ + SIL_B.seq_i++; + rtb_Merge_h_boot_time = SIL_B.mav_msg2buff_o2 * 1000000U; /* Constant: '/Constant BP2' */ if (transrate == 0U) { - if (x == 0U) { + if (rtb_Merge_h_boot_time == 0U) { SIL_DW.wait_time = 0U; } else { SIL_DW.wait_time = MAX_uint32_T; } } else { - SIL_DW.wait_time = x / transrate; - x -= SIL_DW.wait_time * transrate; - if ((x > 0U) && (x >= (transrate >> 1U) + (transrate & 1U))) { + SIL_DW.wait_time = rtb_Merge_h_boot_time / transrate; + rtb_Merge_h_boot_time -= SIL_DW.wait_time * transrate; + if ((rtb_Merge_h_boot_time > 0U) && (rtb_Merge_h_boot_time >= + (transrate >> 1U) + (transrate & 1U))) { SIL_DW.wait_time++; } } @@ -20973,7 +22083,7 @@ void SIL_step(void) } else { if ((uint32_T)((int32_T)SIL_DW.temporalCounter_i1 * 5000) >= SIL_DW.wait_time) { - SIL_DW.is_c34_kb3_autopilot = SIL_IN_Idle_e; + SIL_DW.is_c36_kb3_autopilot = SIL_IN_Idle_e; } } @@ -21011,12 +22121,11 @@ void SIL_step(void) rtb_pwms[3] = SIL_B.DataTypeConversion1_o; rtb_pwms[4] = SIL_B.DataTypeConversion1_c; rtb_pwms[5] = SIL_B.Sum_lp; - rtb_pwms[6] = SIL_B.if_i; + rtb_pwms[6] = 0U; rtb_pwms[7] = 0U; rtb_pwms[8] = 0U; - rtb_pwms[9] = 0U; - for (idx = 0; idx < 6; idx++) { - rtb_pwms[idx + 10] = 0U; + for (idx = 0; idx < 7; idx++) { + rtb_pwms[idx + 9] = 0U; } /* End of SignalConversion: '/TmpSignal ConversionAtDelayInport1' */ @@ -21263,6 +22372,18 @@ void SIL_step(void) /* End of If: '/If1' */ } + if (rtmIsMajorTimeStep(SIL_M) && + SIL_M->Timing.TaskCounters.TID[3] == 0) { + /* Sum: '/Sum' incorporates: + * UnitDelay: '/Unit Delay' + */ + for (idx = 0; idx < 5; idx++) { + SIL_DW.UnitDelay_DSTATE_hx[idx] = (uint8_T)(1U + SIL_B.UnitDelay_f[idx]); + } + + /* End of Sum: '/Sum' */ + } + /* Sum: '/Sum4' */ SIL_B.Sum4_p[0] = SIL_B.pqr[0] - SIL_B.Product3_nb[0]; SIL_B.Sum4_p[1] = SIL_B.pqr[1] - SIL_B.Product3_nb[1]; @@ -21619,7 +22740,7 @@ void SIL_step(void) if (rtmIsMajorTimeStep(SIL_M) && SIL_M->Timing.TaskCounters.TID[2] == 0) { /* Outport: '/seq' */ - SIL_Y.seq = SIL_B.seq_p; + SIL_Y.seq = SIL_B.seq_i; /* Outport: '/buff_len' */ SIL_Y.buff_len = SIL_B.mav_msg2buff_o2; @@ -21679,7 +22800,7 @@ void SIL_step(void) } /* Sum: '/Sum1' */ - SIL_B.Sum1_i = SIL_B.gain_j - SIL_B.Integrator_g; + SIL_B.Sum1_i = SIL_B.der - SIL_B.Integrator_g; /* Gain: '/Gain1' */ SIL_B.Gain1_b = 50.0 * SIL_B.Sum1_i; @@ -21705,7 +22826,7 @@ void SIL_step(void) SIL_B.Gain_e = 72.0 * SIL_B.Sum_hi; /* Sum: '/Sum1' */ - SIL_B.Sum1_e = SIL_B.gain_a - SIL_B.Integrator_a; + SIL_B.Sum1_e = SIL_B.del - SIL_B.Integrator_a; /* Gain: '/Gain1' */ SIL_B.Gain1_d = 50.0 * SIL_B.Sum1_e; @@ -21731,7 +22852,7 @@ void SIL_step(void) SIL_B.Gain_h = 72.0 * SIL_B.Sum_em; /* Sum: '/Sum1' */ - SIL_B.Sum1_l = SIL_B.gain_c - SIL_B.Integrator_j; + SIL_B.Sum1_l = SIL_B.dar - SIL_B.Integrator_j; /* Gain: '/Gain1' */ SIL_B.Gain1_m = 41.666666666666671 * SIL_B.Sum1_l; @@ -21757,7 +22878,7 @@ void SIL_step(void) SIL_B.Gain_b = 60.0 * SIL_B.Sum_fn; /* Sum: '/Sum1' */ - SIL_B.Sum1_k = SIL_B.gain - SIL_B.Integrator_p; + SIL_B.Sum1_k = SIL_B.dal - SIL_B.Integrator_p; /* Gain: '/Gain1' */ SIL_B.Gain1_k = 50.0 * SIL_B.Sum1_k; @@ -22124,22 +23245,22 @@ void SIL_initialize(void) SIL_B.BusAssignment = SIL_rtZC2; SIL_B.BusAssignment_g = SIL_rtZC2; SIL_B.mode = ENUM_mode_MANUAL; - SIL_B.mode_c = ENUM_mode_MANUAL; + SIL_B.mode_m = ENUM_mode_MANUAL; SIL_B.landed_state_out = ENUM_LANDED_STATE_UNDEFINED; - SIL_B.landed_state_out_p = ENUM_LANDED_STATE_UNDEFINED; + SIL_B.landed_state_out_j = ENUM_LANDED_STATE_UNDEFINED; SIL_B.CSAS_yaw = ENUM_CSAS_YAW_OFF; - SIL_B.CSAS_yaw_n = ENUM_CSAS_YAW_OFF; + SIL_B.CSAS_yaw_k = ENUM_CSAS_YAW_OFF; SIL_B.CSAS_roll = ENUM_CSAS_ROLL_OFF; - SIL_B.CSAS_roll_b = ENUM_CSAS_ROLL_OFF; + SIL_B.CSAS_roll_d = ENUM_CSAS_ROLL_OFF; SIL_B.CSAS_pitch = ENUM_CSAS_PITCH_OFF; - SIL_B.CSAS_pitch_m = ENUM_CSAS_PITCH_OFF; + SIL_B.CSAS_pitch_o = ENUM_CSAS_PITCH_OFF; SIL_B.AT = ENUM_AT_OFF; - SIL_B.AT_j = ENUM_AT_OFF; + SIL_B.AT_g = ENUM_AT_OFF; SIL_B.AFCS_VERT_out = ENUM_AFCS_VERT_OFF; SIL_B.AFCS_VERT = ENUM_AFCS_VERT_OFF; - SIL_B.AFCS_VERT_p = ENUM_AFCS_VERT_OFF; + SIL_B.AFCS_VERT_e = ENUM_AFCS_VERT_OFF; SIL_B.AFCS_LNAV = ENUM_AFCS_LAT_OFF; - SIL_B.AFCS_LNAV_i = ENUM_AFCS_LAT_OFF; + SIL_B.AFCS_LNAV_c = ENUM_AFCS_LAT_OFF; } /* custom signals */ @@ -22187,7 +23308,7 @@ void SIL_initialize(void) { /* local block i/o variables */ - real32_T rtb_out; + real32_T rtb_out_gz; real32_T rtb_out_f; real32_T rtb_out_d; int32_T i; @@ -22253,39 +23374,39 @@ void SIL_initialize(void) /* End of Start for SubSystem: '/dummy_INS' */ /* Start for Atomic SubSystem: '/kb3_autopilot' */ - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_queue_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_queue_at_inport_0' */ SIL_initQueue_k0qncuyo4n2((Queue_mavlink_message_t *) &SIL_DW.EntityQueue_InsertedFor_proc_queue_at_inport_0_Queue_mavlink_me, MSG_FIFO_QUEUE, 2, (Msg_mavlink_message_t *) &SIL_DW.EntityQueue_InsertedFor_proc_queue_at_inport_0_Msg_mavlink_mess[0]); - /* Start for If: '/If1' */ + /* Start for If: '/If1' */ SIL_DW.If1_ActiveSubsystem_j = -1; - /* Start for If: '/If1' */ + /* Start for If: '/If1' */ SIL_DW.If1_ActiveSubsystem_i = -1; - /* Start for SwitchCase: '/Switch Case' */ + /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_g = -1; - /* Start for IfAction SubSystem: '/operational' */ - /* Start for SwitchCase: '/Switch Case' */ + /* Start for IfAction SubSystem: '/operational' */ + /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_gm = -1; - /* Start for IfAction SubSystem: '/auto' */ - /* Start for SwitchCase: '/Switch Case' */ + /* Start for IfAction SubSystem: '/auto' */ + /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_a = -1; - /* Start for IfAction SubSystem: '/mission' */ - /* Start for SwitchCase: '/Switch Case' */ + /* Start for IfAction SubSystem: '/mission' */ + /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_gz = -1; - /* End of Start for SubSystem: '/mission' */ - /* End of Start for SubSystem: '/auto' */ - /* End of Start for SubSystem: '/operational' */ + /* End of Start for SubSystem: '/mission' */ + /* End of Start for SubSystem: '/auto' */ + /* End of Start for SubSystem: '/operational' */ /* Start for Atomic SubSystem: '/update_nav_info' */ - /* Start for SwitchCase: '/Switch Case' */ + /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_j = -1; /* End of Start for SubSystem: '/update_nav_info' */ @@ -22310,206 +23431,207 @@ void SIL_initialize(void) /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_f = -1; - /* Start for Atomic SubSystem: '/pitch' */ + /* Start for Atomic SubSystem: '/pitch' */ /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_l = -1; - /* End of Start for SubSystem: '/pitch' */ + /* End of Start for SubSystem: '/pitch' */ /* Start for SwitchCase: '/Switch Case' */ SIL_DW.SwitchCase_ActiveSubsystem_k = -1; - /* Start for Chart: '/proc_queue' incorporates: - * SubSystem: '/dec_and_proc_each' + /* Start for Chart: '/proc_queue' incorporates: + * SubSystem: '/dec_and_proc_each' */ - /* Start for IfAction SubSystem: '/param_req_get_dec' */ - /* Start for Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_param_req_read' + /* Start for IfAction SubSystem: '/param_req_get_dec' */ + /* Start for Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_param_req_read' */ - /* Start for Chart: '/Chart_proc_param_req_read' incorporates: - * SubSystem: '/find_idx' + /* Start for Chart: '/Chart_proc_param_req_read' incorporates: + * SubSystem: '/find_idx' */ - /* Start for S-Function (find_param_idx): '/find_idx_capi' */ + /* Start for S-Function (find_param_idx): '/find_idx_capi' */ - /* S-Function Block: /find_idx_capi */ + /* S-Function Block: /find_idx_capi */ find_param_idx_Start_wrapper(); - /* End of Start for SubSystem: '/param_req_get_dec' */ + /* End of Start for SubSystem: '/param_req_get_dec' */ - /* Start for IfAction SubSystem: '/param_set_dec' */ - /* Start for Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_param_set' + /* Start for IfAction SubSystem: '/param_set_dec' */ + /* Start for Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_param_set' */ - /* Start for Chart: '/Chart_proc_param_set' incorporates: - * SubSystem: '/set_val' + /* Start for Chart: '/Chart_proc_param_set' incorporates: + * SubSystem: '/set_val' */ - /* Start for S-Function (set_param_val): '/set_val_capi' */ + /* Start for S-Function (set_param_val): '/set_val_capi' */ - /* S-Function Block: /set_val_capi */ + /* S-Function Block: /set_val_capi */ set_param_val_Start_wrapper(); - /* End of Start for SubSystem: '/param_set_dec' */ + /* End of Start for SubSystem: '/param_set_dec' */ - /* Start for EntityQueue: '/EntityQueue_InsertedFor_req_cur_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_req_cur_at_inport_0' */ SIL_initQueue((Queue_uint16 *) &SIL_DW.EntityQueue_InsertedFor_req_cur_at_inport_0_Queue_uint16, MSG_FIFO_QUEUE, 1, (Msg_uint16 *) &SIL_DW.EntityQueue_InsertedFor_req_cur_at_inport_0_Msg_uint16); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_set_ cur_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_set_ cur_at_inport_0' */ SIL_initQueue((Queue_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_set_cur_at_inport_0_Queue_uint16, MSG_FIFO_QUEUE, 10, (Msg_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_set_cur_at_inport_0_Msg_uint16 [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1' */ SIL_initQueue_k0qncu((Queue_mavlink_mission_item_int_t *) &SIL_DW.EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1_Q, MSG_FIFO_QUEUE, 5, (Msg_mavlink_mission_item_int_t *) &SIL_DW.EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_1_M [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0' */ SIL_initQueue_k0qnc((Queue_mavlink_mission_count_t *) &SIL_DW.EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0_Q, MSG_FIFO_QUEUE, 1, (Msg_mavlink_mission_count_t *) &SIL_DW.EntityQueue_InsertedFor_Chart_proc_mission_upload_at_inport_0_M); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_1' */ SIL_initQueue_k((Queue_CommandMsg *) &SIL_DW.EntityQueue_InsertedFor_proc_cmd_at_inport_1_Queue_CommandMsg, MSG_FIFO_QUEUE, 5, (Msg_CommandMsg *) &SIL_DW.EntityQueue_InsertedFor_proc_cmd_at_inport_1_Msg_CommandMsg [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_cmd_at_inport_0' */ SIL_initQueue_k((Queue_CommandMsg *) &SIL_DW.EntityQueue_InsertedFor_proc_cmd_at_inport_0_Queue_CommandMsg, MSG_FIFO_QUEUE, 5, (Msg_CommandMsg *) &SIL_DW.EntityQueue_InsertedFor_proc_cmd_at_inport_0_Msg_CommandMsg [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_send_ack_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_Chart_send_ack_at_inport_0' */ SIL_initQueue_k0((Queue_CommandAck *) &SIL_DW.EntityQueue_InsertedFor_Chart_send_ack_at_inport_0_Queue_Comman, MSG_FIFO_QUEUE, 10, (Msg_CommandAck *) &SIL_DW.EntityQueue_InsertedFor_Chart_send_ack_at_inport_0_Msg_CommandA [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_0' */ SIL_initQueue((Queue_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_0_Queue_uint, MSG_FIFO_QUEUE, 2, (Msg_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_0_Msg_uint16 [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_1' */ SIL_initQueue((Queue_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_1_Queue_uint, MSG_FIFO_QUEUE, 2, (Msg_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_1_Msg_uint16 [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_2' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_proc_param_value_at_inport_2' */ SIL_initQueue((Queue_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_2_Queue_uint, MSG_FIFO_QUEUE, 2, (Msg_uint16 *) &SIL_DW.EntityQueue_InsertedFor_proc_param_value_at_inport_2_Msg_uint16 [0]); - /* Start for Chart: '/proc_param_value' incorporates: - * SubSystem: '/find_val' + /* Start for Chart: '/proc_param_value' incorporates: + * SubSystem: '/find_val' */ SIL_find_val_Start(); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_2' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_2' */ SIL_initQueue_k0qn((Queue_mavlink_param_value_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_2_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_param_value_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_2_Msg_mavlink_pa [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_3' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_3' */ SIL_initQueue_k0qnc((Queue_mavlink_mission_count_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_3_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_count_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_3_Msg_mavlink_mi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_4' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_4' */ SIL_initQueue_k0qncu((Queue_mavlink_mission_item_int_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_4_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_item_int_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_4_Msg_mavlink_mi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_0' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_0' */ SIL_initQueue_k0qncuy((Queue_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_0_Queue_mavlink_mis, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_0_Msg_mavlink_missi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_1' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_1' */ SIL_initQueue_k0qncuy((Queue_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_1_Queue_mavlink_mis, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_1_Msg_mavlink_missi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_2' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_merge_ack_at_inport_2' */ SIL_initQueue_k0qncuy((Queue_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_2_Queue_mavlink_mis, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_merge_ack_at_inport_2_Msg_mavlink_missi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_5' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_5' */ SIL_initQueue_k0qncuy((Queue_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_5_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_ack_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_5_Msg_mavlink_mi [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_6' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_6' */ SIL_initQueue_k0qncuyo((Queue_mavlink_mission_current_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_6_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_current_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_6_Msg_mavlink_mi[0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_7' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_7' */ SIL_initQueue_k0qncuyo4((Queue_mavlink_mission_request_int_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_7_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_mission_request_int_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_7_Msg_mavlink_mi[0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_8' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_8' */ SIL_initQueue_k0q((Queue_mavlink_command_ack_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_8_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_command_ack_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_8_Msg_mavlink_co [0]); - /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_9' */ + /* Start for EntityQueue: '/EntityQueue_InsertedFor_traffic_ctrl_at_inport_9' */ SIL_initQueue_k0qncuyo4n((Queue_mavlink_autopilot_version_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_9_Queue_mavlink_, MSG_FIFO_QUEUE, 2, (Msg_mavlink_autopilot_version_t *) &SIL_DW.EntityQueue_InsertedFor_traffic_ctrl_at_inport_9_Msg_mavlink_au[0]); - /* Start for Chart: '/traffic_ctrl' incorporates: - * SubSystem: '/loop_download' + /* Start for Chart: '/traffic_ctrl' incorporates: + * SubSystem: '/loop_download' */ - /* Start for IfAction SubSystem: '/svo_out_raw_enc' */ - /* Start for Width: '/Width' */ + /* Start for IfAction SubSystem: '/svo_out_raw_enc' */ + /* Start for Width: '/Width' */ SIL_B.width = 16U; - /* End of Start for SubSystem: '/svo_out_raw_enc' */ + /* End of Start for SubSystem: '/svo_out_raw_enc' */ /* Start for DataStoreMemory: '/Data Store Memory' */ SIL_DW.CC = SIL_rtZC2; SIL_DW.CC.AS_SEL = ENUM_AS_SEL_IAS; SIL_DW.CC.ECU_CMD = 0U; + SIL_DW.CC.ECU_RPM = 0U; SIL_DW.CC.WP_cur = 1U; SIL_DW.CC.actuator_startup = 0U; SIL_DW.CC.armed = true; @@ -22521,7 +23643,11 @@ void SIL_initialize(void) SIL_DW.CC.ccm_period = 0U; SIL_DW.CC.ccm_sw = 0U; SIL_DW.CC.da_c = 0.0F; + SIL_DW.CC.dal_c = 0.0F; + SIL_DW.CC.dar_c = 0.0F; SIL_DW.CC.de_c = 0.0F; + SIL_DW.CC.del_c = 0.0F; + SIL_DW.CC.der_c = 0.0F; SIL_DW.CC.dr_c = 0.0F; SIL_DW.CC.landed_state = ENUM_LANDED_STATE_ON_GROUND; SIL_DW.CC.linked = false; @@ -22529,6 +23655,7 @@ void SIL_initialize(void) SIL_DW.CC.standby_cmd = false; SIL_DW.CC.throttle_c = 0.0F; SIL_DW.CC.use_mission_traj = true; + SIL_DW.CC.use_mix = true; SIL_DW.CC.xbit_cmd = false; /* End of Start for SubSystem: '/kb3_autopilot' */ @@ -22784,6 +23911,42 @@ void SIL_initialize(void) /* End of SystemInitialize for SubSystem: '/dummy_INS' */ + /* SystemInitialize for Iterator SubSystem: '/sbg_parser' */ + SIL_DW.is_active_c1_sbg_j = 0U; + SIL_DW.is_c1_sbg_m = SIL_IN_NO_ACTIVE_CHILD_l; + memset(&SIL_B.data_d[0], 0, 96U * sizeof(uint8_T)); + memset(&SIL_B.msg_data_j[0], 0, 96U * sizeof(uint8_T)); + SIL_B.err_hdr_a = 0U; + SIL_B.bad_d = 0U; + SIL_B.err_crc_d = 0U; + SIL_B.good_n = 0U; + + /* SystemInitialize for Chart: '/parser' incorporates: + * SubSystem: '/sbg_msg_unpack' + */ + /* SystemInitialize for Merge: '/Merge' */ + SIL_B.solution_status_b = 0U; + + /* End of SystemInitialize for SubSystem: '/sbg_parser' */ + + /* SystemInitialize for Iterator SubSystem: '/sbg_parser' */ + SIL_DW.is_active_c1_sbg = 0U; + SIL_DW.is_c1_sbg = SIL_IN_NO_ACTIVE_CHILD_l; + memset(&SIL_B.data_o[0], 0, 96U * sizeof(uint8_T)); + memset(&SIL_B.msg_data[0], 0, 96U * sizeof(uint8_T)); + SIL_B.err_hdr = 0U; + SIL_B.bad = 0U; + SIL_B.err_crc = 0U; + SIL_B.good = 0U; + + /* SystemInitialize for Chart: '/parser' incorporates: + * SubSystem: '/sbg_msg_unpack' + */ + /* SystemInitialize for Merge: '/Merge' */ + SIL_B.solution_status_c = 0U; + + /* End of SystemInitialize for SubSystem: '/sbg_parser' */ + /* SystemInitialize for Iterator SubSystem: '/bmu_parser' */ /* SystemInitialize for Chart: '/parser' */ SIL_DW.is_active_c8_BMU_HLYJ20_F002LB = 0U; @@ -22909,7 +24072,7 @@ void SIL_initialize(void) /* End of SystemInitialize for SubSystem: '/flvl_parser' */ /* SystemInitialize for Atomic SubSystem: '/kb3_autopilot' */ - /* SystemInitialize for MATLAB Function: '/stdatmo' */ + /* SystemInitialize for MATLAB Function: '/stdatmo' */ SIL_DW.R = 287.05287; SIL_DW.gamma = 1.4; SIL_DW.g0 = 9.80665; @@ -22917,90 +24080,175 @@ void SIL_initialize(void) SIL_DW.Bs = 1.458E-6; SIL_DW.S = 110.4; - /* SystemInitialize for Chart: '/check_conn' */ + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_g = 0U; + SIL_DW.is_active_c39_kb3_autopilot = 0U; + SIL_DW.is_c39_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_b = 0U; + SIL_DW.is_active_c40_kb3_autopilot = 0U; + SIL_DW.is_c40_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_eo = 0U; + SIL_DW.is_active_c41_kb3_autopilot = 0U; + SIL_DW.is_c41_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_j = 0U; + SIL_DW.is_active_c42_kb3_autopilot = 0U; + SIL_DW.is_c42_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_m4 = 0U; + SIL_DW.is_active_c43_kb3_autopilot = 0U; + SIL_DW.is_c43_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_l = 0U; + SIL_DW.is_active_c44_kb3_autopilot = 0U; + SIL_DW.is_c44_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_ph = 0U; + SIL_DW.is_active_c48_kb3_autopilot = 0U; + SIL_DW.is_c48_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_f2 = 0U; + SIL_DW.is_active_c49_kb3_autopilot = 0U; + SIL_DW.is_c49_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_eg = 0U; + SIL_DW.is_active_c50_kb3_autopilot = 0U; + SIL_DW.is_c50_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_d = 0U; + SIL_DW.is_active_c45_kb3_autopilot = 0U; + SIL_DW.is_c45_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_lb = 0U; + SIL_DW.is_active_c46_kb3_autopilot = 0U; + SIL_DW.is_c46_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_lj = 0U; + SIL_DW.is_active_c47_kb3_autopilot = 0U; + SIL_DW.is_c47_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_jf = 0U; + SIL_DW.is_active_c54_kb3_autopilot = 0U; + SIL_DW.is_c54_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_k = 0U; + SIL_DW.is_active_c55_kb3_autopilot = 0U; + SIL_DW.is_c55_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_ek = 0U; + SIL_DW.is_active_c56_kb3_autopilot = 0U; + SIL_DW.is_c56_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_be = 0U; + SIL_DW.is_active_c57_kb3_autopilot = 0U; + SIL_DW.is_c57_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_e1 = 0U; + SIL_DW.is_active_c58_kb3_autopilot = 0U; + SIL_DW.is_c58_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + + /* SystemInitialize for Chart: '/check_conn' */ SIL_DW.temporalCounter_i1_f = 0U; SIL_DW.is_active_c13_C2_proc_comm = 0U; SIL_DW.is_c13_C2_proc_comm = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/valid_checking' */ + /* SystemInitialize for Chart: '/valid_checking' */ SIL_DW.temporalCounter_i1_c = 0U; SIL_DW.is_active_c26_update_rc = 0U; SIL_DW.is_c26_update_rc = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/proc_cmd' */ + /* SystemInitialize for Chart: '/proc_cmd' */ SIL_DW.is_active_c14_kb3_autopilot = 0U; SIL_DW.is_c14_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/Chart_proc_mission_upload' */ + /* SystemInitialize for Chart: '/Chart_proc_mission_upload' */ SIL_DW.temporalCounter_i1_n = 0U; SIL_DW.is_active_c29_mavlink_utils = 0U; SIL_DW.is_c29_mavlink_utils = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/proc_set_ cur' */ + /* SystemInitialize for Chart: '/proc_set_ cur' */ SIL_DW.is_active_c14_C2_proc_comm = 0U; SIL_DW.is_c14_C2_proc_comm = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/valid_checking' */ - SIL_DW.temporalCounter_i1_l = 0U; + /* SystemInitialize for Chart: '/valid_checking' */ + SIL_DW.temporalCounter_i1_ls = 0U; SIL_DW.is_active_c26_update_rc_d = 0U; SIL_DW.is_c26_update_rc_j = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/TopLevelSwitch' */ + /* SystemInitialize for Chart: '/TopLevelSwitch' */ SIL_DW.is_active_c24_kb3_autopilot = 0U; SIL_DW.is_c24_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for IfAction SubSystem: '/operational' */ - /* SystemInitialize for IfAction SubSystem: '/auto' */ - /* SystemInitialize for IfAction SubSystem: '/mission' */ + /* SystemInitialize for IfAction SubSystem: '/operational' */ + /* SystemInitialize for IfAction SubSystem: '/auto' */ + /* SystemInitialize for IfAction SubSystem: '/mission' */ SIL_DW.is_active_c48_mission_proc = 0U; SIL_DW.is_c48_mission_proc = SIL_IN_NO_ACTIVE_CHILD_l; SIL_B.last_WP = 1U; SIL_B.mission_mode = 0U; - /* SystemInitialize for Chart: '/mission_proc' incorporates: - * SubSystem: '/valid_test' + /* SystemInitialize for Chart: '/mission_proc' incorporates: + * SubSystem: '/valid_test' */ SIL_valid_test_Init(&SIL_B.Merge_p); - /* SystemInitialize for IfAction SubSystem: '/takeoff' */ - /* SystemInitialize for Chart: '/takeoff_task' */ - SIL_DW.temporalCounter_i1_a = 0U; + /* SystemInitialize for IfAction SubSystem: '/takeoff' */ + /* SystemInitialize for Chart: '/takeoff_task' */ + SIL_DW.temporalCounter_i1_p4 = 0U; SIL_DW.is_active_c28_kb3_autopilot = 0U; SIL_DW.is_c28_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* End of SystemInitialize for SubSystem: '/takeoff' */ + /* End of SystemInitialize for SubSystem: '/takeoff' */ - /* SystemInitialize for IfAction SubSystem: '/landing' */ - /* SystemInitialize for Chart: '/landing_task' */ + /* SystemInitialize for IfAction SubSystem: '/landing' */ + /* SystemInitialize for Chart: '/landing_task' */ SIL_DW.is_active_c17_kb3_autopilot = 0U; SIL_DW.is_c17_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; SIL_B.tht_c = 0.0F; SIL_B.de_c = 0.0F; - /* End of SystemInitialize for SubSystem: '/landing' */ + /* End of SystemInitialize for SubSystem: '/landing' */ - /* SystemInitialize for IfAction SubSystem: '/waypoint' */ - /* SystemInitialize for Chart: '/Chart' */ - SIL_DW.temporalCounter_i1_h = 0U; + /* SystemInitialize for IfAction SubSystem: '/waypoint' */ + /* SystemInitialize for Chart: '/Chart' */ + SIL_DW.temporalCounter_i1_lq = 0U; SIL_DW.is_active_c29_kb3_autopilot = 0U; SIL_DW.is_c29_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - /* End of SystemInitialize for SubSystem: '/waypoint' */ - /* End of SystemInitialize for SubSystem: '/mission' */ - /* End of SystemInitialize for SubSystem: '/auto' */ - /* End of SystemInitialize for SubSystem: '/operational' */ + /* End of SystemInitialize for SubSystem: '/waypoint' */ + /* End of SystemInitialize for SubSystem: '/mission' */ + /* End of SystemInitialize for SubSystem: '/auto' */ + /* End of SystemInitialize for SubSystem: '/operational' */ /* SystemInitialize for Atomic SubSystem: '/update_nav_info' */ - /* SystemInitialize for IfAction SubSystem: '/case_corner' */ - /* InitializeConditions for UnitDelay: '/Unit Delay' */ + /* SystemInitialize for IfAction SubSystem: '/case_corner' */ + /* InitializeConditions for UnitDelay: '/Unit Delay' */ SIL_DW.UnitDelay_DSTATE_c = 0U; - /* SystemInitialize for MATLAB Function: '/nav_corner' */ + /* SystemInitialize for MATLAB Function: '/nav_corner' */ SIL_DW.stage_not_empty = false; - /* End of SystemInitialize for SubSystem: '/case_corner' */ + /* End of SystemInitialize for SubSystem: '/case_corner' */ - /* SystemInitialize for Merge: '/Merge2' */ + /* SystemInitialize for Merge: '/Merge2' */ SIL_B.rdot = 0.0F; SIL_B.dist = 0.0F; SIL_B.bearing_base = 0.0F; @@ -23044,7 +24292,7 @@ void SIL_initialize(void) SIL_psi_err_Init(&rtb_out_f); /* SystemInitialize for Chart: '/psi_err2' */ - SIL_psi_err_Init(&rtb_out); + SIL_psi_err_Init(&rtb_out_gz); /* End of SystemInitialize for SubSystem: '/LNAV2PHI' */ @@ -23071,7 +24319,7 @@ void SIL_initialize(void) /* End of SystemInitialize for SubSystem: '/theta3' */ /* End of SystemInitialize for SubSystem: '/ROLL_CTRL' */ - /* SystemInitialize for Atomic SubSystem: '/pitch' */ + /* SystemInitialize for Atomic SubSystem: '/pitch' */ /* SystemInitialize for IfAction SubSystem: '/THT_Q_CTRL' */ /* InitializeConditions for Delay: '/Delay' */ SIL_DW.icLoad_g = 1U; @@ -23094,7 +24342,7 @@ void SIL_initialize(void) /* End of SystemInitialize for SubSystem: '/theta3' */ /* End of SystemInitialize for SubSystem: '/THT_Q_CTRL' */ - /* End of SystemInitialize for SubSystem: '/pitch' */ + /* End of SystemInitialize for SubSystem: '/pitch' */ /* SystemInitialize for IfAction SubSystem: '/DAMPING' */ /* InitializeConditions for DiscreteTransferFcn: '/Discrete Transfer Fcn' */ @@ -23102,97 +24350,61 @@ void SIL_initialize(void) /* End of SystemInitialize for SubSystem: '/DAMPING' */ - /* SystemInitialize for Chart: '/proc_queue' incorporates: - * SubSystem: '/dec_and_proc_each' + /* SystemInitialize for Chart: '/proc_queue' incorporates: + * SubSystem: '/dec_and_proc_each' */ - /* SystemInitialize for IfAction SubSystem: '/rc_channels_override_dec' */ - /* SystemInitialize for Chart: '/parse_and_proc' incorporates: - * SubSystem: '/proc_rc_chs_ov' + /* SystemInitialize for IfAction SubSystem: '/rc_channels_override_dec' */ + /* SystemInitialize for Chart: '/parse_and_proc' incorporates: + * SubSystem: '/proc_rc_chs_ov' */ for (i = 0; i < 18; i++) { - /* SystemInitialize for SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ + /* SystemInitialize for SignalConversion: '/BusConversion_InsertedFor_rc_at_inport_0' */ SIL_B.channels[i] = SIL_B.channels_e[i]; } - /* End of SystemInitialize for SubSystem: '/rc_channels_override_dec' */ + /* End of SystemInitialize for SubSystem: '/rc_channels_override_dec' */ - /* SystemInitialize for Chart: '/req_cur' */ + /* SystemInitialize for Chart: '/req_cur' */ SIL_DW.temporalCounter_i1_py = 0U; SIL_DW.is_active_c30_mavlink_utils = 0U; - /* SystemInitialize for Chart: '/Chart_send_ack' */ + /* SystemInitialize for Chart: '/Chart_send_ack' */ SIL_DW.is_active_c20_kb3_autopilot = 0U; - /* SystemInitialize for Chart: '/proc_param_value' */ + /* SystemInitialize for Chart: '/proc_param_value' */ SIL_DW.temporalCounter_i1_i = 0U; SIL_DW.is_active_c31_mavlink_utils = 0U; SIL_DW.is_c31_mavlink_utils = SIL_IN_NO_ACTIVE_CHILD_l; - /* SystemInitialize for Chart: '/merge_ack' */ + /* SystemInitialize for Chart: '/merge_ack' */ SIL_DW.is_active_c22_mavlink_utils = 0U; SIL_DW.temporalCounter_i1 = 0U; - SIL_DW.is_active_c34_kb3_autopilot = 0U; - SIL_DW.is_c34_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; - SIL_B.seq_p = 0U; + SIL_DW.is_active_c36_kb3_autopilot = 0U; + SIL_DW.is_c36_kb3_autopilot = SIL_IN_NO_ACTIVE_CHILD_l; + SIL_B.seq_i = 0U; - /* SystemInitialize for Chart: '/traffic_ctrl' incorporates: - * SubSystem: '/loop_download' + /* SystemInitialize for Chart: '/traffic_ctrl' incorporates: + * SubSystem: '/loop_download' */ - /* SystemInitialize for IfAction SubSystem: '/gps_raw_int_enc' */ - /* SystemInitialize for Chart: '/Chart' incorporates: - * SubSystem: '/get_cog' + /* SystemInitialize for IfAction SubSystem: '/gps_raw_int_enc' */ + /* SystemInitialize for Chart: '/Chart' incorporates: + * SubSystem: '/get_cog' */ - /* SystemInitialize for Merge: '/Merge' */ + /* SystemInitialize for Merge: '/Merge' */ SIL_B.Merge_f = 0.0F; - /* End of SystemInitialize for SubSystem: '/gps_raw_int_enc' */ + /* End of SystemInitialize for SubSystem: '/gps_raw_int_enc' */ - /* SystemInitialize for IfAction SubSystem: '/svo_out_raw_enc' */ - /* SystemInitialize for Chart: '/Chart' */ + /* SystemInitialize for IfAction SubSystem: '/svo_out_raw_enc' */ + /* SystemInitialize for Chart: '/Chart' */ SIL_DW.port_num = 0U; - /* End of SystemInitialize for SubSystem: '/svo_out_raw_enc' */ + /* End of SystemInitialize for SubSystem: '/svo_out_raw_enc' */ - /* SystemInitialize for Merge: '/Merged_msg' */ + /* SystemInitialize for Merge: '/Merged_msg' */ SIL_B.Merged_msg = SIL_rtZmavlink_message_t; /* End of SystemInitialize for SubSystem: '/kb3_autopilot' */ - - /* SystemInitialize for Iterator SubSystem: '/sbg_parser' */ - SIL_DW.is_active_c1_sbg_j = 0U; - SIL_DW.is_c1_sbg_m = SIL_IN_NO_ACTIVE_CHILD_l; - memset(&SIL_B.data_d[0], 0, 96U * sizeof(uint8_T)); - memset(&SIL_B.msg_data_j[0], 0, 96U * sizeof(uint8_T)); - SIL_B.err_hdr_a = 0U; - SIL_B.bad_d = 0U; - SIL_B.err_crc_d = 0U; - SIL_B.good_n = 0U; - - /* SystemInitialize for Chart: '/parser' incorporates: - * SubSystem: '/sbg_msg_unpack' - */ - /* SystemInitialize for Merge: '/Merge' */ - SIL_B.solution_status_b = 0U; - - /* End of SystemInitialize for SubSystem: '/sbg_parser' */ - - /* SystemInitialize for Iterator SubSystem: '/sbg_parser' */ - SIL_DW.is_active_c1_sbg = 0U; - SIL_DW.is_c1_sbg = SIL_IN_NO_ACTIVE_CHILD_l; - memset(&SIL_B.data_o[0], 0, 96U * sizeof(uint8_T)); - memset(&SIL_B.msg_data[0], 0, 96U * sizeof(uint8_T)); - SIL_B.err_hdr = 0U; - SIL_B.bad = 0U; - SIL_B.err_crc = 0U; - SIL_B.good = 0U; - - /* SystemInitialize for Chart: '/parser' incorporates: - * SubSystem: '/sbg_msg_unpack' - */ - /* SystemInitialize for Merge: '/Merge' */ - SIL_B.solution_status_c = 0U; - - /* End of SystemInitialize for SubSystem: '/sbg_parser' */ } /* set "at time zero" to false */ diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL.h b/SIL/work/SIL_ert_shrlib_rtw/SIL.h index a9acf11..73a519d 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL.h +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -312,66 +312,67 @@ typedef struct { /* Block signals (default storage) */ typedef struct { - C2 Merge; /* '/Merge' */ - C2 BusAssignment; /* '/Bus Assignment' */ - C2 BusAssignment_g; /* '/Bus Assignment' */ - mavlink_message_t Merged_msg; /* '/Merged_msg' */ - mavlink_message_t msg; /* '/proc_queue' */ - mavlink_message_t mav_message; /* '/mav_parser' */ - mavlink_message_t msgs; /* '/push2msgs' */ - Sensors BusAssignment_e; /* '/Bus Assignment' */ - mavlink_gps_rtcm_data_t mav_gps_rtcm_data;/* '/mav_gps_rtcm_data' */ + C2 Merge; /* '/Merge' */ + C2 BusAssignment; /* '/Bus Assignment' */ + C2 BusAssignment_g; /* '/Bus Assignment' */ + mavlink_message_t Merged_msg; /* '/Merged_msg' */ + mavlink_message_t msg; /* '/proc_queue' */ + mavlink_message_t mav_message; /* '/mav_parser' */ + mavlink_message_t msgs; /* '/push2msgs' */ + Sensors BusAssignment_j; /* '/Bus Assignment' */ + mavlink_gps_rtcm_data_t mav_gps_rtcm_data;/* '/mav_gps_rtcm_data' */ + mavlink_ins2_t BusAssignment_p; /* '/Bus Assignment' */ + mavlink_ins1_t BusAssignment_i; /* '/Bus Assignment' */ mavlink_bmustate_t BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1; - mavlink_autopilot_version_t ap_ver; /* '/send_auto_hw' */ - mavlink_autopilot_version_t ap_ver_b;/* '/traffic_ctrl' */ - mavlink_gps_raw_int_t gps; /* '/Chart' */ - mavlink_mission_item_int_t mav_mission_item_int;/* '/mav_mission_item_int' */ - mavlink_mission_item_int_t send_req; /* '/Chart' */ - mavlink_mission_item_int_t send_item;/* '/Chart_proc_mission_req' */ - mavlink_mission_item_int_t mission_item_int;/* '/traffic_ctrl' */ - mavlink_servo_output_raw_t servos; /* '/Chart' */ - mavlink_rc_channels_raw_t rc_channels;/* '/Chart' */ - mavlink_rc_channels_override_t mav_rc_channels_override;/* '/mav_rc_channels_override' */ - mavlink_command_long_t mav_command_long;/* '/mav_command_long' */ + mavlink_autopilot_version_t ap_ver; /* '/send_auto_hw' */ + mavlink_autopilot_version_t ap_ver_o;/* '/traffic_ctrl' */ + mavlink_gps_raw_int_t gps; /* '/Chart' */ + mavlink_mission_item_int_t mav_mission_item_int;/* '/mav_mission_item_int' */ + mavlink_mission_item_int_t send_req; /* '/Chart' */ + mavlink_mission_item_int_t send_item;/* '/Chart_proc_mission_req' */ + mavlink_mission_item_int_t mission_item_int;/* '/traffic_ctrl' */ + mavlink_servo_output_raw_t servos; /* '/Chart' */ + mavlink_rc_channels_override_t mav_rc_channels_override;/* '/mav_rc_channels_override' */ + mavlink_command_long_t mav_command_long;/* '/mav_command_long' */ ECU2AP SFunction; /* '/S-Function' */ - mavlink_sys_status_t sys_status; /* '/Chart' */ - mavlink_param_value_t msg_d; /* '/proc_param_value' */ - mavlink_param_value_t param_val; /* '/traffic_ctrl' */ - mavlink_param_set_t mav_param_set; /* '/mav_param_set' */ - mavlink_nav_controller_output_t nav; /* '/Chart' */ - mavlink_global_position_int_t ins; /* '/Chart' */ + mavlink_sys_status_t sys_status; /* '/Chart' */ + mavlink_param_value_t msg_d; /* '/proc_param_value' */ + mavlink_param_value_t param_val; /* '/traffic_ctrl' */ + mavlink_param_set_t mav_param_set; /* '/mav_param_set' */ + mavlink_nav_controller_output_t nav; /* '/Chart' */ + mavlink_global_position_int_t ins; /* '/Chart' */ + mavlink_emb_atmo_com_t atmos; /* '/Chart' */ mavlink_ccmstate_t BusConversion_InsertedFor_SFunction_at_inport_0_BusCreator1_h; - mavlink_attitude_t att; /* '/Chart' */ - CommandMsg msg_a; /* '/send_cmd' */ - CommandMsg cmd; /* '/mission_proc' */ - mavlink_vfr_hud_t hud; /* '/Chart' */ - mavlink_status_t mav_status; /* '/mav_parser' */ - mavlink_param_request_read_t mav_param_req_read;/* '/mav_param_req_read' */ - mavlink_scaled_pressure_t pres; /* '/Chart' */ - mavlink_heartbeat_t heartbeat; /* '/Chart' */ - mavlink_command_ack_t command_ack; /* '/traffic_ctrl' */ - mavlink_command_ack_t send_ack; /* '/Chart_send_ack' */ - mavlink_set_mode_t mav_set_mode; /* '/mav_set_mode' */ - mavlink_param_request_list_t mav_param_request_list;/* '/mav_param_request_list' */ - mavlink_mission_set_current_t mav_mission_set_current;/* '/mav_mission_set_current' */ - mavlink_mission_request_t mav_mission_request;/* '/mav_mission_request' */ - mavlink_mission_request_list_t mav_mission_request_list;/* '/mav_mission_request_list' */ - mavlink_mission_request_int_t mission_req_int;/* '/Chart_proc_mission_upload' */ - mavlink_mission_request_int_t mission_req_int_b;/* '/traffic_ctrl' */ - mavlink_mission_current_t cur; /* '/req_cur' */ - mavlink_mission_current_t mission_cur;/* '/traffic_ctrl' */ - mavlink_mission_count_t mav_mission_count;/* '/mav_mission_count' */ - mavlink_mission_count_t send_cnt; /* '/Chart' */ - mavlink_mission_count_t send_cnt_l; /* '/Chart_proc_mission_req_lst' */ - mavlink_mission_count_t mission_cnt; /* '/traffic_ctrl' */ - mavlink_mission_clear_all_t mav_mission_clear_all;/* '/mav_mission_clear_all' */ - mavlink_mission_ack_t mission_ack; /* '/Chart_proc_mission_upload' */ - mavlink_mission_ack_t ack; /* '/merge_ack' */ - mavlink_mission_ack_t send_ack_h; /* '/Chart_proc_mission_clr_all' */ - mavlink_mission_ack_t send_ack_d; /* '/Chart_proc_mission_req' */ - mavlink_mission_ack_t mission_ack_g; /* '/traffic_ctrl' */ - mavlink_extended_sys_state_t ext_sys_stat;/* '/Chart' */ + mavlink_attitude_t att; /* '/Chart' */ + CommandMsg msg_n; /* '/send_cmd' */ + CommandMsg cmd; /* '/mission_proc' */ + mavlink_vfr_hud_t hud; /* '/Chart' */ + mavlink_status_t mav_status; /* '/mav_parser' */ + mavlink_param_request_read_t mav_param_req_read;/* '/mav_param_req_read' */ + mavlink_heartbeat_t heartbeat; /* '/Chart' */ + mavlink_command_ack_t command_ack; /* '/traffic_ctrl' */ + mavlink_command_ack_t send_ack; /* '/Chart_send_ack' */ + mavlink_set_mode_t mav_set_mode; /* '/mav_set_mode' */ + mavlink_param_request_list_t mav_param_request_list;/* '/mav_param_request_list' */ + mavlink_mission_set_current_t mav_mission_set_current;/* '/mav_mission_set_current' */ + mavlink_mission_request_t mav_mission_request;/* '/mav_mission_request' */ + mavlink_mission_request_list_t mav_mission_request_list;/* '/mav_mission_request_list' */ + mavlink_mission_request_int_t mission_req_int;/* '/Chart_proc_mission_upload' */ + mavlink_mission_request_int_t mission_req_int_f;/* '/traffic_ctrl' */ + mavlink_mission_current_t cur; /* '/req_cur' */ + mavlink_mission_current_t mission_cur;/* '/traffic_ctrl' */ + mavlink_mission_count_t mav_mission_count;/* '/mav_mission_count' */ + mavlink_mission_count_t send_cnt; /* '/Chart' */ + mavlink_mission_count_t send_cnt_l; /* '/Chart_proc_mission_req_lst' */ + mavlink_mission_count_t mission_cnt; /* '/traffic_ctrl' */ + mavlink_mission_clear_all_t mav_mission_clear_all;/* '/mav_mission_clear_all' */ + mavlink_mission_ack_t mission_ack; /* '/Chart_proc_mission_upload' */ + mavlink_mission_ack_t ack; /* '/merge_ack' */ + mavlink_mission_ack_t send_ack_h; /* '/Chart_proc_mission_clr_all' */ + mavlink_mission_ack_t send_ack_d; /* '/Chart_proc_mission_req' */ + mavlink_mission_ack_t mission_ack_h; /* '/traffic_ctrl' */ + mavlink_extended_sys_state_t ext_sys_stat;/* '/Chart' */ real_T p1[3]; /* '/p1' */ real_T Product2; /* '/Product2' */ real_T Product3; /* '/Product3' */ @@ -478,16 +479,16 @@ typedef struct { real_T product; /* '/product' */ real_T Product3_f; /* '/Product3' */ real_T product_n; /* '/product' */ - real_T gain; /* '/gain' */ + real_T dal; /* '/divide3' */ real_T Integrator_p; /* '/Integrator' */ - real_T gain_c; /* '/gain' */ + real_T dar; /* '/divide4' */ real_T Integrator_j; /* '/Integrator' */ real_T Sum2_k; /* '/Sum2' */ real_T da; /* '/Gain2' */ real_T product_d; /* '/product' */ - real_T gain_a; /* '/gain' */ + real_T del; /* '/divide' */ real_T Integrator_a; /* '/Integrator' */ - real_T gain_j; /* '/gain' */ + real_T der; /* '/divide1' */ real_T Integrator_g; /* '/Integrator' */ real_T Sum_g; /* '/Sum' */ real_T de; /* '/Gain' */ @@ -714,7 +715,7 @@ typedef struct { real_T Product2_cg; /* '/Product2' */ real_T Product3_c; /* '/Product3' */ real_T CZ; /* '/Sum1' */ - CommandAck ack_l; /* '/proc_cmd' */ + CommandAck ack_c; /* '/proc_cmd' */ uint32_T solution_status; /* '/status_mgr' */ uint32_T solution_status_c; /* '/Merge' */ uint32_T time_stamp; /* '/Byte Unpack' */ @@ -760,45 +761,45 @@ typedef struct { uint32_T value_hv; /* '/BusConversion_InsertedFor_FLVL_at_inport_0' */ uint32_T OutportBuffer_InsertedFor_gps_vel_status_at_inport_0;/* '/Constant' */ uint32_T OutportBuffer_InsertedFor_gps_pos_status_at_inport_0;/* '/Constant' */ - real32_T ByteUnpack; /* '/Byte Unpack' */ - real32_T param1; /* '/Chart_proc_mission_upload' */ - real32_T param2; /* '/Chart_proc_mission_upload' */ - real32_T param3; /* '/Chart_proc_mission_upload' */ - real32_T param4; /* '/Chart_proc_mission_upload' */ - real32_T z; /* '/Chart_proc_mission_upload' */ - real32_T param1_o; /* '/chat_get_mission_item' */ - real32_T param2_h; /* '/chat_get_mission_item' */ - real32_T param3_m; /* '/chat_get_mission_item' */ - real32_T param4_c; /* '/chat_get_mission_item' */ - real32_T z_n; /* '/chat_get_mission_item' */ - real32_T f; /* '/Chart_proc_param_set' */ - real32_T vn; /* '/Chart' */ - real32_T ve; /* '/Chart' */ - real32_T vn_g; /* '/Chart' */ - real32_T ve_p; /* '/Chart' */ - real32_T Merge_f; /* '/Merge' */ - real32_T Sqrt; /* '/Sqrt' */ - real32_T rdot; /* '/Merge2' */ - real32_T dist; /* '/Merge2' */ - real32_T bearing_base; /* '/Merge2' */ - real32_T bearing; /* '/Merge2' */ - real32_T elevation_base; /* '/Merge2' */ - real32_T elevation; /* '/Merge2' */ - real32_T ht_diff; /* '/Merge2' */ - real32_T omega_des; /* '/Merge2' */ - real32_T dist_offset; /* '/Merge2' */ - real32_T horiz_offset; /* '/Merge2' */ - real32_T vert_offset; /* '/Merge2' */ - real32_T params[7]; /* '/mav' */ - real32_T thr_c; /* '/landing_task' */ - real32_T phi_c; /* '/landing_task' */ - real32_T tht_c; /* '/landing_task' */ - real32_T de_c; /* '/landing_task' */ - real32_T thr_c_f; /* '/takeoff_task' */ - real32_T phi_c_i; /* '/takeoff_task' */ - real32_T tht_c_i; /* '/takeoff_task' */ - real32_T de_c_g; /* '/takeoff_task' */ - real32_T params_o[7]; /* '/proc_cmd' */ + real32_T ByteUnpack; /* '/Byte Unpack' */ + real32_T param1; /* '/Chart_proc_mission_upload' */ + real32_T param2; /* '/Chart_proc_mission_upload' */ + real32_T param3; /* '/Chart_proc_mission_upload' */ + real32_T param4; /* '/Chart_proc_mission_upload' */ + real32_T z; /* '/Chart_proc_mission_upload' */ + real32_T param1_o; /* '/chat_get_mission_item' */ + real32_T param2_h; /* '/chat_get_mission_item' */ + real32_T param3_m; /* '/chat_get_mission_item' */ + real32_T param4_c; /* '/chat_get_mission_item' */ + real32_T z_n; /* '/chat_get_mission_item' */ + real32_T f; /* '/Chart_proc_param_set' */ + real32_T vn; /* '/Chart' */ + real32_T ve; /* '/Chart' */ + real32_T vn_g; /* '/Chart' */ + real32_T ve_d; /* '/Chart' */ + real32_T Merge_f; /* '/Merge' */ + real32_T Sqrt; /* '/Sqrt' */ + real32_T rdot; /* '/Merge2' */ + real32_T dist; /* '/Merge2' */ + real32_T bearing_base; /* '/Merge2' */ + real32_T bearing; /* '/Merge2' */ + real32_T elevation_base; /* '/Merge2' */ + real32_T elevation; /* '/Merge2' */ + real32_T ht_diff; /* '/Merge2' */ + real32_T omega_des; /* '/Merge2' */ + real32_T dist_offset; /* '/Merge2' */ + real32_T horiz_offset; /* '/Merge2' */ + real32_T vert_offset; /* '/Merge2' */ + real32_T params[7]; /* '/mav' */ + real32_T thr_c; /* '/landing_task' */ + real32_T phi_c; /* '/landing_task' */ + real32_T tht_c; /* '/landing_task' */ + real32_T de_c; /* '/landing_task' */ + real32_T thr_c_k; /* '/takeoff_task' */ + real32_T phi_c_g; /* '/takeoff_task' */ + real32_T tht_c_m; /* '/takeoff_task' */ + real32_T de_c_l; /* '/takeoff_task' */ + real32_T params_d[7]; /* '/proc_cmd' */ real32_T Gain1_dw; /* '/Gain1' */ real32_T accel[3]; /* '/Product3' */ real32_T Gain1_a[3]; /* '/Gain1' */ @@ -877,61 +878,60 @@ typedef struct { real32_T imu_temp_j; /* '/Byte Unpack' */ real32_T dVel_c[3]; /* '/Byte Unpack' */ real32_T dAng_n[3]; /* '/Byte Unpack' */ - int32_T x; /* '/Chart_proc_mission_upload' */ - int32_T y; /* '/Chart_proc_mission_upload' */ - int32_T x_k; /* '/chat_get_mission_item' */ - int32_T y_m; /* '/chat_get_mission_item' */ - ENUM_mode mode; /* '/Chart' */ - ENUM_mode mode_c; /* '/takeoff_task' */ - ENUM_LANDED_STATE landed_state_out; /* '/landing_task' */ - ENUM_LANDED_STATE landed_state_out_p;/* '/takeoff_task' */ - ENUM_CSAS_YAW CSAS_yaw; /* '/landing_task' */ - ENUM_CSAS_YAW CSAS_yaw_n; /* '/takeoff_task' */ - ENUM_CSAS_ROLL CSAS_roll; /* '/landing_task' */ - ENUM_CSAS_ROLL CSAS_roll_b; /* '/takeoff_task' */ - ENUM_CSAS_PITCH CSAS_pitch; /* '/landing_task' */ - ENUM_CSAS_PITCH CSAS_pitch_m; /* '/takeoff_task' */ - ENUM_AT AT; /* '/landing_task' */ - ENUM_AT AT_j; /* '/takeoff_task' */ - ENUM_AFCS_VERT AFCS_VERT_out; /* '/Chart' */ - ENUM_AFCS_VERT AFCS_VERT; /* '/landing_task' */ - ENUM_AFCS_VERT AFCS_VERT_p; /* '/takeoff_task' */ - ENUM_AFCS_LAT AFCS_LNAV; /* '/Chart' */ - ENUM_AFCS_LAT AFCS_LNAV_i; /* '/takeoff_task' */ - uint16_T Subtract_m; /* '/Subtract' */ + int32_T x; /* '/Chart_proc_mission_upload' */ + int32_T y; /* '/Chart_proc_mission_upload' */ + int32_T x_k; /* '/chat_get_mission_item' */ + int32_T y_m; /* '/chat_get_mission_item' */ + ENUM_mode mode; /* '/Chart' */ + ENUM_mode mode_m; /* '/takeoff_task' */ + ENUM_LANDED_STATE landed_state_out; /* '/landing_task' */ + ENUM_LANDED_STATE landed_state_out_j;/* '/takeoff_task' */ + ENUM_CSAS_YAW CSAS_yaw; /* '/landing_task' */ + ENUM_CSAS_YAW CSAS_yaw_k; /* '/takeoff_task' */ + ENUM_CSAS_ROLL CSAS_roll; /* '/landing_task' */ + ENUM_CSAS_ROLL CSAS_roll_d; /* '/takeoff_task' */ + ENUM_CSAS_PITCH CSAS_pitch; /* '/landing_task' */ + ENUM_CSAS_PITCH CSAS_pitch_o; /* '/takeoff_task' */ + ENUM_AT AT; /* '/landing_task' */ + ENUM_AT AT_g; /* '/takeoff_task' */ + ENUM_AFCS_VERT AFCS_VERT_out; /* '/Chart' */ + ENUM_AFCS_VERT AFCS_VERT; /* '/landing_task' */ + ENUM_AFCS_VERT AFCS_VERT_e; /* '/takeoff_task' */ + ENUM_AFCS_LAT AFCS_LNAV; /* '/Chart' */ + ENUM_AFCS_LAT AFCS_LNAV_c; /* '/takeoff_task' */ + uint16_T Subtract_m; /* '/Subtract' */ uint16_T Sum_lp; /* '/Sum' */ - uint16_T if_i; /* '/if' */ - uint16_T DataTypeConversion1_c; /* '/Data Type Conversion1' */ - uint16_T DataTypeConversion1_o; /* '/Data Type Conversion1' */ - uint16_T DataTypeConversion1_f; /* '/Data Type Conversion1' */ - uint16_T DataTypeConversion1_nd; /* '/Data Type Conversion1' */ - uint16_T idx; /* '/proc_param_value' */ - uint16_T param_cnt; /* '/find_val_capi' */ - uint16_T param_index; /* '/find_val_capi' */ - uint16_T set_cur; /* '/req_cur' */ - uint16_T seq; /* '/Chart_proc_mission_upload' */ - uint16_T command; /* '/Chart_proc_mission_upload' */ - uint16_T channels[18]; /* '/BusConversion_InsertedFor_rc_at_inport_0' */ - uint16_T channels_e[18]; /* '/BusConversion_InsertedFor_rc_at_inport_0' */ - uint16_T cnt; /* '/chat_get_mission_cnt' */ - uint16_T req_cur; /* '/Chart' */ - uint16_T seq_e; /* '/Chart_proc_mission_req' */ - uint16_T command_p; /* '/chat_get_mission_item' */ - uint16_T resp; /* '/Chart_proc_param_set' */ - uint16_T resp_c; /* '/Chart' */ - uint16_T resp_j; /* '/Chart_proc_param_req_read' */ - uint16_T width; /* '/Width' */ - uint16_T TmpSignalConversionAtSFunctionInport3[16];/* '/Chart' */ - uint16_T mav_msg2buff_o2; /* '/mav_msg2buff' */ - uint16_T last_WP; /* '/mission_proc' */ - uint16_T mission_mode; /* '/mission_proc' */ - uint16_T cur_np; /* '/mission_proc' */ - uint16_T command_j; /* '/mav' */ - uint16_T WP_out; /* '/Chart' */ - uint16_T WP_out_o; /* '/landing_task' */ - uint16_T WP_out_f; /* '/takeoff_task' */ - uint16_T WP_cur; /* '/proc_set_ cur' */ - uint16_T id; /* '/proc_cmd' */ + uint16_T DataTypeConversion1_c; /* '/Data Type Conversion1' */ + uint16_T DataTypeConversion1_o; /* '/Data Type Conversion1' */ + uint16_T DataTypeConversion1_f; /* '/Data Type Conversion1' */ + uint16_T DataTypeConversion1_nd; /* '/Data Type Conversion1' */ + uint16_T idx; /* '/proc_param_value' */ + uint16_T param_cnt; /* '/find_val_capi' */ + uint16_T param_index; /* '/find_val_capi' */ + uint16_T set_cur; /* '/req_cur' */ + uint16_T seq; /* '/Chart_proc_mission_upload' */ + uint16_T command; /* '/Chart_proc_mission_upload' */ + uint16_T channels[18]; /* '/BusConversion_InsertedFor_rc_at_inport_0' */ + uint16_T channels_e[18]; /* '/BusConversion_InsertedFor_rc_at_inport_0' */ + uint16_T cnt; /* '/chat_get_mission_cnt' */ + uint16_T req_cur; /* '/Chart' */ + uint16_T seq_e; /* '/Chart_proc_mission_req' */ + uint16_T command_p; /* '/chat_get_mission_item' */ + uint16_T resp; /* '/Chart_proc_param_set' */ + uint16_T resp_c; /* '/Chart' */ + uint16_T resp_j; /* '/Chart_proc_param_req_read' */ + uint16_T width; /* '/Width' */ + uint16_T TmpSignalConversionAtSFunctionInport3[16];/* '/Chart' */ + uint16_T mav_msg2buff_o2; /* '/mav_msg2buff' */ + uint16_T last_WP; /* '/mission_proc' */ + uint16_T mission_mode; /* '/mission_proc' */ + uint16_T cur_np; /* '/mission_proc' */ + uint16_T command_j; /* '/mav' */ + uint16_T WP_out; /* '/Chart' */ + uint16_T WP_out_k; /* '/landing_task' */ + uint16_T WP_out_o; /* '/takeoff_task' */ + uint16_T WP_cur; /* '/proc_set_ cur' */ + uint16_T id; /* '/proc_cmd' */ uint16_T OutportBuffer_InsertedFor_gps_hdg_status_at_inport_0;/* '/Constant' */ uint16_T err_hdr; /* '/parser' */ uint16_T bad; /* '/parser' */ @@ -993,39 +993,40 @@ typedef struct { uint16_T voltages_mv_c[7]; /* '/Byte Unpack' */ uint16_T hi_voltage_mv_i; /* '/Byte Unpack' */ uint16_T low_voltage_mv_h; /* '/Byte Unpack' */ - uint16_T DataTypeConversion1_g; /* '/Data Type Conversion1' */ - int16_T param_idx; /* '/set_val_capi' */ - int16_T param_idx_p; /* '/find_idx_capi' */ + uint16_T DataTypeConversion1_g; /* '/Data Type Conversion1' */ + int16_T param_idx; /* '/set_val_capi' */ + int16_T param_idx_p; /* '/find_idx_capi' */ int16_T temps[4]; /* '/Byte Unpack' */ + uint8_T UnitDelay_f[5]; /* '/Unit Delay' */ uint8_T DataTypeConversion; /* '/Data Type Conversion' */ - uint8_T u[4]; /* '/proc_param_value' */ - uint8_T param_name[16]; /* '/find_val_capi' */ - uint8_T param_value[4]; /* '/find_val_capi' */ - uint8_T param_type; /* '/find_val_capi' */ - uint8_T mission_type; /* '/Chart_proc_mission_upload' */ - uint8_T frame; /* '/Chart_proc_mission_upload' */ - uint8_T autocontinue; /* '/Chart_proc_mission_upload' */ - uint8_T ack_d; /* '/chat_clear_mission' */ - uint8_T ack_i; /* '/chat_update_mission_item' */ - uint8_T id_g; /* '/Signal Copy' */ - uint8_T seq_g; /* '/Unit Delay' */ - uint8_T mission_type_g; /* '/Chart_proc_mission_clr_all' */ - uint8_T ack_f; /* '/chat_clear_mission' */ - uint8_T type; /* '/Chart_proc_mission_req_lst' */ - uint8_T type_b; /* '/Chart_proc_mission_req' */ - uint8_T ack_iw; /* '/chat_get_mission_item' */ - uint8_T frame_l; /* '/chat_get_mission_item' */ - uint8_T autocont; /* '/chat_get_mission_item' */ - uint8_T name[16]; /* '/Chart_proc_param_set' */ - uint8_T value_n[4]; /* '/Chart_proc_param_set' */ - uint8_T type_f; /* '/Chart_proc_param_set' */ - uint8_T BytePack[4]; /* '/Byte Pack' */ - uint8_T name_g[16]; /* '/Chart_proc_param_req_read' */ - uint8_T mav_char_in; /* '/Selector' */ - uint8_T seq_p; /* '/traffic_ctrl' */ - uint8_T BitwiseOperator; /* '/Bitwise Operator' */ - uint8_T DataTypeConversion_d; /* '/Data Type Conversion' */ - uint8_T mav_msg2buff_o1[256]; /* '/mav_msg2buff' */ + uint8_T u[4]; /* '/proc_param_value' */ + uint8_T param_name[16]; /* '/find_val_capi' */ + uint8_T param_value[4]; /* '/find_val_capi' */ + uint8_T param_type; /* '/find_val_capi' */ + uint8_T mission_type; /* '/Chart_proc_mission_upload' */ + uint8_T frame; /* '/Chart_proc_mission_upload' */ + uint8_T autocontinue; /* '/Chart_proc_mission_upload' */ + uint8_T ack_d; /* '/chat_clear_mission' */ + uint8_T ack_i; /* '/chat_update_mission_item' */ + uint8_T id_g; /* '/Signal Copy' */ + uint8_T seq_g; /* '/Unit Delay' */ + uint8_T mission_type_g; /* '/Chart_proc_mission_clr_all' */ + uint8_T ack_f; /* '/chat_clear_mission' */ + uint8_T type; /* '/Chart_proc_mission_req_lst' */ + uint8_T type_b; /* '/Chart_proc_mission_req' */ + uint8_T ack_iw; /* '/chat_get_mission_item' */ + uint8_T frame_l; /* '/chat_get_mission_item' */ + uint8_T autocont; /* '/chat_get_mission_item' */ + uint8_T name[16]; /* '/Chart_proc_param_set' */ + uint8_T value_n[4]; /* '/Chart_proc_param_set' */ + uint8_T type_f; /* '/Chart_proc_param_set' */ + uint8_T BytePack[4]; /* '/Byte Pack' */ + uint8_T name_g[16]; /* '/Chart_proc_param_req_read' */ + uint8_T mav_char_in; /* '/Selector' */ + uint8_T seq_i; /* '/traffic_ctrl' */ + uint8_T BitwiseOperator; /* '/Bitwise Operator' */ + uint8_T DataTypeConversion_d; /* '/Data Type Conversion' */ + uint8_T mav_msg2buff_o1[256]; /* '/mav_msg2buff' */ uint8_T stage; /* '/status_mgr' */ uint8_T data_o[96]; /* '/parser' */ uint8_T msg_data[96]; /* '/parser' */ @@ -1059,17 +1060,17 @@ typedef struct { uint8_T BAT1_STA2; /* '/Byte Unpack' */ uint8_T ByteUnpack_o12_n[2]; /* '/Byte Unpack' */ uint8_T OutportBuffer_InsertedFor_satnum_used_at_inport_0;/* '/Constant1' */ - boolean_T enable_cnt; /* '/Chart_proc_mission_upload' */ - boolean_T enable_item; /* '/Chart_proc_mission_upload' */ - boolean_T valid_o; /* '/true' */ - boolean_T mav_found; /* '/mav_parser' */ - boolean_T valid_d; /* '/valid_checking' */ - boolean_T ac; /* '/mission_proc' */ - boolean_T Merge_p; /* '/Merge' */ - boolean_T DataTypeConversion_b; /* '/Data Type Conversion' */ - boolean_T is_mission; /* '/mav' */ - boolean_T valid_db; /* '/valid_checking' */ - boolean_T ack_p; /* '/proc_cmd' */ + boolean_T enable_cnt; /* '/Chart_proc_mission_upload' */ + boolean_T enable_item; /* '/Chart_proc_mission_upload' */ + boolean_T valid_o; /* '/true' */ + boolean_T mav_found; /* '/mav_parser' */ + boolean_T valid_d; /* '/valid_checking' */ + boolean_T ac; /* '/mission_proc' */ + boolean_T Merge_p; /* '/Merge' */ + boolean_T DataTypeConversion_b; /* '/Data Type Conversion' */ + boolean_T is_mission; /* '/mav' */ + boolean_T valid_db; /* '/valid_checking' */ + boolean_T ack_ci; /* '/proc_cmd' */ boolean_T LogicalOperator; /* '/Logical Operator' */ boolean_T enabled; /* '/tick' */ boolean_T enabled_k; /* '/tick' */ @@ -1092,27 +1093,27 @@ typedef struct { /* Block states (default storage) for system '' */ typedef struct { C2 CC; /* '/Data Store Memory' */ - mavlink_message_t msgs_msgData; /* '/proc_queue' */ - mavlink_message_t msgs_msgData_h; /* '/push2msgs' */ + mavlink_message_t msgs_msgData; /* '/proc_queue' */ + mavlink_message_t msgs_msgData_h; /* '/push2msgs' */ Sensors sens; /* '/Data Store Memory' */ TrajGen UnitDelay_DSTATE; /* '/Unit Delay' */ - mavlink_autopilot_version_t ap_ver_msgData;/* '/send_auto_hw' */ - mavlink_autopilot_version_t ap_ver_queue_msgData;/* '/traffic_ctrl' */ - mavlink_mission_item_int_t mission_item_msgData;/* '/Chart_proc_mission_upload' */ - mavlink_mission_item_int_t send_req_msgData;/* '/Chart' */ - mavlink_mission_item_int_t send_item_msgData;/* '/Chart_proc_mission_req' */ - mavlink_mission_item_int_t mission_item_int_queue_msgData;/* '/traffic_ctrl' */ - MavMission m; /* '/chat_update_mission_item' */ - CommandMsg msg_msgData; /* '/send_cmd' */ - CommandMsg cmd_msgData; /* '/mission_proc' */ - CommandMsg cmd_msgData_m; /* '/proc_cmd' */ - CommandMsg cmd2_msgData; /* '/proc_cmd' */ - mavlink_param_value_t msg_msgData_e; /* '/proc_param_value' */ - mavlink_param_value_t param_val_queue_msgData;/* '/traffic_ctrl' */ - mavlink_command_ack_t command_ack_queue_msgData;/* '/traffic_ctrl' */ - mavlink_command_ack_t send_ack_msgData;/* '/Chart_send_ack' */ - MavFence f; /* '/chat_update_mission_item' */ - MavRally r; /* '/chat_update_mission_item' */ + mavlink_autopilot_version_t ap_ver_msgData;/* '/send_auto_hw' */ + mavlink_autopilot_version_t ap_ver_queue_msgData;/* '/traffic_ctrl' */ + mavlink_mission_item_int_t mission_item_msgData;/* '/Chart_proc_mission_upload' */ + mavlink_mission_item_int_t send_req_msgData;/* '/Chart' */ + mavlink_mission_item_int_t send_item_msgData;/* '/Chart_proc_mission_req' */ + mavlink_mission_item_int_t mission_item_int_queue_msgData;/* '/traffic_ctrl' */ + MavMission m; /* '/chat_update_mission_item' */ + CommandMsg msg_msgData; /* '/send_cmd' */ + CommandMsg cmd_msgData; /* '/mission_proc' */ + CommandMsg cmd_msgData_a; /* '/proc_cmd' */ + CommandMsg cmd2_msgData; /* '/proc_cmd' */ + mavlink_param_value_t msg_msgData_e; /* '/proc_param_value' */ + mavlink_param_value_t param_val_queue_msgData;/* '/traffic_ctrl' */ + mavlink_command_ack_t command_ack_queue_msgData;/* '/traffic_ctrl' */ + mavlink_command_ack_t send_ack_msgData;/* '/Chart_send_ack' */ + MavFence f; /* '/chat_update_mission_item' */ + MavRally r; /* '/chat_update_mission_item' */ real_T UnitDelay_DSTATE_p; /* '/Unit Delay' */ real_T DiscreteTransferFcn_states[6];/* '/Discrete Transfer Fcn' */ real_T DiscreteTransferFcn_states_e[6];/* '/Discrete Transfer Fcn' */ @@ -1145,14 +1146,14 @@ typedef struct { real_T m_bpLambda_lq[3]; /* '/table3D_thrust' */ real_T m_bpLambda_o1[3]; /* '/table3D_cft' */ real_T Product2_DWORK4[9]; /* '/Product2' */ - real_T R; /* '/stdatmo' */ - real_T gamma; /* '/stdatmo' */ - real_T g0; /* '/stdatmo' */ - real_T RE; /* '/stdatmo' */ - real_T Bs; /* '/stdatmo' */ - real_T S; /* '/stdatmo' */ - real_T last_lat1_in; /* '/nav_corner' */ - real_T last_lon1_in; /* '/nav_corner' */ + real_T R; /* '/stdatmo' */ + real_T gamma; /* '/stdatmo' */ + real_T g0; /* '/stdatmo' */ + real_T RE; /* '/stdatmo' */ + real_T Bs; /* '/stdatmo' */ + real_T S; /* '/stdatmo' */ + real_T last_lat1_in; /* '/nav_corner' */ + real_T last_lon1_in; /* '/nav_corner' */ real_T DiscreteTransferFcn_tmp[3]; /* '/Discrete Transfer Fcn' */ real_T DiscreteTransferFcn_tmp_f[3]; /* '/Discrete Transfer Fcn' */ real_T qbar0; /* '/zero_set' */ @@ -1168,24 +1169,24 @@ typedef struct { real_T WGS84GravitySFunction_gamma_phi;/* '/WGS84 Gravity S-Function' */ real_T Product_DWORK4[9]; /* '/Product' */ real_T Product_DWORK4_h[9]; /* '/Product' */ - CommandAck ack_msgData; /* '/Chart_send_ack' */ - CommandAck ack_msgData_c; /* '/proc_cmd' */ - mavlink_mission_count_t mission_cnt_msgData;/* '/Chart_proc_mission_upload' */ - mavlink_mission_count_t send_cnt_msgData;/* '/Chart' */ - mavlink_mission_count_t send_cnt_msgData_d;/* '/Chart_proc_mission_req_lst' */ - mavlink_mission_count_t mission_cnt_queue_msgData;/* '/traffic_ctrl' */ - mavlink_mission_ack_t mission_ack_msgData;/* '/Chart_proc_mission_upload' */ - mavlink_mission_ack_t ack1_msgData; /* '/merge_ack' */ - mavlink_mission_ack_t ack2_msgData; /* '/merge_ack' */ - mavlink_mission_ack_t ack_msgData_a; /* '/merge_ack' */ - mavlink_mission_ack_t ack3_msgData; /* '/merge_ack' */ - mavlink_mission_ack_t send_ack_msgData_j;/* '/Chart_proc_mission_clr_all' */ - mavlink_mission_ack_t send_ack_msgData_b;/* '/Chart_proc_mission_req' */ - mavlink_mission_ack_t mission_ack_queue_msgData;/* '/traffic_ctrl' */ - mavlink_mission_current_t cur_msgData;/* '/req_cur' */ - mavlink_mission_current_t mission_cur_queue_msgData;/* '/traffic_ctrl' */ - mavlink_mission_request_int_t mission_req_int_msgData;/* '/Chart_proc_mission_upload' */ - mavlink_mission_request_int_t mission_req_int_queue_msgData;/* '/traffic_ctrl' */ + CommandAck ack_msgData; /* '/Chart_send_ack' */ + CommandAck ack_msgData_d; /* '/proc_cmd' */ + mavlink_mission_count_t mission_cnt_msgData;/* '/Chart_proc_mission_upload' */ + mavlink_mission_count_t send_cnt_msgData;/* '/Chart' */ + mavlink_mission_count_t send_cnt_msgData_d;/* '/Chart_proc_mission_req_lst' */ + mavlink_mission_count_t mission_cnt_queue_msgData;/* '/traffic_ctrl' */ + mavlink_mission_ack_t mission_ack_msgData;/* '/Chart_proc_mission_upload' */ + mavlink_mission_ack_t ack1_msgData; /* '/merge_ack' */ + mavlink_mission_ack_t ack2_msgData; /* '/merge_ack' */ + mavlink_mission_ack_t ack_msgData_a; /* '/merge_ack' */ + mavlink_mission_ack_t ack3_msgData; /* '/merge_ack' */ + mavlink_mission_ack_t send_ack_msgData_j;/* '/Chart_proc_mission_clr_all' */ + mavlink_mission_ack_t send_ack_msgData_b;/* '/Chart_proc_mission_req' */ + mavlink_mission_ack_t mission_ack_queue_msgData;/* '/traffic_ctrl' */ + mavlink_mission_current_t cur_msgData;/* '/req_cur' */ + mavlink_mission_current_t mission_cur_queue_msgData;/* '/traffic_ctrl' */ + mavlink_mission_request_int_t mission_req_int_msgData;/* '/Chart_proc_mission_upload' */ + mavlink_mission_request_int_t mission_req_int_queue_msgData;/* '/traffic_ctrl' */ Msg_uint16 EntityQueue_InsertedFor_req_cur_at_inport_0_Msg_uint16;/* synthesized block */ Msg_uint16 EntityQueue_InsertedFor_req_cur_at_inport_0_Out1_recvBuffer;/* synthesized block */ Msg_uint16 EntityQueue_InsertedFor_proc_set_cur_at_inport_0_Msg_uint16[10];/* synthesized block */ @@ -1303,94 +1304,94 @@ typedef struct { Queue_mavlink_message_t EntityQueue_InsertedFor_proc_queue_at_inport_0_Queue_mavlink_me;/* synthesized block */ MemPool_mavlink_message_t slMsgMgr_MemPool_mavlink_message_t;/* synthesized block */ - void* msg_msgInterface; /* '/proc_param_value' */ - void* param_req_read_msgInterface; /* '/proc_param_value' */ - void* param_req_read_msgHandle; /* '/proc_param_value' */ - void* param_req_read_msgDataPtr; /* '/proc_param_value' */ - void* param_req_lst_msgInterface; /* '/proc_param_value' */ - void* param_req_lst_msgHandle; /* '/proc_param_value' */ - void* param_req_lst_msgDataPtr; /* '/proc_param_value' */ - void* param_set_msgInterface; /* '/proc_param_value' */ - void* param_set_msgHandle; /* '/proc_param_value' */ - void* param_set_msgDataPtr; /* '/proc_param_value' */ - void* req_cur_msgInterface; /* '/req_cur' */ - void* req_cur_msgHandle; /* '/req_cur' */ - void* req_cur_msgDataPtr; /* '/req_cur' */ - void* set_cur_msgInterface; /* '/req_cur' */ - void* cur_msgInterface; /* '/req_cur' */ - void* mission_cnt_msgInterface; /* '/Chart_proc_mission_upload' */ - void* mission_cnt_msgHandle; /* '/Chart_proc_mission_upload' */ - void* mission_cnt_msgDataPtr; /* '/Chart_proc_mission_upload' */ - void* mission_item_msgInterface; /* '/Chart_proc_mission_upload' */ - void* mission_item_msgHandle; /* '/Chart_proc_mission_upload' */ - void* mission_item_msgDataPtr; /* '/Chart_proc_mission_upload' */ - void* mission_req_int_msgInterface; /* '/Chart_proc_mission_upload' */ - void* mission_ack_msgInterface; /* '/Chart_proc_mission_upload' */ - void* ack1_msgInterface; /* '/merge_ack' */ - void* ack1_msgHandle; /* '/merge_ack' */ - void* ack1_msgDataPtr; /* '/merge_ack' */ - void* ack2_msgInterface; /* '/merge_ack' */ - void* ack2_msgHandle; /* '/merge_ack' */ - void* ack2_msgDataPtr; /* '/merge_ack' */ - void* ack_msgInterface; /* '/merge_ack' */ - void* ack3_msgInterface; /* '/merge_ack' */ - void* ack3_msgHandle; /* '/merge_ack' */ - void* ack3_msgDataPtr; /* '/merge_ack' */ - void* msgs_msgInterface; /* '/proc_queue' */ - void* msgs_msgHandle; /* '/proc_queue' */ - void* msgs_msgDataPtr; /* '/proc_queue' */ - void* msg_msgInterface_h; /* '/send_cmd' */ - void* ap_ver_msgInterface; /* '/send_auto_hw' */ - void* send_req_msgInterface; /* '/Chart' */ - void* send_ack_msgInterface; /* '/Chart_proc_mission_clr_all' */ - void* send_cnt_msgInterface; /* '/Chart' */ - void* send_cnt_msgInterface_j; /* '/Chart_proc_mission_req_lst' */ - void* req_cur_msgInterface_n; /* '/Chart' */ - void* send_item_msgInterface; /* '/Chart_proc_mission_req' */ - void* send_ack_msgInterface_a; /* '/Chart_proc_mission_req' */ - void* resp_msgInterface; /* '/Chart_proc_param_set' */ - void* resp_msgInterface_o; /* '/Chart' */ - void* resp_msgInterface_i; /* '/Chart_proc_param_req_read' */ - void* msgs_msgInterface_n; /* '/push2msgs' */ - void* param_val_queue_msgInterface; /* '/traffic_ctrl' */ - void* param_val_queue_msgHandle; /* '/traffic_ctrl' */ - void* param_val_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* mission_cnt_queue_msgInterface;/* '/traffic_ctrl' */ - void* mission_cnt_queue_msgHandle; /* '/traffic_ctrl' */ - void* mission_cnt_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* mission_req_int_queue_msgInterface;/* '/traffic_ctrl' */ - void* mission_req_int_queue_msgHandle;/* '/traffic_ctrl' */ - void* mission_req_int_queue_msgDataPtr;/* '/traffic_ctrl' */ - void* mission_item_int_queue_msgInterface;/* '/traffic_ctrl' */ - void* mission_item_int_queue_msgHandle;/* '/traffic_ctrl' */ - void* mission_item_int_queue_msgDataPtr;/* '/traffic_ctrl' */ - void* ap_ver_queue_msgInterface; /* '/traffic_ctrl' */ - void* ap_ver_queue_msgHandle; /* '/traffic_ctrl' */ - void* ap_ver_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* mission_ack_queue_msgInterface;/* '/traffic_ctrl' */ - void* mission_ack_queue_msgHandle; /* '/traffic_ctrl' */ - void* mission_ack_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* mission_cur_queue_msgInterface;/* '/traffic_ctrl' */ - void* mission_cur_queue_msgHandle; /* '/traffic_ctrl' */ - void* mission_cur_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* command_ack_queue_msgInterface;/* '/traffic_ctrl' */ - void* command_ack_queue_msgHandle; /* '/traffic_ctrl' */ - void* command_ack_queue_msgDataPtr; /* '/traffic_ctrl' */ - void* send_ack_msgInterface_j; /* '/Chart_send_ack' */ - void* ack_msgInterface_m; /* '/Chart_send_ack' */ - void* ack_msgHandle; /* '/Chart_send_ack' */ - void* ack_msgDataPtr; /* '/Chart_send_ack' */ - void* cmd_msgInterface; /* '/mission_proc' */ - void* set_cur_msgInterface_b; /* '/proc_set_ cur' */ - void* set_cur_msgHandle; /* '/proc_set_ cur' */ - void* set_cur_msgDataPtr; /* '/proc_set_ cur' */ - void* cmd_msgInterface_b; /* '/proc_cmd' */ - void* cmd_msgHandle; /* '/proc_cmd' */ - void* cmd_msgDataPtr; /* '/proc_cmd' */ - void* cmd2_msgInterface; /* '/proc_cmd' */ - void* cmd2_msgHandle; /* '/proc_cmd' */ - void* cmd2_msgDataPtr; /* '/proc_cmd' */ - void* ack_msgInterface_o; /* '/proc_cmd' */ + void* msg_msgInterface; /* '/proc_param_value' */ + void* param_req_read_msgInterface; /* '/proc_param_value' */ + void* param_req_read_msgHandle; /* '/proc_param_value' */ + void* param_req_read_msgDataPtr; /* '/proc_param_value' */ + void* param_req_lst_msgInterface; /* '/proc_param_value' */ + void* param_req_lst_msgHandle; /* '/proc_param_value' */ + void* param_req_lst_msgDataPtr; /* '/proc_param_value' */ + void* param_set_msgInterface; /* '/proc_param_value' */ + void* param_set_msgHandle; /* '/proc_param_value' */ + void* param_set_msgDataPtr; /* '/proc_param_value' */ + void* req_cur_msgInterface; /* '/req_cur' */ + void* req_cur_msgHandle; /* '/req_cur' */ + void* req_cur_msgDataPtr; /* '/req_cur' */ + void* set_cur_msgInterface; /* '/req_cur' */ + void* cur_msgInterface; /* '/req_cur' */ + void* mission_cnt_msgInterface; /* '/Chart_proc_mission_upload' */ + void* mission_cnt_msgHandle; /* '/Chart_proc_mission_upload' */ + void* mission_cnt_msgDataPtr; /* '/Chart_proc_mission_upload' */ + void* mission_item_msgInterface; /* '/Chart_proc_mission_upload' */ + void* mission_item_msgHandle; /* '/Chart_proc_mission_upload' */ + void* mission_item_msgDataPtr; /* '/Chart_proc_mission_upload' */ + void* mission_req_int_msgInterface; /* '/Chart_proc_mission_upload' */ + void* mission_ack_msgInterface; /* '/Chart_proc_mission_upload' */ + void* ack1_msgInterface; /* '/merge_ack' */ + void* ack1_msgHandle; /* '/merge_ack' */ + void* ack1_msgDataPtr; /* '/merge_ack' */ + void* ack2_msgInterface; /* '/merge_ack' */ + void* ack2_msgHandle; /* '/merge_ack' */ + void* ack2_msgDataPtr; /* '/merge_ack' */ + void* ack_msgInterface; /* '/merge_ack' */ + void* ack3_msgInterface; /* '/merge_ack' */ + void* ack3_msgHandle; /* '/merge_ack' */ + void* ack3_msgDataPtr; /* '/merge_ack' */ + void* msgs_msgInterface; /* '/proc_queue' */ + void* msgs_msgHandle; /* '/proc_queue' */ + void* msgs_msgDataPtr; /* '/proc_queue' */ + void* msg_msgInterface_j; /* '/send_cmd' */ + void* ap_ver_msgInterface; /* '/send_auto_hw' */ + void* send_req_msgInterface; /* '/Chart' */ + void* send_ack_msgInterface; /* '/Chart_proc_mission_clr_all' */ + void* send_cnt_msgInterface; /* '/Chart' */ + void* send_cnt_msgInterface_j; /* '/Chart_proc_mission_req_lst' */ + void* req_cur_msgInterface_n; /* '/Chart' */ + void* send_item_msgInterface; /* '/Chart_proc_mission_req' */ + void* send_ack_msgInterface_a; /* '/Chart_proc_mission_req' */ + void* resp_msgInterface; /* '/Chart_proc_param_set' */ + void* resp_msgInterface_o; /* '/Chart' */ + void* resp_msgInterface_i; /* '/Chart_proc_param_req_read' */ + void* msgs_msgInterface_n; /* '/push2msgs' */ + void* param_val_queue_msgInterface; /* '/traffic_ctrl' */ + void* param_val_queue_msgHandle; /* '/traffic_ctrl' */ + void* param_val_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* mission_cnt_queue_msgInterface;/* '/traffic_ctrl' */ + void* mission_cnt_queue_msgHandle; /* '/traffic_ctrl' */ + void* mission_cnt_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* mission_req_int_queue_msgInterface;/* '/traffic_ctrl' */ + void* mission_req_int_queue_msgHandle;/* '/traffic_ctrl' */ + void* mission_req_int_queue_msgDataPtr;/* '/traffic_ctrl' */ + void* mission_item_int_queue_msgInterface;/* '/traffic_ctrl' */ + void* mission_item_int_queue_msgHandle;/* '/traffic_ctrl' */ + void* mission_item_int_queue_msgDataPtr;/* '/traffic_ctrl' */ + void* ap_ver_queue_msgInterface; /* '/traffic_ctrl' */ + void* ap_ver_queue_msgHandle; /* '/traffic_ctrl' */ + void* ap_ver_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* mission_ack_queue_msgInterface;/* '/traffic_ctrl' */ + void* mission_ack_queue_msgHandle; /* '/traffic_ctrl' */ + void* mission_ack_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* mission_cur_queue_msgInterface;/* '/traffic_ctrl' */ + void* mission_cur_queue_msgHandle; /* '/traffic_ctrl' */ + void* mission_cur_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* command_ack_queue_msgInterface;/* '/traffic_ctrl' */ + void* command_ack_queue_msgHandle; /* '/traffic_ctrl' */ + void* command_ack_queue_msgDataPtr; /* '/traffic_ctrl' */ + void* send_ack_msgInterface_h; /* '/Chart_send_ack' */ + void* ack_msgInterface_o; /* '/Chart_send_ack' */ + void* ack_msgHandle; /* '/Chart_send_ack' */ + void* ack_msgDataPtr; /* '/Chart_send_ack' */ + void* cmd_msgInterface; /* '/mission_proc' */ + void* set_cur_msgInterface_b; /* '/proc_set_ cur' */ + void* set_cur_msgHandle; /* '/proc_set_ cur' */ + void* set_cur_msgDataPtr; /* '/proc_set_ cur' */ + void* cmd_msgInterface_c; /* '/proc_cmd' */ + void* cmd_msgHandle; /* '/proc_cmd' */ + void* cmd_msgDataPtr; /* '/proc_cmd' */ + void* cmd2_msgInterface; /* '/proc_cmd' */ + void* cmd2_msgHandle; /* '/proc_cmd' */ + void* cmd2_msgDataPtr; /* '/proc_cmd' */ + void* ack_msgInterface_b; /* '/proc_cmd' */ void* Assertion_slioAccessor; /* '/Assertion' */ void* Assertion_slioAccessor_a; /* '/Assertion' */ real32_T DiscreteTransferFcn_states_m;/* '/Discrete Transfer Fcn' */ @@ -1401,11 +1402,11 @@ typedef struct { real32_T Delay_DSTATE_a; /* '/Delay' */ real32_T Delay_DSTATE_b; /* '/Delay' */ real32_T last_hdot_c_DSTATE; /* '/last_hdot_c' */ - uint32_T UnitDelay_DSTATE_g; /* '/Unit Delay' */ - uint32_T UnitDelay_DSTATE_c; /* '/Unit Delay' */ + uint32_T UnitDelay_DSTATE_g; /* '/Unit Delay' */ + uint32_T UnitDelay_DSTATE_c; /* '/Unit Delay' */ uint32_T UnitDelay_DSTATE_o; /* '/Unit Delay' */ - real32_T last_az; /* '/nav_corner' */ - real32_T last_hdg; /* '/nav_corner' */ + real32_T last_az; /* '/nav_corner' */ + real32_T last_hdg; /* '/nav_corner' */ real32_T DiscreteTransferFcn_tmp_p; /* '/Discrete Transfer Fcn' */ real32_T PrevY[3]; /* '/Rate Limiter' */ real32_T PrevY_k[3]; /* '/Rate Limiter1' */ @@ -1447,10 +1448,10 @@ typedef struct { uint32_T m_bpIndex_d2[3]; /* '/table3D_cft' */ uint32_T m_bpIndex_m1; /* '/1-D Lookup Table' */ uint32_T m_bpIndex_eh; /* '/IAS_lookup' */ - uint32_T m_bpIndex_cs; /* '/1-D Lookup Table' */ - uint32_T m_bpIndex_i; /* '/1-D Lookup Table' */ - uint32_T wait_time; /* '/traffic_ctrl' */ - uint32_T temporalCounter_i1; /* '/traffic_ctrl' */ + uint32_T m_bpIndex_cs; /* '/1-D Lookup Table' */ + uint32_T m_bpIndex_i; /* '/1-D Lookup Table' */ + uint32_T wait_time; /* '/traffic_ctrl' */ + uint32_T temporalCounter_i1; /* '/traffic_ctrl' */ uint32_T temporalCounter_i1_e; /* '/tick' */ uint32_T temporalCounter_i1_p; /* '/tick' */ uint32_T temporalCounter_i1_o; /* '/tick' */ @@ -1464,97 +1465,172 @@ typedef struct { int_T Integrator_IWORK_ay; /* '/Integrator' */ int_T p_IWORK; /* '/p' */ uint16_T Delay_DSTATE_m[32]; /* '/Delay' */ + uint16_T UnitDelay_DSTATE_h; /* '/Unit Delay' */ + uint16_T UnitDelay_DSTATE_c3; /* '/Unit Delay' */ + uint16_T UnitDelay_DSTATE_b; /* '/Unit Delay' */ + uint16_T UnitDelay_DSTATE_oi; /* '/Unit Delay' */ + uint16_T UnitDelay_DSTATE_e; /* '/Unit Delay' */ + uint16_T UnitDelay_DSTATE_ci; /* '/Unit Delay' */ uint16_T UnitDelay1_DSTATE; /* '/Unit Delay1' */ uint16_T UnitDelay2_1_DSTATE[18]; /* '/Unit Delay2' */ - uint16_T param_req_read_msgData; /* '/proc_param_value' */ - uint16_T param_req_lst_msgData; /* '/proc_param_value' */ - uint16_T param_set_msgData; /* '/proc_param_value' */ - uint16_T temporalCounter_i1_py; /* '/req_cur' */ - uint16_T req_cur_msgData; /* '/req_cur' */ - uint16_T set_cur_msgData; /* '/req_cur' */ - uint16_T count; /* '/Chart_proc_mission_upload' */ - uint16_T req_cur_msgData_d; /* '/Chart' */ - uint16_T resp_msgData; /* '/Chart_proc_param_set' */ - uint16_T resp_msgData_f; /* '/Chart' */ - uint16_T resp_msgData_n; /* '/Chart_proc_param_req_read' */ - uint16_T temporalCounter_i1_a; /* '/takeoff_task' */ - uint16_T set_cur_msgData_e; /* '/proc_set_ cur' */ - uint16_T last_cnt; /* '/check_conn' */ - uint16_T temporalCounter_i1_f; /* '/check_conn' */ + uint16_T last_seq; /* '/Chart' */ + uint16_T last_seq_h; /* '/Chart' */ + uint16_T last_seq_j; /* '/Chart' */ + uint16_T last_seq_js; /* '/Chart' */ + uint16_T last_seq_k; /* '/Chart' */ + uint16_T last_seq_l; /* '/Chart' */ + uint16_T last_seq_i; /* '/Chart' */ + uint16_T last_seq_ji; /* '/Chart' */ + uint16_T last_seq_ly; /* '/Chart' */ + uint16_T last_seq_o; /* '/Chart' */ + uint16_T last_seq_m; /* '/Chart' */ + uint16_T last_seq_jn; /* '/Chart' */ + uint16_T param_req_read_msgData; /* '/proc_param_value' */ + uint16_T param_req_lst_msgData; /* '/proc_param_value' */ + uint16_T param_set_msgData; /* '/proc_param_value' */ + uint16_T temporalCounter_i1_py; /* '/req_cur' */ + uint16_T req_cur_msgData; /* '/req_cur' */ + uint16_T set_cur_msgData; /* '/req_cur' */ + uint16_T count; /* '/Chart_proc_mission_upload' */ + uint16_T req_cur_msgData_d; /* '/Chart' */ + uint16_T resp_msgData; /* '/Chart_proc_param_set' */ + uint16_T resp_msgData_f; /* '/Chart' */ + uint16_T resp_msgData_n; /* '/Chart_proc_param_req_read' */ + uint16_T temporalCounter_i1_p4; /* '/takeoff_task' */ + uint16_T set_cur_msgData_e; /* '/proc_set_ cur' */ + uint16_T last_cnt; /* '/check_conn' */ + uint16_T temporalCounter_i1_f; /* '/check_conn' */ uint16_T temporalCounter_i1_m; /* '/check_gps_valid' */ + uint8_T UnitDelay_DSTATE_hx[5]; /* '/Unit Delay' */ uint8_T UnitDelay2_3_DSTATE; /* '/Unit Delay2' */ uint8_T UnitDelay2_2_DSTATE; /* '/Unit Delay2' */ - uint8_T UnitDelay_DSTATE_h; /* '/Unit Delay' */ - uint8_T UnitDelay_DSTATE_b; /* '/Unit Delay' */ + uint8_T UnitDelay_DSTATE_ho; /* '/Unit Delay' */ + uint8_T UnitDelay_DSTATE_b4; /* '/Unit Delay' */ boolean_T UnitDelay2_4_DSTATE; /* '/Unit Delay2' */ int8_T If_ActiveSubsystem; /* '/If' */ int8_T SwitchCase_ActiveSubsystem; /* '/Switch Case' */ int8_T If_ActiveSubsystem_e; /* '/If' */ int8_T If1_ActiveSubsystem; /* '/If1' */ int8_T If1_ActiveSubsystem_l; /* '/If1' */ - int8_T If1_ActiveSubsystem_j; /* '/If1' */ - int8_T If1_ActiveSubsystem_i; /* '/If1' */ - int8_T SwitchCase_ActiveSubsystem_g; /* '/Switch Case' */ + int8_T If1_ActiveSubsystem_j; /* '/If1' */ + int8_T If1_ActiveSubsystem_i; /* '/If1' */ + int8_T SwitchCase_ActiveSubsystem_g; /* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_e; /* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_gg;/* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_f; /* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_k; /* '/Switch Case' */ - int8_T SwitchCase_ActiveSubsystem_j; /* '/Switch Case' */ + int8_T SwitchCase_ActiveSubsystem_j; /* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_l; /* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_gb;/* '/Switch Case' */ int8_T SwitchCase_ActiveSubsystem_lt;/* '/Switch Case' */ - int8_T SwitchCase_ActiveSubsystem_gm;/* '/Switch Case' */ - int8_T SwitchCase_ActiveSubsystem_a; /* '/Switch Case' */ - int8_T SwitchCase_ActiveSubsystem_gz;/* '/Switch Case' */ + int8_T SwitchCase_ActiveSubsystem_gm;/* '/Switch Case' */ + int8_T SwitchCase_ActiveSubsystem_a; /* '/Switch Case' */ + int8_T SwitchCase_ActiveSubsystem_gz;/* '/Switch Case' */ int8_T If_ActiveSubsystem_i; /* '/If' */ - uint8_T is_active_c31_mavlink_utils; /* '/proc_param_value' */ - uint8_T is_c31_mavlink_utils; /* '/proc_param_value' */ - uint8_T temporalCounter_i1_i; /* '/proc_param_value' */ - uint8_T is_active_c30_mavlink_utils; /* '/req_cur' */ - uint8_T is_active_c29_mavlink_utils; /* '/Chart_proc_mission_upload' */ - uint8_T is_c29_mavlink_utils; /* '/Chart_proc_mission_upload' */ - uint8_T retry; /* '/Chart_proc_mission_upload' */ - uint8_T temporalCounter_i1_n; /* '/Chart_proc_mission_upload' */ - uint8_T is_active_c22_mavlink_utils; /* '/merge_ack' */ - uint8_T is_active_c34_kb3_autopilot; /* '/traffic_ctrl' */ - uint8_T is_c34_kb3_autopilot; /* '/traffic_ctrl' */ - uint8_T port_num; /* '/Chart' */ - uint8_T is_active_c20_kb3_autopilot; /* '/Chart_send_ack' */ - uint8_T stage; /* '/nav_corner' */ + uint8_T is_active_c50_kb3_autopilot; /* '/Chart' */ + uint8_T is_c50_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_eg; /* '/Chart' */ + uint8_T is_active_c49_kb3_autopilot; /* '/Chart' */ + uint8_T is_c49_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_f2; /* '/Chart' */ + uint8_T is_active_c48_kb3_autopilot; /* '/Chart' */ + uint8_T is_c48_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_ph; /* '/Chart' */ + uint8_T is_active_c44_kb3_autopilot; /* '/Chart' */ + uint8_T is_c44_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_l; /* '/Chart' */ + uint8_T is_active_c43_kb3_autopilot; /* '/Chart' */ + uint8_T is_c43_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_m4; /* '/Chart' */ + uint8_T is_active_c42_kb3_autopilot; /* '/Chart' */ + uint8_T is_c42_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_j; /* '/Chart' */ + uint8_T is_active_c41_kb3_autopilot; /* '/Chart' */ + uint8_T is_c41_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_eo; /* '/Chart' */ + uint8_T is_active_c40_kb3_autopilot; /* '/Chart' */ + uint8_T is_c40_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_b; /* '/Chart' */ + uint8_T is_active_c58_kb3_autopilot; /* '/Chart' */ + uint8_T is_c58_kb3_autopilot; /* '/Chart' */ + uint8_T last_seq_c; /* '/Chart' */ + uint8_T temporalCounter_i1_e1; /* '/Chart' */ + uint8_T is_active_c57_kb3_autopilot; /* '/Chart' */ + uint8_T is_c57_kb3_autopilot; /* '/Chart' */ + uint8_T last_seq_ck; /* '/Chart' */ + uint8_T temporalCounter_i1_be; /* '/Chart' */ + uint8_T is_active_c56_kb3_autopilot; /* '/Chart' */ + uint8_T is_c56_kb3_autopilot; /* '/Chart' */ + uint8_T last_seq_j4; /* '/Chart' */ + uint8_T temporalCounter_i1_ek; /* '/Chart' */ + uint8_T is_active_c55_kb3_autopilot; /* '/Chart' */ + uint8_T is_c55_kb3_autopilot; /* '/Chart' */ + uint8_T last_seq_a; /* '/Chart' */ + uint8_T temporalCounter_i1_k; /* '/Chart' */ + uint8_T is_active_c54_kb3_autopilot; /* '/Chart' */ + uint8_T is_c54_kb3_autopilot; /* '/Chart' */ + uint8_T last_seq_g; /* '/Chart' */ + uint8_T temporalCounter_i1_jf; /* '/Chart' */ + uint8_T is_active_c47_kb3_autopilot; /* '/Chart' */ + uint8_T is_c47_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_lj; /* '/Chart' */ + uint8_T is_active_c46_kb3_autopilot; /* '/Chart' */ + uint8_T is_c46_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_lb; /* '/Chart' */ + uint8_T is_active_c45_kb3_autopilot; /* '/Chart' */ + uint8_T is_c45_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_d; /* '/Chart' */ + uint8_T is_active_c39_kb3_autopilot; /* '/Chart' */ + uint8_T is_c39_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_g; /* '/Chart' */ + uint8_T is_active_c31_mavlink_utils; /* '/proc_param_value' */ + uint8_T is_c31_mavlink_utils; /* '/proc_param_value' */ + uint8_T temporalCounter_i1_i; /* '/proc_param_value' */ + uint8_T is_active_c30_mavlink_utils; /* '/req_cur' */ + uint8_T is_active_c29_mavlink_utils; /* '/Chart_proc_mission_upload' */ + uint8_T is_c29_mavlink_utils; /* '/Chart_proc_mission_upload' */ + uint8_T retry; /* '/Chart_proc_mission_upload' */ + uint8_T temporalCounter_i1_n; /* '/Chart_proc_mission_upload' */ + uint8_T is_active_c22_mavlink_utils; /* '/merge_ack' */ + uint8_T is_active_c36_kb3_autopilot; /* '/traffic_ctrl' */ + uint8_T is_c36_kb3_autopilot; /* '/traffic_ctrl' */ + uint8_T port_num; /* '/Chart' */ + uint8_T is_active_c20_kb3_autopilot; /* '/Chart_send_ack' */ + uint8_T stage; /* '/nav_corner' */ uint8_T icLoad; /* '/Delay' */ uint8_T icLoad_g; /* '/Delay' */ uint8_T icLoad_e; /* '/Delay' */ uint8_T icLoad_e4; /* '/Delay' */ uint8_T icLoad_k; /* '/last_hdot_c' */ - uint8_T is_active_c26_update_rc; /* '/valid_checking' */ - uint8_T is_c26_update_rc; /* '/valid_checking' */ - uint8_T seq1; /* '/valid_checking' */ - uint8_T id1; /* '/valid_checking' */ - uint8_T cnt_g; /* '/valid_checking' */ - uint8_T temporalCounter_i1_c; /* '/valid_checking' */ - uint8_T is_active_c48_mission_proc; /* '/mission_proc' */ - uint8_T is_c48_mission_proc; /* '/mission_proc' */ - uint8_T is_active_c29_kb3_autopilot; /* '/Chart' */ - uint8_T is_c29_kb3_autopilot; /* '/Chart' */ - uint8_T temporalCounter_i1_h; /* '/Chart' */ - uint8_T is_active_c17_kb3_autopilot; /* '/landing_task' */ - uint8_T is_c17_kb3_autopilot; /* '/landing_task' */ - uint8_T is_active_c28_kb3_autopilot; /* '/takeoff_task' */ - uint8_T is_c28_kb3_autopilot; /* '/takeoff_task' */ - uint8_T is_active_c24_kb3_autopilot; /* '/TopLevelSwitch' */ - uint8_T is_c24_kb3_autopilot; /* '/TopLevelSwitch' */ - uint8_T is_active_c14_C2_proc_comm; /* '/proc_set_ cur' */ - uint8_T is_c14_C2_proc_comm; /* '/proc_set_ cur' */ - uint8_T is_active_c26_update_rc_d; /* '/valid_checking' */ - uint8_T is_c26_update_rc_j; /* '/valid_checking' */ - uint8_T seq1_i; /* '/valid_checking' */ - uint8_T id1_h; /* '/valid_checking' */ - uint8_T cnt_h; /* '/valid_checking' */ - uint8_T temporalCounter_i1_l; /* '/valid_checking' */ - uint8_T is_active_c13_C2_proc_comm; /* '/check_conn' */ - uint8_T is_c13_C2_proc_comm; /* '/check_conn' */ - uint8_T is_active_c14_kb3_autopilot; /* '/proc_cmd' */ - uint8_T is_c14_kb3_autopilot; /* '/proc_cmd' */ + uint8_T is_active_c26_update_rc; /* '/valid_checking' */ + uint8_T is_c26_update_rc; /* '/valid_checking' */ + uint8_T seq1; /* '/valid_checking' */ + uint8_T id1; /* '/valid_checking' */ + uint8_T cnt_g; /* '/valid_checking' */ + uint8_T temporalCounter_i1_c; /* '/valid_checking' */ + uint8_T is_active_c48_mission_proc; /* '/mission_proc' */ + uint8_T is_c48_mission_proc; /* '/mission_proc' */ + uint8_T is_active_c29_kb3_autopilot; /* '/Chart' */ + uint8_T is_c29_kb3_autopilot; /* '/Chart' */ + uint8_T temporalCounter_i1_lq; /* '/Chart' */ + uint8_T is_active_c17_kb3_autopilot; /* '/landing_task' */ + uint8_T is_c17_kb3_autopilot; /* '/landing_task' */ + uint8_T is_active_c28_kb3_autopilot; /* '/takeoff_task' */ + uint8_T is_c28_kb3_autopilot; /* '/takeoff_task' */ + uint8_T is_active_c24_kb3_autopilot; /* '/TopLevelSwitch' */ + uint8_T is_c24_kb3_autopilot; /* '/TopLevelSwitch' */ + uint8_T is_active_c14_C2_proc_comm; /* '/proc_set_ cur' */ + uint8_T is_c14_C2_proc_comm; /* '/proc_set_ cur' */ + uint8_T is_active_c26_update_rc_d; /* '/valid_checking' */ + uint8_T is_c26_update_rc_j; /* '/valid_checking' */ + uint8_T seq1_i; /* '/valid_checking' */ + uint8_T id1_h; /* '/valid_checking' */ + uint8_T cnt_h; /* '/valid_checking' */ + uint8_T temporalCounter_i1_ls; /* '/valid_checking' */ + uint8_T is_active_c13_C2_proc_comm; /* '/check_conn' */ + uint8_T is_c13_C2_proc_comm; /* '/check_conn' */ + uint8_T is_active_c14_kb3_autopilot; /* '/proc_cmd' */ + uint8_T is_c14_kb3_autopilot; /* '/proc_cmd' */ uint8_T is_active_c2_kb3_dummy_io; /* '/tick' */ uint8_T is_c2_kb3_dummy_io; /* '/tick' */ uint8_T is_active_c5_kb3_dummy_io; /* '/tick' */ @@ -1630,30 +1706,30 @@ typedef struct { boolean_T EntityQueue_InsertedFor_traffic_ctrl_at_inport_8_Out1_RecvDataS;/* synthesized block */ boolean_T EntityQueue_InsertedFor_traffic_ctrl_at_inport_9_Out1_RecvMsgSt;/* synthesized block */ boolean_T EntityQueue_InsertedFor_traffic_ctrl_at_inport_9_Out1_RecvDataS;/* synthesized block */ - boolean_T forone; /* '/proc_param_value' */ - boolean_T param_req_read_isValid; /* '/proc_param_value' */ - boolean_T param_req_lst_isValid; /* '/proc_param_value' */ - boolean_T param_set_isValid; /* '/proc_param_value' */ - boolean_T req_cur_isValid; /* '/req_cur' */ - boolean_T mission_cnt_isValid; /* '/Chart_proc_mission_upload' */ - boolean_T mission_item_isValid; /* '/Chart_proc_mission_upload' */ - boolean_T ack1_isValid; /* '/merge_ack' */ - boolean_T ack2_isValid; /* '/merge_ack' */ - boolean_T ack3_isValid; /* '/merge_ack' */ - boolean_T msgs_isValid; /* '/proc_queue' */ - boolean_T param_val_queue_isValid; /* '/traffic_ctrl' */ - boolean_T mission_cnt_queue_isValid; /* '/traffic_ctrl' */ - boolean_T mission_item_int_queue_isValid;/* '/traffic_ctrl' */ - boolean_T mission_ack_queue_isValid; /* '/traffic_ctrl' */ - boolean_T mission_cur_queue_isValid; /* '/traffic_ctrl' */ - boolean_T mission_req_int_queue_isValid;/* '/traffic_ctrl' */ - boolean_T command_ack_queue_isValid; /* '/traffic_ctrl' */ - boolean_T ap_ver_queue_isValid; /* '/traffic_ctrl' */ - boolean_T ack_isValid; /* '/Chart_send_ack' */ - boolean_T stage_not_empty; /* '/nav_corner' */ - boolean_T set_cur_isValid; /* '/proc_set_ cur' */ - boolean_T cmd_isValid; /* '/proc_cmd' */ - boolean_T cmd2_isValid; /* '/proc_cmd' */ + boolean_T forone; /* '/proc_param_value' */ + boolean_T param_req_read_isValid; /* '/proc_param_value' */ + boolean_T param_req_lst_isValid; /* '/proc_param_value' */ + boolean_T param_set_isValid; /* '/proc_param_value' */ + boolean_T req_cur_isValid; /* '/req_cur' */ + boolean_T mission_cnt_isValid; /* '/Chart_proc_mission_upload' */ + boolean_T mission_item_isValid; /* '/Chart_proc_mission_upload' */ + boolean_T ack1_isValid; /* '/merge_ack' */ + boolean_T ack2_isValid; /* '/merge_ack' */ + boolean_T ack3_isValid; /* '/merge_ack' */ + boolean_T msgs_isValid; /* '/proc_queue' */ + boolean_T param_val_queue_isValid; /* '/traffic_ctrl' */ + boolean_T mission_cnt_queue_isValid; /* '/traffic_ctrl' */ + boolean_T mission_item_int_queue_isValid;/* '/traffic_ctrl' */ + boolean_T mission_ack_queue_isValid; /* '/traffic_ctrl' */ + boolean_T mission_cur_queue_isValid; /* '/traffic_ctrl' */ + boolean_T mission_req_int_queue_isValid;/* '/traffic_ctrl' */ + boolean_T command_ack_queue_isValid; /* '/traffic_ctrl' */ + boolean_T ap_ver_queue_isValid; /* '/traffic_ctrl' */ + boolean_T ack_isValid; /* '/Chart_send_ack' */ + boolean_T stage_not_empty; /* '/nav_corner' */ + boolean_T set_cur_isValid; /* '/proc_set_ cur' */ + boolean_T cmd_isValid; /* '/proc_cmd' */ + boolean_T cmd2_isValid; /* '/proc_cmd' */ boolean_T gps_use_started; /* '/EKF14s' */ boolean_T P_reset; /* '/EKF14s' */ boolean_T Tbn_prev_not_empty; /* '/EKF14s' */ @@ -2117,98 +2193,128 @@ struct P_SIL_T_ { * Referenced by: '/Constant1' */ real32_T CLa; /* Variable: CLa - * Referenced by: '/Constant1' + * Referenced by: '/Constant1' */ real32_T Clda_lst[11]; /* Variable: Clda_lst - * Referenced by: '/Clda' + * Referenced by: '/Clda' */ real32_T Clp_lst[11]; /* Variable: Clp_lst - * Referenced by: '/Clp' + * Referenced by: '/Clp' */ real32_T Cmde_lst[11]; /* Variable: Cmde_lst - * Referenced by: '/Cmde1' + * Referenced by: '/Cmde1' */ real32_T Cmq_lst[11]; /* Variable: Cmq_lst - * Referenced by: '/Cmq' + * Referenced by: '/Cmq' */ real32_T Ixx; /* Variable: Ixx - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ real32_T Iyy; /* Variable: Iyy - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ real32_T Ma_lst[11]; /* Variable: Ma_lst * Referenced by: - * '/Cmde1' - * '/Cmq' - * '/Clda' - * '/Clp' + * '/Cmde1' + * '/Cmq' + * '/Clda' + * '/Clp' */ real32_T RefArea; /* Variable: RefArea * Referenced by: - * '/Sc_Iyy' - * '/Sc_Iyy' - * '/Sc_Iyy' + * '/Sc_Iyy' + * '/Sc_Iyy' + * '/Sc_Iyy' */ real32_T RefLen; /* Variable: RefLen * Referenced by: - * '/Constant3' - * '/Sc_Iyy' + * '/Constant3' + * '/Sc_Iyy' */ real32_T RefSpan; /* Variable: RefSpan * Referenced by: - * '/Constant2' - * '/Sc_Iyy' + * '/Constant2' + * '/Sc_Iyy' + */ + real32_T dal0; /* Variable: dal0 + * Referenced by: '/Constant4' + */ + real32_T dar0; /* Variable: dar0 + * Referenced by: '/Constant5' + */ + real32_T del0; /* Variable: del0 + * Referenced by: '/Constant' + */ + real32_T der0; /* Variable: der0 + * Referenced by: '/Constant2' + */ + real32_T dr0; /* Variable: dr0 + * Referenced by: '/Constant3' + */ + real32_T h_thr2rpm[3]; /* Variable: h_thr2rpm + * Referenced by: + * '/max_rpm' + * '/min_rpm' + * '/max_rpm' + * '/max_rpm' + * '/min_rpm' */ real32_T k_dal; /* Variable: k_dal - * Referenced by: '/Gain3' + * Referenced by: + * '/Constant7' + * '/Gain3' */ real32_T k_dar; /* Variable: k_dar - * Referenced by: '/Gain4' + * Referenced by: + * '/Constant8' + * '/Gain4' */ real32_T k_del; /* Variable: k_del - * Referenced by: '/Gain1' + * Referenced by: + * '/Constant' + * '/Gain1' */ real32_T k_der; /* Variable: k_der - * Referenced by: '/Gain' + * Referenced by: + * '/Constant1' + * '/Gain' */ real32_T k_dr; /* Variable: k_dr - * Referenced by: '/Gain2' + * Referenced by: + * '/Constant3' + * '/Gain2' */ real32_T ksi_v2tht; /* Variable: ksi_v2tht - * Referenced by: '/Constant1' + * Referenced by: '/Constant1' */ real32_T m; /* Variable: m - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ real32_T max_az; /* Variable: max_az * Referenced by: '/Constant8' */ real32_T max_da; /* Variable: max_da * Referenced by: - * '/Constant1' - * '/gain1' + * '/Constant1' + * '/gain1' * '/gain1' - * '/gain1' + * '/gain1' * '/gain1' - * '/gain1' */ real32_T max_de; /* Variable: max_de * Referenced by: - * '/Constant1' - * '/gain' + * '/Constant1' + * '/gain' * '/gain' - * '/gain' + * '/gain' * '/gain' - * '/gain' */ real32_T max_dr; /* Variable: max_dr * Referenced by: - * '/gain2' + * '/gain2' * '/gain2' - * '/gain2' + * '/gain2' * '/gain2' - * '/gain2' */ real32_T max_hdot; /* Variable: max_hdot * Referenced by: '/Constant9' @@ -2222,6 +2328,12 @@ struct P_SIL_T_ { real32_T max_q; /* Variable: max_q * Referenced by: '/Constant6' */ + real32_T max_rpm[3]; /* Variable: max_rpm + * Referenced by: + * '/max_rpm' + * '/max_rpm' + * '/max_rpm' + */ real32_T max_thr; /* Variable: max_thr * Referenced by: '/Constant1' */ @@ -2229,11 +2341,16 @@ struct P_SIL_T_ { * Referenced by: '/Constant' */ real32_T min_de; /* Variable: min_de - * Referenced by: '/Constant2' + * Referenced by: '/Constant2' */ real32_T min_hdot; /* Variable: min_hdot * Referenced by: '/Constant10' */ + real32_T min_rpm[3]; /* Variable: min_rpm + * Referenced by: + * '/min_rpm' + * '/min_rpm' + */ real32_T min_tht; /* Variable: min_tht * Referenced by: '/Constant Single' */ @@ -2241,7 +2358,7 @@ struct P_SIL_T_ { * Referenced by: '/Constant Single6' */ real32_T w_v2tht; /* Variable: w_v2tht - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ real32_T w_x; /* Variable: w_x * Referenced by: '/Constant Single9' @@ -2258,18 +2375,18 @@ struct P_SIL_T_ { uint16_T system_id; /* Variable: system_id * Referenced by: * '/Constant' - * '/system_id' - * '/Chart_proc_mission_clr_all' - * '/Chart' - * '/Chart' - * '/Chart_proc_mission_req' - * '/Chart_proc_mission_req_lst' - * '/Chart' - * '/Chart' - * '/Chart_proc_param_req_read' - * '/Chart_proc_param_set' - * '/system_id' - * '/system_id' + * '/system_id' + * '/Chart_proc_mission_clr_all' + * '/Chart' + * '/Chart' + * '/Chart_proc_mission_req' + * '/Chart_proc_mission_req_lst' + * '/Chart' + * '/Chart' + * '/Chart_proc_param_req_read' + * '/Chart_proc_param_set' + * '/system_id' + * '/system_id' */ }; @@ -2346,13 +2463,13 @@ struct tag_RTM_SIL_T { uint32_T clockTick2; boolean_T firstInitCondFlag; struct { - uint8_T TID[3]; + uint8_T TID[4]; } TaskCounters; SimTimeStep simTimeStep; boolean_T stopRequestedFlag; time_T *t; - time_T tArray[3]; + time_T tArray[4]; } Timing; }; @@ -2378,6 +2495,8 @@ extern ExtY_SIL_T SIL_Y; extern const C2 SIL_rtZC2; /* C2 ground */ extern const MavMission SIL_rtZMavMission;/* MavMission ground */ extern const mavlink_message_t SIL_rtZmavlink_message_t;/* mavlink_message_t ground */ +extern const mavlink_ins1_t SIL_rtZmavlink_ins1_t;/* mavlink_ins1_t ground */ +extern const mavlink_ins2_t SIL_rtZmavlink_ins2_t;/* mavlink_ins2_t ground */ extern const MavFence SIL_rtZMavFence; /* MavFence ground */ extern const MavRally SIL_rtZMavRally; /* MavRally ground */ extern const ConstB_SIL_T SIL_ConstB; /* constant block i/o */ @@ -2489,8 +2608,6 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/table2D_NhAB' : Unused code path elimination * Block '/table3D_Nh' : Unused code path elimination * Block '/Const_m' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination * Block '/Constant2' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination @@ -2500,17 +2617,9 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/Constant2' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination * Block '/Constant' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination * Block '/Constant2' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination @@ -2539,8 +2648,6 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/Constant2' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination * Block '/Constant2' : Unused code path elimination * Block '/Sum' : Unused code path elimination * Block '/Unit Delay' : Unused code path elimination @@ -2640,10 +2747,10 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/Data Type Propagation' : Unused code path elimination * Block '/Data Type Duplicate' : Unused code path elimination * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Constant' : Unused code path elimination - * Block '/Data Type Conversion' : Unused code path elimination - * Block '/Sum' : Unused code path elimination - * Block '/Unit Delay' : Unused code path elimination + * Block '/Constant' : Unused code path elimination + * Block '/Data Type Conversion' : Unused code path elimination + * Block '/Sum' : Unused code path elimination + * Block '/Unit Delay' : Unused code path elimination * Block '/Constant Single2' : Unused code path elimination * Block '/Constant Single4' : Unused code path elimination * Block '/Constant Single5' : Unused code path elimination @@ -2697,15 +2804,9 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/Zero-Order Hold4' : Eliminated since input and output rates are identical * Block '/Switch' : Eliminated due to constant selection input * Block '/Zero-Order Hold1' : Eliminated since input and output rates are identical - * Block '/Gain1' : Eliminated nontunable gain of 1 - * Block '/Gain3' : Eliminated nontunable gain of 1 - * Block '/Gain5' : Eliminated nontunable gain of 1 - * Block '/Gain6' : Eliminated nontunable gain of 1 - * Block '/Gain7' : Eliminated nontunable gain of 1 - * Block '/Data Type Conversion2' : Eliminate redundant data type conversion - * Block '/Manual Switch' : Eliminated due to constant selection input - * Block '/Manual Switch' : Eliminated due to constant selection input - * Block '/Manual Switch1' : Eliminated due to constant selection input + * Block '/Manual Switch' : Eliminated due to constant selection input + * Block '/Manual Switch' : Eliminated due to constant selection input + * Block '/Manual Switch1' : Eliminated due to constant selection input * Block '/Constant15' : Unused code path elimination * Block '/Constant17' : Unused code path elimination * Block '/Constant18' : Unused code path elimination @@ -2713,8 +2814,8 @@ extern RT_MODEL_SIL_T *const SIL_M; * Block '/Constant27' : Unused code path elimination * Block '/Constant' : Unused code path elimination * Block '/Constant' : Unused code path elimination - * Block '/1-D Lookup Table1' : Unused code path elimination - * Block '/1-D Lookup Table1' : Unused code path elimination + * Block '/1-D Lookup Table1' : Unused code path elimination + * Block '/1-D Lookup Table1' : Unused code path elimination */ /*- @@ -3244,152 +3345,152 @@ extern RT_MODEL_SIL_T *const SIL_M; * '' : 'SIL/kb3_autopilot/param' * '' : 'SIL/kb3_autopilot/sen_proc_monitor' * '' : 'SIL/kb3_autopilot/cmd2pwm/Subsystem4' - * '' : 'SIL/kb3_autopilot/cmd2pwm/Subsystem5' - * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_kb2_2' - * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_kb3' - * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb' - * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb1' - * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb2' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_pre_proc' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation' - * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/no_cmd' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_cmd' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/dist_trans' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/proc_cmd' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/takeoff_tht' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/way_point' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm/Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm/Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm/Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm/Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_base_alt' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_base_alt_baro' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_cur_base_alt' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as/Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs/Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot/Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/AFCS_vert' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/AS_SEL' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/BMU' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/CCM' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/ECU' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_kb2_2' + * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_kb3' + * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb' + * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb1' + * '' : 'SIL/kb3_autopilot/cmd2pwm/cmd_zkxb2' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_pre_proc' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation' + * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/no_cmd' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_cmd' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/dist_trans' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/proc_cmd' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/takeoff_tht' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/way_point' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/actuator_cmd/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm/Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/arm/Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm/Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/armed_dissarmed/disarm/Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_base_alt' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_base_alt_baro' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/base_asl/set_cur_base_alt' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set throttle/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_as/Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_gs/Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/change_speed/set_speed/set_hdot/Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/AFCS_vert' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/AS_SEL' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/BMU' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/CCM' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/ECU' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/actuators' * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/afterburning' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/afterburning/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/afterburning/If Action Subsystem2' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/afterburning/If Action Subsystem2/Compare To Constant' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/takeoff_tht/Degrees to Radians' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/operation' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/standby' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/xbit' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/check_conn' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/invalid' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid_checking' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/auto_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/aux_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/brake_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/gear_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale4' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale6' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale7' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale8' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale9' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/proc_set_ cur' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/Level1_sel' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/Level1_sel/TopLevelSwitch' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/standby' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/xbit as manual' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/Level2_sel' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/Level2_sel/Chart' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/manual' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/semi auto' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/Level3_sel' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/Level3_sel/Chart' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/RTB' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/hold' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/idle' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/landing' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/takeoff' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/waypoint' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/landing/landing_task' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/takeoff/takeoff_task' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/waypoint/Chart' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/get_WP' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/mission_proc' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/get_WP/mav' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/Switch Case Action Subsystem1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/landing' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/takeoff' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/wp' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/landing/Compare To Constant' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/takeoff/Compare To Constant' - * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/wp/Compare To Constant' - * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/no_updates' - * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/update_mission_traj' - * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/update_mission_traj/mav' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/invalid' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid_checking' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/auto_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/aux_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/brake_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/gear_sw' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale1' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale4' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale6' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale7' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale8' - * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale9' - * '' : 'SIL/kb3_autopilot/controller/AFCS' - * '' : 'SIL/kb3_autopilot/controller/CSAS' - * '' : 'SIL/kb3_autopilot/controller/ctrl_allocation' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/ECU/Chart' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/set_parameter/actuators/Degrees to Radians' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/takeoff_tht/Degrees to Radians' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/operation' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/standby' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_cmd/proc_params/toplevel_sw/If Action Subsystem/xbit' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_conn/check_conn' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/invalid' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid_checking' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/auto_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/aux_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/brake_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/gear_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale4' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale6' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale7' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale8' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_rc/valid/rescale9' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/C2_proc/update_wp_cur/proc_set_ cur' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/Level1_sel' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/Level1_sel/TopLevelSwitch' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/standby' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/xbit' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/Level2_sel' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/Level2_sel/Chart' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/manual' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/semi auto' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/Level3_sel' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/Level3_sel/Chart' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/RTB' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/hold' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/idle' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/landing' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/takeoff' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/waypoint' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/landing/landing_task' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/takeoff/takeoff_task' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/SubRouting/waypoint/Chart' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/get_WP' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/mission_proc' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/get_WP/mav' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/Switch Case Action Subsystem1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/landing' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/takeoff' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/wp' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/landing/Compare To Constant' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/takeoff/Compare To Constant' + * '' : 'SIL/kb3_autopilot/communiation_and_command/system_automation/SubRouting/operational/SubRouting/auto/SubRouting/mission/mission_sel/valid_test/wp/Compare To Constant' + * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/no_updates' + * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/update_mission_traj' + * '' : 'SIL/kb3_autopilot/communiation_and_command/trajectory_plan/update_mission_traj/mav' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/invalid' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid_checking' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/auto_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/aux_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/brake_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/gear_sw' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale1' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale4' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale6' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale7' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale8' + * '' : 'SIL/kb3_autopilot/communiation_and_command/update_rc/valid/rescale9' + * '' : 'SIL/kb3_autopilot/controller/AFCS' + * '' : 'SIL/kb3_autopilot/controller/CSAS' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm' + * '' : 'SIL/kb3_autopilot/controller/mix' * '' : 'SIL/kb3_autopilot/controller/trajectory_generation' * '' : 'SIL/kb3_autopilot/controller/AFCS/AFCS_LAT' * '' : 'SIL/kb3_autopilot/controller/AFCS/AFCS_vert' @@ -3499,224 +3600,271 @@ extern RT_MODEL_SIL_T *const SIL_M; * '' : 'SIL/kb3_autopilot/controller/CSAS/yaw/DAMPING' * '' : 'SIL/kb3_autopilot/controller/CSAS/yaw/OFF' * '' : 'SIL/kb3_autopilot/controller/CSAS/yaw/DAMPING/yaw_daming' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/vel' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt/use_baro_alt' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt/use_gps_alt' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_circle' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_corner' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_line' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/home' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_circle/nav_circle' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_corner/nav_corner' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_line/nav_line' - * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/home/nav_point' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/ack_convert' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/get_cur' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_gps_rtcm_data' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/ack_convert/Chart_send_ack' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/ap_ver_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/cmd_ack_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_ack_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_cnt_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_cur_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_item_int_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_req_int_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/param_val_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/traffic_ctrl' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/attitude_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bat' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bmu_state' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ccm_state' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ext_sys_stat_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/glb_pos_int_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/nav_ctrl_out_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/rc_chan_raw_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/rc_channels_raw1' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/scal_pres_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/svo_out_raw_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/turbine_state' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/vfr_hud_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/attitude_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bat/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bmu_state/bmu_state_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ccm_state/ccm_state_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ext_sys_stat_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/glb_pos_int_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_vel' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/Radians to Degrees' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc/heartbeat' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc/heartbeat/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/nav_ctrl_out_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/rc_chan_raw_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/rc_channels_raw1/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/scal_pres_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/svo_out_raw_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc/cal_drop_perc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/turbine_state/turbine_state_enc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/vfr_hud_enc/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/defaults' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec/Function-Call Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec/parse_and_proc' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/proc_queue' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue/process_new_message' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue/process_new_message/push2msgs' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/REQUEST_AUTOPILOT_CAPABILITIES' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/default' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/REQUEST_AUTOPILOT_CAPABILITIES/send_auto_hw' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/default/send_cmd' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_gps_rtcm_data/proc_gps_rtcm_data' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/merge_ack' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_cnt' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_item' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_set_cur' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/req_cur' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/Chart_proc_mission_clr_all' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/model/chat_clear_mission' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_cnt/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_item/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/Chart_proc_mission_req' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/model/chat_get_mission_item' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/Chart_proc_mission_req_lst' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/model/chat_get_mission_cnt' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_set_cur/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/Chart_proc_mission_upload' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/model/chat_clear_mission' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/model/chat_update_mission_item' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_lst' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_value' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_capi/find_val_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_lst/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/Chart_proc_param_req_read' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_capi/find_idx_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/Chart_proc_param_set' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/Chart_proc_param_set/f2u' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_capi/set_val_capi' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem1' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem/Chart' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_value/u2f' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc/proc_rc_chs_ov' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc/proc_rc_chs_ov/proc_by_id' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod/proc_set_mod' - * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod/proc_set_mod/proc_by_id' - * '' : 'SIL/kb3_autopilot/param/IAS' - * '' : 'SIL/kb3_autopilot/param/Mach' - * '' : 'SIL/kb3_autopilot/param/Subsystem' - * '' : 'SIL/kb3_autopilot/param/TAS' - * '' : 'SIL/kb3_autopilot/param/Za' - * '' : 'SIL/kb3_autopilot/param/climb_char' - * '' : 'SIL/kb3_autopilot/param/dec_char' - * '' : 'SIL/kb3_autopilot/param/pitch_effic' - * '' : 'SIL/kb3_autopilot/param/roll_effic' - * '' : 'SIL/kb3_autopilot/sen_proc_monitor/AtmosComputer' - * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor' - * '' : 'SIL/kb3_autopilot/sen_proc_monitor/AtmosComputer/stdatmo' - * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor/If Action Subsystem' - * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/AP2ECU' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/ECU2AP' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/ECU_manager' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/AP2ECU/afterburning' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/AP2ECU/no_afterburning' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/AP2ECU/afterburning/Chart' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/ECU_manager/get_max_rpm' + * '' : 'SIL/kb3_autopilot/controller/arm_disarm/ECU_manager/get_min_rpm' + * '' : 'SIL/kb3_autopilot/controller/mix/mix' + * '' : 'SIL/kb3_autopilot/controller/mix/no_mix' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/vel' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt/use_baro_alt' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/alt/use_gps_alt' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_circle' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_corner' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_line' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/home' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_circle/nav_circle' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_corner/nav_corner' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/case_line/nav_line' + * '' : 'SIL/kb3_autopilot/controller/trajectory_generation/update_nav_info/route_nav/home/nav_point' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/ack_convert' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/get_cur' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_gps_rtcm_data' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/ack_convert/Chart_send_ack' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/ap_ver_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/cmd_ack_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_ack_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_cnt_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_cur_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_item_int_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/mission_req_int_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/param_val_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/traffic_ctrl' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/attitude_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bmu_state' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ccm_state' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/emb_atmo_com_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ext_sys_stat_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/glb_pos_int_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins1_state' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins2_state' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/nav_ctrl_out_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/svo_out_raw_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/turbine_state' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/vfr_hud_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/attitude_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/bmu_state/bmu_state_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ccm_state/ccm_state_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/emb_atmo_com_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ext_sys_stat_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/glb_pos_int_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_vel' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/gps_raw_int_enc/Chart/get_cog/Radians to Degrees' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc/heartbeat' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/heartbeat_enc/heartbeat/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins1_state/Radians to Degrees' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins1_state/fixtype' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins2_state/Radians to Degrees' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/ins2_state/fixtype' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/nav_ctrl_out_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/svo_out_raw_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/sys_stat_enc/cal_drop_perc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/turbine_state/turbine_state_enc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_enc_and_send/loop_download/vfr_hud_enc/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/defaults' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/cmd_long_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/gps_rtcm_data/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_clr_all_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_cnt_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_item_int_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_req_lst_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/mission_set_cur_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_get_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_req_lst_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/param_set_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/rc_channels_override_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec/Function-Call Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/dec_and_proc_each/set_mode_dec/parse_and_proc' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/proc_queue' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue/process_new_message' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/mavlink_parse_and_proc/parse_mav_msgs/parse_to_msg_queue/process_new_message/push2msgs' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/REQUEST_AUTOPILOT_CAPABILITIES' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/default' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/REQUEST_AUTOPILOT_CAPABILITIES/send_auto_hw' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_command/proc_cmd_long/proc_by_id/default/send_cmd' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_gps_rtcm_data/proc_gps_rtcm_data' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/merge_ack' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_cnt' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_item' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_set_cur' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/req_cur' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/Chart_proc_mission_clr_all' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_clr_all/dummy clear_mission/Variant Model/model/chat_clear_mission' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_cnt/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_item/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/Chart_proc_mission_req' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req/user-defined get_mission_item/Variant Model/model/chat_get_mission_item' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/Chart_proc_mission_req_lst' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_req_lst/user-defined get_mission_cnt/Variant Model/model/chat_get_mission_cnt' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_set_cur/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/Chart_proc_mission_upload' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy clear_mission/Variant Model/model/chat_clear_mission' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_mission/proc_mission_upload/dummy update_mission_item/Variant Model/model/chat_update_mission_item' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_lst' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_value' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/find_val/Variant Model/find_val_capi/find_val_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_lst/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/Chart_proc_param_req_read' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_capi/find_idx_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_req_read/find_idx/Variant Model/find_idx_sim/For Iterator Subsystem/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/Chart_proc_param_set' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/Chart_proc_param_set/f2u' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_capi/set_val_capi' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_set/set_val/Variant Model/set_val_sim/For Iterator Subsystem/If Action Subsystem/Chart' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_params/proc_param_value/u2f' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc/proc_rc_chs_ov' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_rc/proc_rc_chs_ov/proc_by_id' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod/proc_set_mod' + * '' : 'SIL/kb3_autopilot/mavlink_data_link/proc_set_mod/proc_set_mod/proc_by_id' + * '' : 'SIL/kb3_autopilot/param/IAS' + * '' : 'SIL/kb3_autopilot/param/Mach' + * '' : 'SIL/kb3_autopilot/param/Subsystem' + * '' : 'SIL/kb3_autopilot/param/TAS' + * '' : 'SIL/kb3_autopilot/param/Za' + * '' : 'SIL/kb3_autopilot/param/climb_char' + * '' : 'SIL/kb3_autopilot/param/dec_char' + * '' : 'SIL/kb3_autopilot/param/pitch_effic' + * '' : 'SIL/kb3_autopilot/param/roll_effic' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/AtmosComputer' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/AtmosComputer/stdatmo' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor/If Action Subsystem' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/baro_alt_monitor/If Action Subsystem1' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor1' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor10' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor11' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor12' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor13' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor14' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor15' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor16' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor17' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor18' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor2' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor3' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor4' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor5' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor6' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor7' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor8' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor9' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor1/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor10/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor11/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor12/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor13/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor14/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor15/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor16/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor17/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor18/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor2/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor3/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor4/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor5/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor6/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor7/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor8/Chart' + * '' : 'SIL/kb3_autopilot/sen_proc_monitor/health_monitor/monitor9/Chart' */ #endif /* RTW_HEADER_SIL_h_ */ diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.c b/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.c index 34b407e..4943ba8 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.c +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -160,61 +160,77 @@ static const rtwCAPI_ModelParameters rtModelParameters[] = { { 53, TARGET_STRING("RefSpan"), 1, 2, 0 }, - { 54, TARGET_STRING("k_dal"), 1, 2, 0 }, + { 54, TARGET_STRING("dal0"), 1, 2, 0 }, - { 55, TARGET_STRING("k_dar"), 1, 2, 0 }, + { 55, TARGET_STRING("dar0"), 1, 2, 0 }, - { 56, TARGET_STRING("k_del"), 1, 2, 0 }, + { 56, TARGET_STRING("del0"), 1, 2, 0 }, - { 57, TARGET_STRING("k_der"), 1, 2, 0 }, + { 57, TARGET_STRING("der0"), 1, 2, 0 }, - { 58, TARGET_STRING("k_dr"), 1, 2, 0 }, + { 58, TARGET_STRING("dr0"), 1, 2, 0 }, - { 59, TARGET_STRING("ksi_v2tht"), 1, 2, 0 }, + { 59, TARGET_STRING("h_thr2rpm"), 1, 0, 0 }, - { 60, TARGET_STRING("m"), 1, 2, 0 }, + { 60, TARGET_STRING("k_dal"), 1, 2, 0 }, - { 61, TARGET_STRING("max_az"), 1, 2, 0 }, + { 61, TARGET_STRING("k_dar"), 1, 2, 0 }, - { 62, TARGET_STRING("max_da"), 1, 2, 0 }, + { 62, TARGET_STRING("k_del"), 1, 2, 0 }, - { 63, TARGET_STRING("max_de"), 1, 2, 0 }, + { 63, TARGET_STRING("k_der"), 1, 2, 0 }, - { 64, TARGET_STRING("max_dr"), 1, 2, 0 }, + { 64, TARGET_STRING("k_dr"), 1, 2, 0 }, - { 65, TARGET_STRING("max_hdot"), 1, 2, 0 }, + { 65, TARGET_STRING("ksi_v2tht"), 1, 2, 0 }, - { 66, TARGET_STRING("max_p"), 1, 2, 0 }, + { 66, TARGET_STRING("m"), 1, 2, 0 }, - { 67, TARGET_STRING("max_phi"), 1, 2, 0 }, + { 67, TARGET_STRING("max_az"), 1, 2, 0 }, - { 68, TARGET_STRING("max_q"), 1, 2, 0 }, + { 68, TARGET_STRING("max_da"), 1, 2, 0 }, - { 69, TARGET_STRING("max_thr"), 1, 2, 0 }, + { 69, TARGET_STRING("max_de"), 1, 2, 0 }, - { 70, TARGET_STRING("max_tht"), 1, 2, 0 }, + { 70, TARGET_STRING("max_dr"), 1, 2, 0 }, - { 71, TARGET_STRING("min_de"), 1, 2, 0 }, + { 71, TARGET_STRING("max_hdot"), 1, 2, 0 }, - { 72, TARGET_STRING("min_hdot"), 1, 2, 0 }, + { 72, TARGET_STRING("max_p"), 1, 2, 0 }, - { 73, TARGET_STRING("min_tht"), 1, 2, 0 }, + { 73, TARGET_STRING("max_phi"), 1, 2, 0 }, - { 74, TARGET_STRING("w_as"), 1, 2, 0 }, + { 74, TARGET_STRING("max_q"), 1, 2, 0 }, - { 75, TARGET_STRING("w_v2tht"), 1, 2, 0 }, + { 75, TARGET_STRING("max_rpm"), 1, 0, 0 }, - { 76, TARGET_STRING("w_x"), 1, 2, 0 }, + { 76, TARGET_STRING("max_thr"), 1, 2, 0 }, - { 77, TARGET_STRING("w_y"), 1, 2, 0 }, + { 77, TARGET_STRING("max_tht"), 1, 2, 0 }, - { 78, TARGET_STRING("washout_r_den"), 1, 4, 0 }, + { 78, TARGET_STRING("min_de"), 1, 2, 0 }, - { 79, TARGET_STRING("washout_r_num"), 1, 4, 0 }, + { 79, TARGET_STRING("min_hdot"), 1, 2, 0 }, - { 80, TARGET_STRING("system_id"), 2, 2, 0 }, + { 80, TARGET_STRING("min_rpm"), 1, 0, 0 }, - { 81, TARGET_STRING("transrate"), 3, 2, 0 }, + { 81, TARGET_STRING("min_tht"), 1, 2, 0 }, + + { 82, TARGET_STRING("w_as"), 1, 2, 0 }, + + { 83, TARGET_STRING("w_v2tht"), 1, 2, 0 }, + + { 84, TARGET_STRING("w_x"), 1, 2, 0 }, + + { 85, TARGET_STRING("w_y"), 1, 2, 0 }, + + { 86, TARGET_STRING("washout_r_den"), 1, 4, 0 }, + + { 87, TARGET_STRING("washout_r_num"), 1, 4, 0 }, + + { 88, TARGET_STRING("system_id"), 2, 2, 0 }, + + { 89, TARGET_STRING("transrate"), 3, 2, 0 }, { 0, (NULL), 0, 0, 0 } }; @@ -277,34 +293,42 @@ static void* rtDataAddrMap[] = { &SIL_P.RefArea, /* 51: Model Parameter */ &SIL_P.RefLen, /* 52: Model Parameter */ &SIL_P.RefSpan, /* 53: Model Parameter */ - &SIL_P.k_dal, /* 54: Model Parameter */ - &SIL_P.k_dar, /* 55: Model Parameter */ - &SIL_P.k_del, /* 56: Model Parameter */ - &SIL_P.k_der, /* 57: Model Parameter */ - &SIL_P.k_dr, /* 58: Model Parameter */ - &SIL_P.ksi_v2tht, /* 59: Model Parameter */ - &SIL_P.m, /* 60: Model Parameter */ - &SIL_P.max_az, /* 61: Model Parameter */ - &SIL_P.max_da, /* 62: Model Parameter */ - &SIL_P.max_de, /* 63: Model Parameter */ - &SIL_P.max_dr, /* 64: Model Parameter */ - &SIL_P.max_hdot, /* 65: Model Parameter */ - &SIL_P.max_p, /* 66: Model Parameter */ - &SIL_P.max_phi, /* 67: Model Parameter */ - &SIL_P.max_q, /* 68: Model Parameter */ - &SIL_P.max_thr, /* 69: Model Parameter */ - &SIL_P.max_tht, /* 70: Model Parameter */ - &SIL_P.min_de, /* 71: Model Parameter */ - &SIL_P.min_hdot, /* 72: Model Parameter */ - &SIL_P.min_tht, /* 73: Model Parameter */ - &SIL_P.w_as, /* 74: Model Parameter */ - &SIL_P.w_v2tht, /* 75: Model Parameter */ - &SIL_P.w_x, /* 76: Model Parameter */ - &SIL_P.w_y, /* 77: Model Parameter */ - &SIL_P.washout_r_den[0], /* 78: Model Parameter */ - &SIL_P.washout_r_num[0], /* 79: Model Parameter */ - &SIL_P.system_id, /* 80: Model Parameter */ - &transrate, /* 81: Model Parameter */ + &SIL_P.dal0, /* 54: Model Parameter */ + &SIL_P.dar0, /* 55: Model Parameter */ + &SIL_P.del0, /* 56: Model Parameter */ + &SIL_P.der0, /* 57: Model Parameter */ + &SIL_P.dr0, /* 58: Model Parameter */ + &SIL_P.h_thr2rpm[0], /* 59: Model Parameter */ + &SIL_P.k_dal, /* 60: Model Parameter */ + &SIL_P.k_dar, /* 61: Model Parameter */ + &SIL_P.k_del, /* 62: Model Parameter */ + &SIL_P.k_der, /* 63: Model Parameter */ + &SIL_P.k_dr, /* 64: Model Parameter */ + &SIL_P.ksi_v2tht, /* 65: Model Parameter */ + &SIL_P.m, /* 66: Model Parameter */ + &SIL_P.max_az, /* 67: Model Parameter */ + &SIL_P.max_da, /* 68: Model Parameter */ + &SIL_P.max_de, /* 69: Model Parameter */ + &SIL_P.max_dr, /* 70: Model Parameter */ + &SIL_P.max_hdot, /* 71: Model Parameter */ + &SIL_P.max_p, /* 72: Model Parameter */ + &SIL_P.max_phi, /* 73: Model Parameter */ + &SIL_P.max_q, /* 74: Model Parameter */ + &SIL_P.max_rpm[0], /* 75: Model Parameter */ + &SIL_P.max_thr, /* 76: Model Parameter */ + &SIL_P.max_tht, /* 77: Model Parameter */ + &SIL_P.min_de, /* 78: Model Parameter */ + &SIL_P.min_hdot, /* 79: Model Parameter */ + &SIL_P.min_rpm[0], /* 80: Model Parameter */ + &SIL_P.min_tht, /* 81: Model Parameter */ + &SIL_P.w_as, /* 82: Model Parameter */ + &SIL_P.w_v2tht, /* 83: Model Parameter */ + &SIL_P.w_x, /* 84: Model Parameter */ + &SIL_P.w_y, /* 85: Model Parameter */ + &SIL_P.washout_r_den[0], /* 86: Model Parameter */ + &SIL_P.washout_r_num[0], /* 87: Model Parameter */ + &SIL_P.system_id, /* 88: Model Parameter */ + &transrate, /* 89: Model Parameter */ }; /* Declare Data Run-Time Dimension Buffer Addresses statically */ @@ -395,7 +419,7 @@ static rtwCAPI_ModelMappingStaticInfo mmiStatic = { (NULL), 0 }, { rtBlockParameters, 0, - rtModelParameters, 82 }, + rtModelParameters, 90 }, { (NULL), 0 }, @@ -403,10 +427,10 @@ static rtwCAPI_ModelMappingStaticInfo mmiStatic = { rtElementMap, rtSampleTimeMap, rtDimensionArray }, "float", - { 3413514128U, - 4195987257U, - 1152376969U, - 3061721678U }, + { 1933200694U, + 935469783U, + 3860272542U, + 3263114025U }, (NULL), 0, 0 }; diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.h b/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.h index 2e042a2..9bfa596 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.h +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL_capi.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL_data.c b/SIL/work/SIL_ert_shrlib_rtw/SIL_data.c index f05481d..3f129bc 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL_data.c +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL_data.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -490,107 +490,152 @@ P_SIL_T SIL_P = { 1425.0, /* Variable: CLa - * Referenced by: '/Constant1' + * Referenced by: '/Constant1' */ 4.0F, /* Variable: Clda_lst - * Referenced by: '/Clda' + * Referenced by: '/Clda' */ { -0.0533F, -0.0548F, -0.0566F, -0.0604F, -0.0624F, -0.0438F, -0.0311F, -0.0278F, -0.0222F, -0.0161F, -0.0099F }, /* Variable: Clp_lst - * Referenced by: '/Clp' + * Referenced by: '/Clp' */ { -0.3028F, -0.3136F, -0.3218F, -0.3548F, -0.3874F, -0.3523F, -0.3341F, -0.3235F, -0.3086F, -0.2863F, -0.2472F }, /* Variable: Cmde_lst - * Referenced by: '/Cmde1' + * Referenced by: '/Cmde1' */ { -0.9966F, -1.0408F, -1.0628F, -1.1017F, -1.166F, -1.1862F, -1.1456F, -1.1158F, -1.0376F, -0.97F, -0.8407F }, /* Variable: Cmq_lst - * Referenced by: '/Cmq' + * Referenced by: '/Cmq' */ { -7.4817F, -8.353F, -8.0743F, -8.6229F, -9.981F, -9.5258F, -8.6237F, -8.736F, -8.521F, -8.2233F, -7.7842F }, /* Variable: Ixx - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ 5.5F, /* Variable: Iyy - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ 255.0F, /* Variable: Ma_lst * Referenced by: - * '/Cmde1' - * '/Cmq' - * '/Clda' - * '/Clp' + * '/Cmde1' + * '/Cmq' + * '/Clda' + * '/Clp' */ { 0.2F, 0.3F, 0.6F, 0.8F, 0.9F, 0.95F, 1.05F, 1.1F, 1.2F, 1.3F, 1.5F }, /* Variable: RefArea * Referenced by: - * '/Sc_Iyy' - * '/Sc_Iyy' - * '/Sc_Iyy' + * '/Sc_Iyy' + * '/Sc_Iyy' + * '/Sc_Iyy' */ 0.919F, /* Variable: RefLen * Referenced by: - * '/Constant3' - * '/Sc_Iyy' + * '/Constant3' + * '/Sc_Iyy' */ 0.659F, /* Variable: RefSpan * Referenced by: - * '/Constant2' - * '/Sc_Iyy' + * '/Constant2' + * '/Sc_Iyy' */ 1.7F, - /* Variable: k_dal - * Referenced by: '/Gain3' + /* Variable: dal0 + * Referenced by: '/Constant4' */ - 1.0F, + 0.0F, + + /* Variable: dar0 + * Referenced by: '/Constant5' + */ + 0.0F, + + /* Variable: del0 + * Referenced by: '/Constant' + */ + 0.0F, + + /* Variable: der0 + * Referenced by: '/Constant2' + */ + 0.0F, + + /* Variable: dr0 + * Referenced by: '/Constant3' + */ + 0.0F, + + /* Variable: h_thr2rpm + * Referenced by: + * '/max_rpm' + * '/min_rpm' + * '/max_rpm' + * '/max_rpm' + * '/min_rpm' + */ + { 0.0F, 3000.0F, 10000.0F }, + + /* Variable: k_dal + * Referenced by: + * '/Constant7' + * '/Gain3' + */ + -1.0F, /* Variable: k_dar - * Referenced by: '/Gain4' + * Referenced by: + * '/Constant8' + * '/Gain4' */ - 1.0F, + -1.0F, /* Variable: k_del - * Referenced by: '/Gain1' + * Referenced by: + * '/Constant' + * '/Gain1' */ - 1.0F, + -1.0F, /* Variable: k_der - * Referenced by: '/Gain' + * Referenced by: + * '/Constant1' + * '/Gain' */ 1.0F, /* Variable: k_dr - * Referenced by: '/Gain2' + * Referenced by: + * '/Constant3' + * '/Gain2' */ - 1.0F, + -1.0F, /* Variable: ksi_v2tht - * Referenced by: '/Constant1' + * Referenced by: '/Constant1' */ 0.8F, /* Variable: m - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ 200.0F, @@ -601,33 +646,30 @@ P_SIL_T SIL_P = { /* Variable: max_da * Referenced by: - * '/Constant1' - * '/gain1' + * '/Constant1' + * '/gain1' * '/gain1' - * '/gain1' + * '/gain1' * '/gain1' - * '/gain1' */ 0.4363F, /* Variable: max_de * Referenced by: - * '/Constant1' - * '/gain' + * '/Constant1' + * '/gain' * '/gain' - * '/gain' + * '/gain' * '/gain' - * '/gain' */ 0.4363F, /* Variable: max_dr * Referenced by: - * '/gain2' + * '/gain2' * '/gain2' - * '/gain2' + * '/gain2' * '/gain2' - * '/gain2' */ 0.4363F, @@ -651,6 +693,14 @@ P_SIL_T SIL_P = { */ 0.4F, + /* Variable: max_rpm + * Referenced by: + * '/max_rpm' + * '/max_rpm' + * '/max_rpm' + */ + { 46000.0F, 46000.0F, 46000.0F }, + /* Variable: max_thr * Referenced by: '/Constant1' */ @@ -662,7 +712,7 @@ P_SIL_T SIL_P = { 0.34904F, /* Variable: min_de - * Referenced by: '/Constant2' + * Referenced by: '/Constant2' */ -0.34904F, @@ -671,6 +721,13 @@ P_SIL_T SIL_P = { */ -50.0F, + /* Variable: min_rpm + * Referenced by: + * '/min_rpm' + * '/min_rpm' + */ + { 20000.0F, 30000.0F, 38000.0F }, + /* Variable: min_tht * Referenced by: '/Constant Single' */ @@ -682,7 +739,7 @@ P_SIL_T SIL_P = { 0.5F, /* Variable: w_v2tht - * Referenced by: '/Constant' + * Referenced by: '/Constant' */ 0.4F, @@ -709,18 +766,18 @@ P_SIL_T SIL_P = { /* Variable: system_id * Referenced by: * '/Constant' - * '/system_id' - * '/Chart_proc_mission_clr_all' - * '/Chart' - * '/Chart' - * '/Chart_proc_mission_req' - * '/Chart_proc_mission_req_lst' - * '/Chart' - * '/Chart' - * '/Chart_proc_param_req_read' - * '/Chart_proc_param_set' - * '/system_id' - * '/system_id' + * '/system_id' + * '/Chart_proc_mission_clr_all' + * '/Chart' + * '/Chart' + * '/Chart_proc_mission_req' + * '/Chart_proc_mission_req_lst' + * '/Chart' + * '/Chart' + * '/Chart_proc_param_req_read' + * '/Chart_proc_param_set' + * '/system_id' + * '/system_id' */ 1U }; diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL_private.h b/SIL/work/SIL_ert_shrlib_rtw/SIL_private.h index bcef3ac..ec15b09 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL_private.h +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL_private.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -686,16 +686,16 @@ extern const uint8_T rtCP_pooled_mhMab4fllVU3; * Referenced by: '/IAS_lookup' */ #define rtCP_uDLookupTable_tableData_n rtCP_pooled_HF8NWw8ahBZB /* Computed Parameter: rtCP_uDLookupTable_tableData_n - * Referenced by: '/1-D Lookup Table' + * Referenced by: '/1-D Lookup Table' */ #define rtCP_uDLookupTable_bp01Data_d rtCP_pooled_NsfoROSYwB8n /* Computed Parameter: rtCP_uDLookupTable_bp01Data_d - * Referenced by: '/1-D Lookup Table' + * Referenced by: '/1-D Lookup Table' */ #define rtCP_uDLookupTable_tableData_m rtCP_pooled_HF8NWw8ahBZB /* Computed Parameter: rtCP_uDLookupTable_tableData_m - * Referenced by: '/1-D Lookup Table' + * Referenced by: '/1-D Lookup Table' */ #define rtCP_uDLookupTable_bp01Data_a rtCP_pooled_NsfoROSYwB8n /* Computed Parameter: rtCP_uDLookupTable_bp01Data_a - * Referenced by: '/1-D Lookup Table' + * Referenced by: '/1-D Lookup Table' */ #define rtCP_table2D_CL_base_maxIndex rtCP_pooled_qhm2sJNkM8ZA /* Computed Parameter: rtCP_table2D_CL_base_maxIndex * Referenced by: '/table2D_CL_base' @@ -815,7 +815,7 @@ extern const uint8_T rtCP_pooled_mhMab4fllVU3; * Referenced by: '/table3D_cft' */ #define rtCP_mav_parser_P1 rtCP_pooled_e6HU8n7YauPz /* Expression: Channel - * Referenced by: '/mav_parser' + * Referenced by: '/mav_parser' */ #define rtCP_ConstantBP_Value_h rtCP_pooled_mhMab4fllVU3 /* Computed Parameter: rtCP_ConstantBP_Value_h * Referenced by: '/Constant BP' @@ -1141,14 +1141,14 @@ extern "C" { #endif - extern void mav_scaled_pressure_encode_Start_wrapper(void); - extern void mav_scaled_pressure_encode_Outputs_wrapper(const - mavlink_scaled_pressure_t *obj, + extern void mav_emb_atmo_com_encode_Start_wrapper(void); + extern void mav_emb_atmo_com_encode_Outputs_wrapper(const + mavlink_emb_atmo_com_t *obj, const uint8_T *sys_id, const uint8_T *comp_id, const uint8_T *channel, mavlink_message_t *msg); - extern void mav_scaled_pressure_encode_Terminate_wrapper(void); + extern void mav_emb_atmo_com_encode_Terminate_wrapper(void); #ifdef __cplusplus @@ -1220,14 +1220,13 @@ extern "C" { #endif - extern void mav_rc_channels_raw_encode_Start_wrapper(void); - extern void mav_rc_channels_raw_encode_Outputs_wrapper(const - mavlink_rc_channels_raw_t *obj, + extern void mav_ins1_encode_Start_wrapper(void); + extern void mav_ins1_encode_Outputs_wrapper(const mavlink_ins1_t *obj, const uint8_T *sys_id, const uint8_T *comp_id, const uint8_T *channel, mavlink_message_t *msg); - extern void mav_rc_channels_raw_encode_Terminate_wrapper(void); + extern void mav_ins1_encode_Terminate_wrapper(void); #ifdef __cplusplus @@ -1277,6 +1276,25 @@ extern "C" { extern "C" { +#endif + + extern void mav_ins2_encode_Start_wrapper(void); + extern void mav_ins2_encode_Outputs_wrapper(const mavlink_ins2_t *obj, + const uint8_T *sys_id, + const uint8_T *comp_id, + const uint8_T *channel, + mavlink_message_t *msg); + extern void mav_ins2_encode_Terminate_wrapper(void); + +#ifdef __cplusplus + +} +#endif + +#ifdef __cplusplus + +extern "C" { + #endif extern void mav_heartbeat_encode_Start_wrapper(void); @@ -1894,7 +1912,7 @@ extern void SIL_auto_sw(uint16_T rtu_in, uint8_T *rty_out); extern void SIL_brake_sw(uint16_T rtu_in, boolean_T *rty_out); extern void SIL_valid(const C2 *rtu_C2_in, uint8_T rtu_id, const uint16_T rtu_channels[18], C2 *rty_C2_out); -extern void SIL_xbitasmanual(const C2 *rtu_C2_in_Inport_1, C2 *rty_C2_out); +extern void SIL_manual(const C2 *rtu_C2_in_Inport_1, C2 *rty_C2_out); extern void SIL_get_WP(uint16_T rtu_cur_np, boolean_T *rty_is_mission, uint16_T * rty_command, real32_T rty_params[7], boolean_T *rty_autocont); extern void SIL_wp(const C2 *rtu_C2_in, boolean_T *rty_valid); @@ -1916,6 +1934,7 @@ extern void SIL_theta2_Init(DW_theta2_SIL_T *localDW); extern void SIL_theta2_Reset(DW_theta2_SIL_T *localDW); extern real32_T SIL_theta2(real32_T rtu_y, real32_T rtu_max_tht, real32_T rtu_tht0, DW_theta2_SIL_T *localDW, real32_T rtp_Ts); +extern void SIL_fixtype(uint32_T rtu_stat, ENUM_GPS_FIXTYPE *rty_fixtype); extern void SIL_dummyclear_mission(uint8_T rtu_type, uint8_T *rty_ack); extern void SIL_find_val_Start(void); extern void SIL_find_val(uint16_T rtu_idx, uint8_T rty_name[16], uint8_T diff --git a/SIL/work/SIL_ert_shrlib_rtw/SIL_types.h b/SIL/work/SIL_ert_shrlib_rtw/SIL_types.h index fe12023..86e7d3e 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/SIL_types.h +++ b/SIL/work/SIL_ert_shrlib_rtw/SIL_types.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -20,40 +20,6 @@ #include "hal_api.h" #include "ecu.h" #include "mav_stat_def.h" -#ifndef DEFINED_TYPEDEF_FOR_CmdOut_ -#define DEFINED_TYPEDEF_FOR_CmdOut_ - -typedef struct { - /* 升降舵指令 */ - real32_T de_c; - - /* 副翼指令 */ - real32_T da_c; - - /* 方向舵指令 */ - real32_T dr_c; - - /* 襟翼指令 */ - real32_T df_c; - - /* 油门指令 */ - real32_T thr_c; - - /* 右尾舵 */ - real32_T de_r; - - /* 左尾舵 */ - real32_T de_l; - - /* 右副舵 */ - real32_T da_r; - - /* 左副舵 */ - real32_T da_l; -} CmdOut; - -#endif - #ifndef DEFINED_TYPEDEF_FOR_TrajGen_ #define DEFINED_TYPEDEF_FOR_TrajGen_ @@ -191,6 +157,12 @@ typedef struct { /* 大气密度 */ real32_T rho; + /* 迎角 */ + real32_T alpha; + + /* 侧滑角 */ + real32_T beta; + /* 滚转角速度 */ real32_T p; @@ -472,6 +444,8 @@ typedef enum { ENUM_mode_STABILIZED = 458752, ENUM_mode_RATTITUDE = 524288, ENUM_mode_SIMPLE = 524288, + ENUM_mode_STANDBY = 589824, + ENUM_mode_BIT = 655360, ENUM_mode_AUTO_READY = 17039360, ENUM_mode_AUTO_TAKEOFF = 33816576, ENUM_mode_AUTO_LOITER = 50593792, @@ -609,9 +583,24 @@ typedef struct { /* 副翼指令 */ real32_T da_c; + /* 左升降舵指令 */ + real32_T del_c; + + /* 右升降舵指令 */ + real32_T der_c; + + /* 左副翼舵指令 */ + real32_T dal_c; + + /* 右副翼舵指令 */ + real32_T dar_c; + /* 油门指令 */ real32_T throttle_c; + /* 是否使用混控 */ + boolean_T use_mix; + /* 横航向制导模式 */ ENUM_AFCS_LAT AFCS_LAT; @@ -744,9 +733,6 @@ typedef struct { /* 襟翼指令 */ real32_T df_c; - /* 打开加力燃烧室 */ - boolean_T afterburner_enabled; - /* 空速指令选择 */ ENUM_AS_SEL AS_SEL; @@ -759,6 +745,9 @@ typedef struct { /* ECU指令 */ uint8_T ECU_CMD; + /* ECU指令转速 */ + uint16_T ECU_RPM; + /* CCM指令通道 */ uint8_T ccm_ch; @@ -855,14 +844,19 @@ typedef struct { #endif -#ifndef DEFINED_TYPEDEF_FOR_struct_QmXanEkM561JnKBNP3AGmH_ -#define DEFINED_TYPEDEF_FOR_struct_QmXanEkM561JnKBNP3AGmH_ +#ifndef DEFINED_TYPEDEF_FOR_struct_wjAfOq8UsLX5wmjvApaivB_ +#define DEFINED_TYPEDEF_FOR_struct_wjAfOq8UsLX5wmjvApaivB_ typedef struct { real_T dr_c; real_T de_c; real_T da_c; + real_T del_c; + real_T der_c; + real_T dal_c; + real_T dar_c; real_T throttle_c; + real_T use_mix; real_T use_mission_traj; real_T armed; ENUM_LANDED_STATE landed_state; @@ -877,22 +871,28 @@ typedef struct { real_T p500w_enable; real_T actuator_startup; real_T ECU_CMD; + real_T ECU_RPM; real_T ccm_ch; real_T ccm_period; real_T ccm_sw; real_T aspd_error; -} struct_QmXanEkM561JnKBNP3AGmH; +} struct_wjAfOq8UsLX5wmjvApaivB; #endif -#ifndef DEFINED_TYPEDEF_FOR_struct_4GzJFcUx5VBTwvZRGDhGcG_ -#define DEFINED_TYPEDEF_FOR_struct_4GzJFcUx5VBTwvZRGDhGcG_ +#ifndef DEFINED_TYPEDEF_FOR_struct_1RYz85ReqLupht6uKZJJ8G_ +#define DEFINED_TYPEDEF_FOR_struct_1RYz85ReqLupht6uKZJJ8G_ typedef struct { real32_T dr_c; real32_T de_c; real32_T da_c; + real32_T del_c; + real32_T der_c; + real32_T dal_c; + real32_T dar_c; real32_T throttle_c; + boolean_T use_mix; boolean_T use_mission_traj; boolean_T armed; ENUM_LANDED_STATE landed_state; @@ -907,11 +907,12 @@ typedef struct { uint8_T p500w_enable; uint8_T actuator_startup; uint8_T ECU_CMD; + uint16_T ECU_RPM; uint8_T ccm_ch; uint16_T ccm_period; uint8_T ccm_sw; real32_T aspd_error; -} struct_4GzJFcUx5VBTwvZRGDhGcG; +} struct_1RYz85ReqLupht6uKZJJ8G; #endif diff --git a/SIL/work/SIL_ert_shrlib_rtw/buildInfo.mat b/SIL/work/SIL_ert_shrlib_rtw/buildInfo.mat index 75da1c0..7fc9c89 100644 Binary files a/SIL/work/SIL_ert_shrlib_rtw/buildInfo.mat and b/SIL/work/SIL_ert_shrlib_rtw/buildInfo.mat differ diff --git a/SIL/work/SIL_ert_shrlib_rtw/defines.txt b/SIL/work/SIL_ert_shrlib_rtw/defines.txt index 7339c05..c3abda7 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/defines.txt +++ b/SIL/work/SIL_ert_shrlib_rtw/defines.txt @@ -1,5 +1,5 @@ MODEL=SIL -NUMST=3 +NUMST=4 NCSTATES=26 HAVESTDIO MODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 diff --git a/SIL/work/SIL_ert_shrlib_rtw/rtmodel.h b/SIL/work/SIL_ert_shrlib_rtw/rtmodel.h index 5e29717..4b5a137 100644 --- a/SIL/work/SIL_ert_shrlib_rtw/rtmodel.h +++ b/SIL/work/SIL_ert_shrlib_rtw/rtmodel.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) diff --git a/SIL/work/SIL_win64.dll b/SIL/work/SIL_win64.dll index 089dd13..583e540 100644 Binary files a/SIL/work/SIL_win64.dll and b/SIL/work/SIL_win64.dll differ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.c b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.c index c18e87f..1d9e3c3 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.h b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.h index 1884fb6..c303a57 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcAtmosCOESA.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_CalcAtmosCOESA diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.c b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.c index a14b3c0..85fd4fc 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.h b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.h index a961b52..0eac4e7 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/CalcPAltCOESA.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_CalcPAltCOESA diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.c b/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.c index 8c3b4e0..fced654 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.h b/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.h index 67eed77..0f1a44f 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/InitCalcAtmosCOESA.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_InitCalcAtmosCOESA diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.c b/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.c index efb6b76..32d47ef 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.h b/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.h index 28a7b22..f8c6fd4 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/LookUpEven_real_T_real_T.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_LookUpEven_real_T_real_T diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.c b/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.c index 153d0e9..2b4750e 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.h b/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.h index 8e145d9..a8f64ef 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/Quat2Tbn_XRdqRR86.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_Quat2Tbn_XRdqRR86 diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.c b/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.c index ecf0cd8..ca08afc 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.h b/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.h index 62a0220..9fb16f8 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/binsearch_u32d.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_binsearch_u32d diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/builtin_typeid_types.h b/SIL/work/slprj/ert_shrlib/_sharedutils/builtin_typeid_types.h index 49a5008..522ac9e 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/builtin_typeid_types.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/builtin_typeid_types.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef BUILTIN_TYPEID_TYPES_H diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/const_params.c b/SIL/work/slprj/ert_shrlib/_sharedutils/const_params.c index 3df3387..52e647c 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/const_params.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/const_params.c @@ -3,9 +3,9 @@ * * Code generation for model "SIL". * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C source code generated on : Wed Oct 7 01:46:35 2020 + * C source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.c index 6a33703..a5892c8 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.h index e390377..bb85004 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/intrp3d_l_pw.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_intrp3d_l_pw diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.c index 8218022..49a49ab 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.h index e21f9a2..18178b8 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_binlxpw.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_look1_binlxpw diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.c new file mode 100644 index 0000000..fe6f484 --- /dev/null +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.c @@ -0,0 +1,73 @@ +/* + * File: look1_iflf_binlcpw.c + * + * Code generated for Simulink model 'SIL'. + * + * Model version : 1.470 + * Simulink Coder version : 9.0 (R2018b) 24-May-2018 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 + */ + +#include "rtwtypes.h" +#include "look1_iflf_binlcpw.h" + +real32_T look1_iflf_binlcpw(real32_T u0, const real32_T bp0[], const real32_T + table[], uint32_T maxIndex) +{ + real32_T frac; + uint32_T iRght; + uint32_T iLeft; + uint32_T bpIdx; + + /* Column-major Lookup 1-D + Search method: 'binary' + Use previous index: 'off' + Interpolation method: 'Linear point-slope' + Extrapolation method: 'Clip' + Use last breakpoint for index at or above upper limit: 'off' + Remove protection against out-of-range input in generated code: 'off' + */ + /* Prelookup - Index and Fraction + Index Search method: 'binary' + Extrapolation method: 'Clip' + Use previous index: 'off' + Use last breakpoint for index at or above upper limit: 'off' + Remove protection against out-of-range input in generated code: 'off' + */ + if (u0 <= bp0[0U]) { + iLeft = 0U; + frac = 0.0F; + } else if (u0 < bp0[maxIndex]) { + /* Binary Search */ + bpIdx = maxIndex >> 1U; + iLeft = 0U; + iRght = maxIndex; + while (iRght - iLeft > 1U) { + if (u0 < bp0[bpIdx]) { + iRght = bpIdx; + } else { + iLeft = bpIdx; + } + + bpIdx = (iRght + iLeft) >> 1U; + } + + frac = (u0 - bp0[iLeft]) / (bp0[iLeft + 1U] - bp0[iLeft]); + } else { + iLeft = maxIndex - 1U; + frac = 1.0F; + } + + /* Column-major Interpolation 1-D + Interpolation method: 'Linear point-slope' + Use last breakpoint for index at or above upper limit: 'off' + Overflow mode: 'portable wrapping' + */ + return (table[iLeft + 1U] - table[iLeft]) * frac + table[iLeft]; +} + +/* + * File trailer for generated code. + * + * [EOF] + */ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.h new file mode 100644 index 0000000..c55b787 --- /dev/null +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlcpw.h @@ -0,0 +1,24 @@ +/* + * File: look1_iflf_binlcpw.h + * + * Code generated for Simulink model 'SIL'. + * + * Model version : 1.470 + * Simulink Coder version : 9.0 (R2018b) 24-May-2018 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 + */ + +#ifndef SHARE_look1_iflf_binlcpw +#define SHARE_look1_iflf_binlcpw +#include "rtwtypes.h" + +extern real32_T look1_iflf_binlcpw(real32_T u0, const real32_T bp0[], const + real32_T table[], uint32_T maxIndex); + +#endif + +/* + * File trailer for generated code. + * + * [EOF] + */ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.c index 0fd9831..3365567 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.h index 34d4026..597f3d2 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_binlxpw.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_look1_iflf_binlxpw diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.c index 7a1487e..e91c04f 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.h index f425c4a..72822fc 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look1_iflf_pbinlcapw.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_look1_iflf_pbinlcapw diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.c b/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.c index e081e85..79c2b6c 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.h b/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.h index a027d71..d6e53ca 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/look2_binlxpw.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_look2_binlxpw diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.c b/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.c index 0f717a4..11f8a58 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.h b/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.h index c167f29..896643a 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/plook_binx.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_plook_binx diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.c b/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.c index 091c5c8..70c4d34 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.h b/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.h index e687d7f..8e22862 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/power_4TBdBPK2.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_power_4TBdBPK2 diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.c index 6a7daaa..218b846 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ /* diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.h index 5d8c195..c5119a7 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetInf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTW_HEADER_rtGetInf_h_ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.c index a398f15..32e1181 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ /* diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.h index a5d0d17..b01d6ef 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rtGetNaN.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTW_HEADER_rtGetNaN_h_ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_assert.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_assert.h index 6798f4a..24669ba 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_assert.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_assert.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTW_HEADER_rt_assert_h_ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.c index 68e42d3..b72fa9c 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.h index 1335fec..4934af2 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2d_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_atan2d_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.c index d6ffe57..6fac769 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.h index 1a5bab4..af9156e 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_atan2f_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_atan2f_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_defines.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_defines.h index 1792f68..93e11bc 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_defines.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_defines.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTW_HEADER_rt_defines_h_ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.c index c425880..482b10a 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.h index f90fbd6..2fc6198 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_invd3x3_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_invd3x3_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.c index dc1795f..e707024 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.h index c0ef675..878eb6b 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.c index 6284eec..039c2d8 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ /* diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.h index 1515a1d..a5d834d 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_nonfinite.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTW_HEADER_rt_nonfinite_h_ diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.c index 1523eca..fcdb3bd 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.h index 65a0e89..c05b17e 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_powd_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_powd_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.c b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.c index 07c1790..1faf7b3 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.h index f85ad0b..2a96202 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rt_roundd_snf.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_rt_roundd_snf diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/rtwtypes.h b/SIL/work/slprj/ert_shrlib/_sharedutils/rtwtypes.h index d79d511..db3af04 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/rtwtypes.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/rtwtypes.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef RTWTYPES_H diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.c b/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.c index 5cd476c..7fe5d27 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.c +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.c @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #include "rtwtypes.h" diff --git a/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.h b/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.h index 84ad70e..7aaa02c 100644 --- a/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.h +++ b/SIL/work/slprj/ert_shrlib/_sharedutils/wgs84_taylor_series.h @@ -3,9 +3,9 @@ * * Code generated for Simulink model 'SIL'. * - * Model version : 1.464 + * Model version : 1.470 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Wed Oct 7 01:46:35 2020 + * C/C++ source code generated on : Thu Oct 22 10:25:15 2020 */ #ifndef SHARE_wgs84_taylor_series diff --git a/main.cpp b/main.cpp index fd3e533..b31003d 100644 --- a/main.cpp +++ b/main.cpp @@ -7,5 +7,6 @@ int main(int argc, char *argv[]) QApplication a(argc, argv); MainWindow w; w.show(); + return a.exec(); } diff --git a/mainwindow.cpp b/mainwindow.cpp index 16e7b22..595a409 100644 --- a/mainwindow.cpp +++ b/mainwindow.cpp @@ -27,7 +27,7 @@ MainWindow::MainWindow(QWidget *parent) if (init_func && step_func && u && y) { qgc_sock = new QUdpSocket(this); - if (qgc_sock->bind(QHostAddress::LocalHost, 6030)) + if (qgc_sock->bind(QHostAddress::LocalHost, 6061)) { (*init_func)(); seq = 0; @@ -64,7 +64,7 @@ void MainWindow::update200Hz(void) if (y->seq != seq) { seq = y->seq; - qgc_sock->writeDatagram((char *)y->buff, y->buff_len, QHostAddress::LocalHost, 6010); + qgc_sock->writeDatagram((char *)y->buff, y->buff_len, QHostAddress::LocalHost, 6060); } }