diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.c b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.c index 21cb603..a6e1039 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.c +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.c @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -600,6 +600,10 @@ const MavRally ET39_SIL_rtZMavRally = { } ; /* MavRally ground */ /* Exported block parameters */ +real_T Att0[3] = { 0.0, 0.0, 1.3 } ; /* Variable: Att0 + * Referenced by: '/Initial Euler Angles' + */ + real_T CD0UncertVal = 0.0; /* Variable: CD0UncertVal * Referenced by: '/Param_CD0UncertVal' */ @@ -696,13 +700,13 @@ real_T InertiaMoments_bias_kg_m2[9] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, * Referenced by: '/Param_InertiaMoments_bias_kg_m2' */ -real_T X0[3] = { 31.8239873, 118.7816451, 10.17 } ;/* Variable: X0 - * Referenced by: - * '/omega_earth2' - * '/omega_earth2' - */ +real_T X0[3] = { 40.92196356, 109.61881465, 1385.17 } ;/* Variable: X0 + * Referenced by: + * '/omega_earth2' + * '/omega_earth2' + */ -real_T hground = 10.0; /* Variable: hground +real_T hground = 1385.0; /* Variable: hground * Referenced by: '/Constant1' */ @@ -775,12 +779,11 @@ static void ET39_SIL_enter_atomic_Hovering(void); static void ET39_SIL_wait_on_line(void); static void ET39_SIL_EngineStart(void); static void ET39_SIL_FW(void); +static void ET39_SIL_Hovering(void); static void ET39_SIL_Landed(void); static void ET39_SIL_Liftoff(void); -static void ET39_SIL_OnRunWay(void); static void ET39_SIL_enter_atomic_Prepare(void); static void ET39_SIL_Unarmed(void); -static void ET39_SIL_Hover(void); static void ET39_SIL_enter_atomic_WP(void); static boolean_T ET39_SIL_sf_msg_pop_msgs(void); static void ET39_SIL_sf_msg_send_resp(void); @@ -7631,6 +7634,23 @@ static void ET39_SIL_FW(void) } } +/* Function for Chart: '/takeoff_task' */ +static void ET39_SIL_Hovering(void) +{ + ET39_SIL_B.engine_mode_c = 0U; + ET39_SIL_B.mode_p = ENUM_mode_AUTO_LAND; + ET39_SIL_B.landed_state_f = ENUM_LANDED_STATE_LANDING; + ET39_SIL_B.AFCS_LAT_e = ENUM_AFCS_LAT_MC_HOLD_POS; + ET39_SIL_B.AFCS_VERT_k = ENUM_AFCS_VERT_VNAV2HDOT; + ET39_SIL_B.use_mission_traj_p = false; + if (ET39_SIL_Y.traj.dist < 5.0F) { + ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_Hover1; + + /* Constant: '/Constant75' */ + ET39_SIL_B.traj_p.h1 = ET39_SIL_B.home.h1 + ET39_SIL_P.LandHoverAgl; + } +} + /* Function for Chart: '/takeoff_task' */ static void ET39_SIL_Landed(void) { @@ -7710,49 +7730,6 @@ static void ET39_SIL_Liftoff(void) /* End of Constant: '/Constant10' */ } -/* Function for Chart: '/takeoff_task' */ -static void ET39_SIL_OnRunWay(void) -{ - boolean_T sf_internal_predicateOutput; - uint32_T qY; - boolean_T guard1 = false; - ET39_SIL_B.engine_mode_c = 1U; - ET39_SIL_B.use_mission_traj_p = true; - ET39_SIL_B.landed_state_f = ENUM_LANDED_STATE_IN_AIR; - ET39_SIL_B.AFCS_VERT_k = ENUM_AFCS_VERT_VNAV2HDOT; - ET39_SIL_B.AFCS_LAT_e = ENUM_AFCS_LAT_MC_HOLD_POS_VMAN; - sf_internal_predicateOutput = ((ET39_SIL_Y.traj.vert_offset < 1.0F) && - (ET39_SIL_Y.traj.vert_offset > -1.0F) && (ET39_SIL_Y.traj.horiz_offset < - 1.5F) && (ET39_SIL_Y.traj.horiz_offset > -1.5F) && (ET39_SIL_get_abs_dpsi() < - 0.2F)); - if (sf_internal_predicateOutput) { - ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_wait_on_line; - ET39_SIL_DW.temporalCounter_i1_a = 0U; - } else { - guard1 = false; - if ((ET39_SIL_B.BusAssignment_b.rc.throttle_cmd < 0.25F) || - ET39_SIL_B.BusAssignment_b.abort_takeoff_cmd || - (ET39_SIL_B.BusAssignment_n.RPMs[4] < 1000)) { - ET39_SIL_B.abort_takeoff_cmd_out = false; - guard1 = true; - } else if (ET39_SIL_DW.tick_abort > 12000U) { - guard1 = true; - } else { - qY = ET39_SIL_DW.tick_abort + /*MW:OvSatOk*/ 1U; - if (qY < ET39_SIL_DW.tick_abort) { - qY = MAX_uint32_T; - } - - ET39_SIL_DW.tick_abort = qY; - } - - if (guard1) { - ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_Hovering_d; - ET39_SIL_enter_atomic_Hovering(); - } - } -} - /* Function for Chart: '/takeoff_task' */ static void ET39_SIL_enter_atomic_Prepare(void) { @@ -7802,20 +7779,6 @@ static void ET39_SIL_Unarmed(void) ET39_SIL_B.AG = ENUM_AG_OFF; } -/* Function for Chart: '/landing_task' */ -static void ET39_SIL_Hover(void) -{ - ET39_SIL_B.AFCS_VERT = ENUM_AFCS_VERT_VNAV2HDOT; - if ((ET39_SIL_B.BusAssignment_b.rc.throttle_cmd < 0.25F) && - ET39_SIL_B.BusAssignment_b.landing_cmd) { - ET39_SIL_B.landing_cmd_out = false; - ET39_SIL_DW.is_c26_ET39_autopilot = ET39_SIL_IN_Sink_i; - ET39_SIL_B.AFCS_VERT = ENUM_AFCS_VERT_OFF; - ET39_SIL_B.AG = ENUM_AG_HDOT_MC; - ET39_SIL_B.hdot_c_out = -0.5F; - } -} - /* Function for Chart: '/Chart' */ static void ET39_SIL_enter_atomic_WP(void) { @@ -11119,18 +11082,19 @@ void ET39_SIL_step(void) Sensors rtb_DataStoreRead; boolean_T rtb_GreaterThan; real_T rtb_Abs1; - real_T rtb_MathFunction1[9]; + real_T rtb_VectorConcatenate_ll[9]; + real_T rtb_Product_e2[3]; + real_T rtb_Product_jt[3]; real_T rtb_add_mt[9]; real_T rtb_saturation; real_T rtb_Product2_io; int8_T s1114_iter; real_T tmpForInput[3]; + real_T rtb_product_n; Sensors rtb_TmpHiddenBufferAtBusAssignmentInport1; real_T rtb_VectorConcatenate[7]; - real_T rtb_Sum2_eq[3]; - real_T rtb_Product2_k3[3]; - real_T rtb_Sideslip; int32_T rtb_BitwiseAND; + real_T rtb_q2dot; int32_T rtb_BitwiseAND1; real_T rtb_ixk; int32_T rtb_BitwiseAND3; @@ -11147,14 +11111,14 @@ void ET39_SIL_step(void) uint16_T rtb_UnitDelay_fg; uint32_T rtb_DataTypeConversion1; uint16_T rtb_rpm[5]; - real_T rtb_Product2_e3[9]; + real_T rtb_Product2_p4[9]; real_T rtb_UnitConversion; real_T rtb_sigma_ugsigma_vg; real_T rtb_LowAltitudeScaleLength; real_T rtb_MathFunction_j0[9]; real_T rtb_add_o; int8_T rtb_VectorConcatenate_o[9]; - real32_T rtb_Product2_g[3]; + real32_T rtb_Product2_my[3]; int32_T idx; real32_T rtb_de_l; real32_T rtb_Merge6; @@ -11162,8 +11126,8 @@ void ET39_SIL_step(void) ENUM_sysauto_level1 rtb_level1_lgx; boolean_T rtb_xbit_cmd; boolean_T rtb_standby_cmd; - real32_T rtb_Product_j0; - real32_T rtb_Product2_ld; + real32_T rtb_Product_j3; + real32_T rtb_Product2_jc; real32_T rtb_Product1_h4; real_T rtb_Merge_fh; real_T rtb_UnitConversion_d; @@ -11189,9 +11153,9 @@ void ET39_SIL_step(void) real32_T rtb_effi_rot_roll_d; real32_T rtb_horiz_offset_f; real32_T rtb_Product3_dc; - real32_T rtb_Product2_ff; + real32_T rtb_Product2_b; real32_T rtb_vert_offset_k; - real32_T rtb_Product_pp2; + real32_T rtb_Product_bu; real32_T rtb_Product1_bz; real32_T rtb_dist_offset_e; real32_T rtb_q2qdot; @@ -11529,7 +11493,7 @@ void ET39_SIL_step(void) boolean_T rtb_Merge_h_cdi_sw; uint8_T rtb_Merge_h_engine_mode; real32_T rtb_az_c; - real32_T rtb_Product_is; + real32_T rtb_Product_h; real32_T rtb_Add_dx; uint8_T rtb_Merge2_o_actuator_startup; ENUM_AFCS_LAT rtb_Merge2_o_AFCS_LAT; @@ -11648,10 +11612,10 @@ void ET39_SIL_step(void) boolean_T rtb_Merge2_o_cdi_sw; uint8_T rtb_Merge2_o_engine_mode; real32_T rtb_Switch_f2; - real32_T rtb_Sum2_hh; + real32_T rtb_Sum2_fk; real32_T rtb_Sum5_o; real32_T rtb_da_out; - real32_T rtb_Sum2_b; + real32_T rtb_Sum2_a; real32_T rtb_Sum5_b; uint8_T rtb_Merge2_g_actuator_startup; ENUM_AFCS_LAT rtb_Merge2_g_AFCS_LAT; @@ -11904,7 +11868,7 @@ void ET39_SIL_step(void) real32_T rtb_Merge_gk; real32_T rtb_Switch2_pb; real32_T rtb_Switch_cz; - real32_T rtb_Product_ny; + real32_T rtb_Product_e; real32_T rtb_MaxHdot_d; real32_T rtb_Switch2_dv; real32_T rtb_Sum1_o; @@ -11917,23 +11881,23 @@ void ET39_SIL_step(void) real_T rtb_MediumHighAltitudeIntensity; real_T rtb_MatrixConcatenation[18]; boolean_T rtb_Compare_bz[9]; + real_T rtb_Sum4_d_tmp[3]; int32_T i; static const int8_T tmp[3] = { 1, 0, 2 }; - real_T rtb_add_p[3]; - real_T rtb_MathFunction1_0[9]; - real_T rtb_MathFunction1_1[3]; + real_T rtb_VectorConcatenate_k[9]; + real_T tmp_0[3]; real_T rtb_MathFunction_i[6]; - real_T tmp_0[6]; - real_T rtb_Sum2_j[6]; real_T tmp_1[6]; + real_T rtb_Product_e_0[6]; real_T tmp_2[6]; real_T tmp_3[6]; - real_T tmp_4[3]; - real_T rtb_add_3[7]; - real_T rtb_add_4[7]; - uint16_T tmp_5[13]; - uint16_T tmp_6[14]; + real_T tmp_4[6]; + real_T tmp_5[3]; + real_T rtb_Product_e_1[7]; + real_T rtb_Product_e_2[7]; + uint16_T tmp_6[13]; + uint16_T tmp_7[14]; boolean_T rtb_Merge2_o_load_signal_idx_2; boolean_T rtb_Merge2_o_load_signal_idx_1; boolean_T rtb_Merge2_o_load_signal_idx_0; @@ -11961,14 +11925,13 @@ void ET39_SIL_step(void) real_T rtb_ImpAsg_InsertedFor_F_at_inport_0_idx_0; real_T rtb_sincos_o2_ly_idx_1; real_T rtb_sincos_o2_l_idx_0; - real_T rtb_sincos_o2_c_idx_0; real_T rtb_LugV1_n_idx_1; real_T rtb_LugV1_n_idx_0; real_T rtb_WhiteNoise_idx_2; real_T rtb_WhiteNoise_idx_0; int32_T rtb_Product2_b_tmp; int32_T rtb_Product2_b_tmp_0; - real_T rtb_MathFunction1_tmp; + real_T rtb_VectorConcatenate_k_tmp; int32_T rtb_MatrixConcatenation_tmp; real32_T tan_elv3_tmp; MavMission *expl_temp; @@ -12163,12 +12126,12 @@ void ET39_SIL_step(void) rtb_LookupTableDynamic2 = rtb_Abs1 * rtb_WhiteNoise_idx_2; /* UnaryMinus: '/Unary Minus' */ - rtb_MathFunction1[0] = -rtb_LookupTableDynamic2; + rtb_VectorConcatenate_ll[0] = -rtb_LookupTableDynamic2; /* UnaryMinus: '/Unary Minus' incorporates: * Trigonometry: '/sincos' */ - rtb_MathFunction1[1] = -rtb_LugV1_n_idx_1; + rtb_VectorConcatenate_ll[1] = -rtb_LugV1_n_idx_1; /* Product: '/u(3)*u(4)' incorporates: * Trigonometry: '/sincos' @@ -12176,7 +12139,7 @@ void ET39_SIL_step(void) rtb_LookupTableDynamic2 = rtb_LugV1_n_idx_0 * rtb_WhiteNoise_idx_2; /* UnaryMinus: '/Unary Minus' */ - rtb_MathFunction1[2] = -rtb_LookupTableDynamic2; + rtb_VectorConcatenate_ll[2] = -rtb_LookupTableDynamic2; /* Product: '/u(1)*u(2)' incorporates: * Trigonometry: '/sincos' @@ -12184,12 +12147,12 @@ void ET39_SIL_step(void) rtb_LookupTableDynamic2 = rtb_Abs1 * rtb_LugV1_n_idx_1; /* UnaryMinus: '/Unary Minus' */ - rtb_MathFunction1[3] = -rtb_LookupTableDynamic2; + rtb_VectorConcatenate_ll[3] = -rtb_LookupTableDynamic2; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn5' incorporates: * Trigonometry: '/sincos' */ - rtb_MathFunction1[4] = rtb_WhiteNoise_idx_2; + rtb_VectorConcatenate_ll[4] = rtb_WhiteNoise_idx_2; /* Product: '/u(2)*u(3)' incorporates: * Trigonometry: '/sincos' @@ -12197,27 +12160,28 @@ void ET39_SIL_step(void) rtb_LookupTableDynamic2 = rtb_LugV1_n_idx_1 * rtb_LugV1_n_idx_0; /* UnaryMinus: '/Unary Minus' */ - rtb_MathFunction1[5] = -rtb_LookupTableDynamic2; + rtb_VectorConcatenate_ll[5] = -rtb_LookupTableDynamic2; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn7' */ - rtb_MathFunction1[6] = rtb_LugV1_n_idx_0; + rtb_VectorConcatenate_ll[6] = rtb_LugV1_n_idx_0; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn8' incorporates: * Constant: '/Constant' */ - rtb_MathFunction1[7] = 0.0; + rtb_VectorConcatenate_ll[7] = 0.0; /* UnaryMinus: '/Unary Minus' */ - rtb_MathFunction1[8] = -rtb_Abs1; + rtb_VectorConcatenate_ll[8] = -rtb_Abs1; /* Math: '/Math Function1' */ for (i = 0; i < 3; i++) { - rtb_MathFunction1_0[3 * i] = rtb_MathFunction1[i]; - rtb_MathFunction1_0[1 + 3 * i] = rtb_MathFunction1[i + 3]; - rtb_MathFunction1_0[2 + 3 * i] = rtb_MathFunction1[i + 6]; + rtb_VectorConcatenate_k[3 * i] = rtb_VectorConcatenate_ll[i]; + rtb_VectorConcatenate_k[1 + 3 * i] = rtb_VectorConcatenate_ll[i + 3]; + rtb_VectorConcatenate_k[2 + 3 * i] = rtb_VectorConcatenate_ll[i + 6]; } - memcpy(&rtb_MathFunction1[0], &rtb_MathFunction1_0[0], 9U * sizeof(real_T)); + memcpy(&rtb_VectorConcatenate_ll[0], &rtb_VectorConcatenate_k[0], 9U * + sizeof(real_T)); /* End of Math: '/Math Function1' */ @@ -12241,8 +12205,16 @@ void ET39_SIL_step(void) /* Sqrt: '/sqrt' */ rtb_LookupTableDynamic = sqrt(rtb_LookupTableDynamic); - /* UnaryMinus: '/Unary Minus' */ - rtb_LugV1_n_idx_0 = -rtb_LookupTableDynamic; + /* Product: '/Product1' incorporates: + * UnaryMinus: '/Unary Minus' + */ + for (i = 0; i < 3; i++) { + rtb_Product_jt[i] = rtb_VectorConcatenate_ll[i + 6] * + -rtb_LookupTableDynamic + (rtb_VectorConcatenate_ll[i + 3] * 0.0 + + rtb_VectorConcatenate_ll[i] * 0.0); + } + + /* End of Product: '/Product1' */ /* UnitConversion: '/Unit Conversion' */ /* Unit Conversion - from: deg to: rad @@ -12251,15 +12223,15 @@ void ET39_SIL_step(void) rtb_LugV1_n_idx_1 = 0.017453292519943295 * rtb_LookupTableDynamic1; /* Trigonometry: '/sincos' */ - rtb_sincos_o2_c_idx_0 = cos(rtb_Abs1); + rtb_LugV1_n_idx_0 = cos(rtb_Abs1); rtb_Abs1 = sin(rtb_Abs1); - rtb_Product2_io = cos(rtb_LugV1_n_idx_1); + rtb_product_n = cos(rtb_LugV1_n_idx_1); rtb_WhiteNoise_idx_2 = sin(rtb_LugV1_n_idx_1); /* Product: '/u(1)*u(4)' incorporates: * Trigonometry: '/sincos' */ - rtb_LookupTableDynamic = rtb_Abs1 * rtb_Product2_io; + rtb_LookupTableDynamic = rtb_Abs1 * rtb_product_n; /* UnaryMinus: '/Unary Minus' */ rtb_add_mt[0] = -rtb_LookupTableDynamic; @@ -12272,7 +12244,7 @@ void ET39_SIL_step(void) /* Product: '/u(3)*u(4)' incorporates: * Trigonometry: '/sincos' */ - rtb_LookupTableDynamic = rtb_sincos_o2_c_idx_0 * rtb_Product2_io; + rtb_LookupTableDynamic = rtb_LugV1_n_idx_0 * rtb_product_n; /* UnaryMinus: '/Unary Minus' */ rtb_add_mt[2] = -rtb_LookupTableDynamic; @@ -12288,18 +12260,18 @@ void ET39_SIL_step(void) /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn5' incorporates: * Trigonometry: '/sincos' */ - rtb_add_mt[4] = rtb_Product2_io; + rtb_add_mt[4] = rtb_product_n; /* Product: '/u(2)*u(3)' incorporates: * Trigonometry: '/sincos' */ - rtb_LookupTableDynamic = rtb_WhiteNoise_idx_2 * rtb_sincos_o2_c_idx_0; + rtb_LookupTableDynamic = rtb_WhiteNoise_idx_2 * rtb_LugV1_n_idx_0; /* UnaryMinus: '/Unary Minus' */ rtb_add_mt[5] = -rtb_LookupTableDynamic; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn7' */ - rtb_add_mt[6] = rtb_sincos_o2_c_idx_0; + rtb_add_mt[6] = rtb_LugV1_n_idx_0; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn8' incorporates: * Constant: '/Constant' @@ -12311,12 +12283,12 @@ void ET39_SIL_step(void) /* Math: '/Math Function' */ for (i = 0; i < 3; i++) { - rtb_MathFunction1_0[3 * i] = rtb_add_mt[i]; - rtb_MathFunction1_0[1 + 3 * i] = rtb_add_mt[i + 3]; - rtb_MathFunction1_0[2 + 3 * i] = rtb_add_mt[i + 6]; + rtb_VectorConcatenate_k[3 * i] = rtb_add_mt[i]; + rtb_VectorConcatenate_k[1 + 3 * i] = rtb_add_mt[i + 3]; + rtb_VectorConcatenate_k[2 + 3 * i] = rtb_add_mt[i + 6]; } - memcpy(&rtb_add_mt[0], &rtb_MathFunction1_0[0], 9U * sizeof(real_T)); + memcpy(&rtb_add_mt[0], &rtb_VectorConcatenate_k[0], 9U * sizeof(real_T)); /* End of Math: '/Math Function' */ @@ -12324,19 +12296,18 @@ void ET39_SIL_step(void) * Constant: '/omega_earth2' */ rtb_LookupTableDynamic = -X0[2]; + + /* Sum: '/Sum' incorporates: + * Product: '/Product' + * SignalConversion: '/TmpSignal ConversionAtProductInport2' + */ for (i = 0; i < 3; i++) { - /* Sum: '/Sum' incorporates: - * Product: '/Product' - * Product: '/Product1' - * SignalConversion: '/TmpSignal ConversionAtProduct1Inport2' - * SignalConversion: '/TmpSignal ConversionAtProductInport2' - */ - ET39_SIL_B.Sum[i] = (rtb_MathFunction1[i + 6] * rtb_LugV1_n_idx_0 + - (rtb_MathFunction1[i + 3] * 0.0 + - rtb_MathFunction1[i] * 0.0)) + (rtb_add_mt[i + 6] * - rtb_LookupTableDynamic + (rtb_add_mt[i + 3] * 0.0 + rtb_add_mt[i] * - 0.0)); + ET39_SIL_B.Sum[i] = ((rtb_add_mt[i + 3] * 0.0 + rtb_add_mt[i] * 0.0) + + rtb_add_mt[i + 6] * rtb_LookupTableDynamic) + + rtb_Product_jt[i]; } + + /* End of Sum: '/Sum' */ } /* Integrator: '/p1' */ @@ -12388,6 +12359,54 @@ void ET39_SIL_step(void) /* End of Outputs for SubSystem: '/While Iterator Subsystem' */ + /* Trigonometry: '/sincos' incorporates: + * Constant: '/Initial Euler Angles' + * SignalConversion: '/TmpSignal ConversionAtsincosInport1' + */ + rtb_Product_jt[0] = cos(Att0[2]); + rtb_Product_e2[0] = sin(Att0[2]); + rtb_Product_jt[1] = cos(Att0[1]); + rtb_Product_e2[1] = sin(Att0[1]); + rtb_Product_jt[2] = cos(Att0[0]); + rtb_WhiteNoise_idx_2 = sin(Att0[0]); + + /* Fcn: '/Fcn11' */ + rtb_add_mt[0] = rtb_Product_jt[1] * rtb_Product_jt[0]; + + /* Fcn: '/Fcn21' incorporates: + * Fcn: '/Fcn22' + */ + rtb_Abs1 = rtb_WhiteNoise_idx_2 * rtb_Product_e2[1]; + rtb_add_mt[1] = rtb_Abs1 * rtb_Product_jt[0] - rtb_Product_jt[2] * + rtb_Product_e2[0]; + + /* Fcn: '/Fcn31' incorporates: + * Fcn: '/Fcn32' + */ + rtb_LugV1_n_idx_1 = rtb_Product_jt[2] * rtb_Product_e2[1]; + rtb_add_mt[2] = rtb_LugV1_n_idx_1 * rtb_Product_jt[0] + + rtb_WhiteNoise_idx_2 * rtb_Product_e2[0]; + + /* Fcn: '/Fcn12' */ + rtb_add_mt[3] = rtb_Product_jt[1] * rtb_Product_e2[0]; + + /* Fcn: '/Fcn22' */ + rtb_add_mt[4] = rtb_Abs1 * rtb_Product_e2[0] + rtb_Product_jt[2] * + rtb_Product_jt[0]; + + /* Fcn: '/Fcn32' */ + rtb_add_mt[5] = rtb_LugV1_n_idx_1 * rtb_Product_e2[0] - + rtb_WhiteNoise_idx_2 * rtb_Product_jt[0]; + + /* Fcn: '/Fcn13' */ + rtb_add_mt[6] = -rtb_Product_e2[1]; + + /* Fcn: '/Fcn23' */ + rtb_add_mt[7] = rtb_WhiteNoise_idx_2 * rtb_Product_jt[1]; + + /* Fcn: '/Fcn33' */ + rtb_add_mt[8] = rtb_Product_jt[2] * rtb_Product_jt[1]; + /* UnitConversion: '/Unit Conversion' incorporates: * Constant: '/omega_earth2' */ @@ -12413,67 +12432,67 @@ void ET39_SIL_step(void) rtb_LookupTableDynamic = rtb_Abs1 * rtb_LugV1_n_idx_1; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[0] = -rtb_LookupTableDynamic; + rtb_VectorConcatenate_ll[0] = -rtb_LookupTableDynamic; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[1] = -rtb_WhiteNoise_idx_2; + rtb_VectorConcatenate_ll[1] = -rtb_WhiteNoise_idx_2; /* Product: '/u(3)*u(4)' */ rtb_LookupTableDynamic = rtb_LugV1_n_idx_0 * rtb_LugV1_n_idx_1; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[2] = -rtb_LookupTableDynamic; + rtb_VectorConcatenate_ll[2] = -rtb_LookupTableDynamic; /* Product: '/u(1)*u(2)' */ rtb_LookupTableDynamic = rtb_Abs1 * rtb_WhiteNoise_idx_2; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[3] = -rtb_LookupTableDynamic; + rtb_VectorConcatenate_ll[3] = -rtb_LookupTableDynamic; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn5' */ - rtb_add_mt[4] = rtb_LugV1_n_idx_1; + rtb_VectorConcatenate_ll[4] = rtb_LugV1_n_idx_1; /* Product: '/u(2)*u(3)' */ rtb_LookupTableDynamic = rtb_WhiteNoise_idx_2 * rtb_LugV1_n_idx_0; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[5] = -rtb_LookupTableDynamic; + rtb_VectorConcatenate_ll[5] = -rtb_LookupTableDynamic; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn7' */ - rtb_add_mt[6] = rtb_LugV1_n_idx_0; + rtb_VectorConcatenate_ll[6] = rtb_LugV1_n_idx_0; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn8' incorporates: * Constant: '/Constant' */ - rtb_add_mt[7] = 0.0; + rtb_VectorConcatenate_ll[7] = 0.0; /* UnaryMinus: '/Unary Minus' */ - rtb_add_mt[8] = -rtb_Abs1; + rtb_VectorConcatenate_ll[8] = -rtb_Abs1; /* Product: '/Product2' */ for (i = 0; i < 3; i++) { for (rtb_MatrixConcatenation_tmp = 0; rtb_MatrixConcatenation_tmp < 3; rtb_MatrixConcatenation_tmp++) { rtb_Product2_b_tmp = rtb_MatrixConcatenation_tmp + 3 * i; - rtb_Product2_e3[rtb_Product2_b_tmp] = 0.0; + rtb_Product2_p4[rtb_Product2_b_tmp] = 0.0; rtb_Product2_b_tmp_0 = 3 * i + rtb_MatrixConcatenation_tmp; - rtb_Product2_e3[rtb_Product2_b_tmp] = - rtb_Product2_e3[rtb_Product2_b_tmp_0] + rtb_add_mt[3 * i] * - ET39_SIL_ConstB.VectorConcatenate[rtb_MatrixConcatenation_tmp]; - rtb_Product2_e3[rtb_Product2_b_tmp] = rtb_add_mt[3 * i + 1] * - ET39_SIL_ConstB.VectorConcatenate[rtb_MatrixConcatenation_tmp + 3] + - rtb_Product2_e3[rtb_Product2_b_tmp_0]; - rtb_Product2_e3[rtb_Product2_b_tmp] = rtb_add_mt[3 * i + 2] * - ET39_SIL_ConstB.VectorConcatenate[rtb_MatrixConcatenation_tmp + 6] + - rtb_Product2_e3[rtb_Product2_b_tmp_0]; + rtb_Product2_p4[rtb_Product2_b_tmp] = + rtb_Product2_p4[rtb_Product2_b_tmp_0] + rtb_VectorConcatenate_ll[3 * + i] * rtb_add_mt[rtb_MatrixConcatenation_tmp]; + rtb_Product2_p4[rtb_Product2_b_tmp] = rtb_VectorConcatenate_ll[3 * i + + 1] * rtb_add_mt[rtb_MatrixConcatenation_tmp + 3] + + rtb_Product2_p4[rtb_Product2_b_tmp_0]; + rtb_Product2_p4[rtb_Product2_b_tmp] = rtb_VectorConcatenate_ll[3 * i + + 2] * rtb_add_mt[rtb_MatrixConcatenation_tmp + 6] + + rtb_Product2_p4[rtb_Product2_b_tmp_0]; } } /* End of Product: '/Product2' */ /* Sum: '/Add' */ - rtb_WhiteNoise_idx_2 = (rtb_Product2_e3[0] + rtb_Product2_e3[4]) + - rtb_Product2_e3[8]; + rtb_WhiteNoise_idx_2 = (rtb_Product2_p4[0] + rtb_Product2_p4[4]) + + rtb_Product2_p4[8]; /* If: '/If' incorporates: * Sum: '/Add' @@ -12505,11 +12524,11 @@ void ET39_SIL_step(void) * Sum: '/Add' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[1] = (rtb_Product2_e3[7] - rtb_Product2_e3[5]) / + ET39_SIL_B.Merge_a[1] = (rtb_Product2_p4[7] - rtb_Product2_p4[5]) / rtb_Abs1; - ET39_SIL_B.Merge_a[2] = (rtb_Product2_e3[2] - rtb_Product2_e3[6]) / + ET39_SIL_B.Merge_a[2] = (rtb_Product2_p4[2] - rtb_Product2_p4[6]) / rtb_Abs1; - ET39_SIL_B.Merge_a[3] = (rtb_Product2_e3[3] - rtb_Product2_e3[1]) / + ET39_SIL_B.Merge_a[3] = (rtb_Product2_p4[3] - rtb_Product2_p4[1]) / rtb_Abs1; /* End of Outputs for SubSystem: '/Positive Trace' */ @@ -12520,8 +12539,8 @@ void ET39_SIL_step(void) * ActionPort: '/Action Port' */ /* If: '/Find Maximum Diagonal Value' */ - if ((rtb_Product2_e3[4] > rtb_Product2_e3[0]) && (rtb_Product2_e3[4] > - rtb_Product2_e3[8])) { + if ((rtb_Product2_p4[4] > rtb_Product2_p4[0]) && (rtb_Product2_p4[4] > + rtb_Product2_p4[8])) { /* Outputs for IfAction SubSystem: '/Maximum Value at DCM(2,2)' incorporates: * ActionPort: '/Action Port' */ @@ -12529,8 +12548,8 @@ void ET39_SIL_step(void) * Constant: '/Constant' * Sum: '/Add' */ - rtb_Abs1 = sqrt(((rtb_Product2_e3[4] - rtb_Product2_e3[0]) - - rtb_Product2_e3[8]) + 1.0); + rtb_Abs1 = sqrt(((rtb_Product2_p4[4] - rtb_Product2_p4[0]) - + rtb_Product2_p4[8]) + 1.0); /* Switch: '/Switch' incorporates: * Constant: '/Constant1' @@ -12552,28 +12571,28 @@ void ET39_SIL_step(void) * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[1] = (rtb_Product2_e3[1] + rtb_Product2_e3[3]) * + ET39_SIL_B.Merge_a[1] = (rtb_Product2_p4[1] + rtb_Product2_p4[3]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain3' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[3] = (rtb_Product2_e3[5] + rtb_Product2_e3[7]) * + ET39_SIL_B.Merge_a[3] = (rtb_Product2_p4[5] + rtb_Product2_p4[7]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain4' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[0] = (rtb_Product2_e3[2] - rtb_Product2_e3[6]) * + ET39_SIL_B.Merge_a[0] = (rtb_Product2_p4[2] - rtb_Product2_p4[6]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain' */ ET39_SIL_B.Merge_a[2] = 0.5 * rtb_Abs1; /* End of Outputs for SubSystem: '/Maximum Value at DCM(2,2)' */ - } else if (rtb_Product2_e3[8] > rtb_Product2_e3[0]) { + } else if (rtb_Product2_p4[8] > rtb_Product2_p4[0]) { /* Outputs for IfAction SubSystem: '/Maximum Value at DCM(3,3)' incorporates: * ActionPort: '/Action Port' */ @@ -12581,8 +12600,8 @@ void ET39_SIL_step(void) * Constant: '/Constant' * Sum: '/Add' */ - rtb_Abs1 = sqrt(((rtb_Product2_e3[8] - rtb_Product2_e3[0]) - - rtb_Product2_e3[4]) + 1.0); + rtb_Abs1 = sqrt(((rtb_Product2_p4[8] - rtb_Product2_p4[0]) - + rtb_Product2_p4[4]) + 1.0); /* Switch: '/Switch' incorporates: * Constant: '/Constant1' @@ -12604,21 +12623,21 @@ void ET39_SIL_step(void) * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[1] = (rtb_Product2_e3[2] + rtb_Product2_e3[6]) * + ET39_SIL_B.Merge_a[1] = (rtb_Product2_p4[2] + rtb_Product2_p4[6]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain2' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[2] = (rtb_Product2_e3[5] + rtb_Product2_e3[7]) * + ET39_SIL_B.Merge_a[2] = (rtb_Product2_p4[5] + rtb_Product2_p4[7]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain3' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[0] = (rtb_Product2_e3[3] - rtb_Product2_e3[1]) * + ET39_SIL_B.Merge_a[0] = (rtb_Product2_p4[3] - rtb_Product2_p4[1]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain' */ @@ -12633,8 +12652,8 @@ void ET39_SIL_step(void) * Constant: '/Constant' * Sum: '/Add' */ - rtb_Abs1 = sqrt(((rtb_Product2_e3[0] - rtb_Product2_e3[4]) - - rtb_Product2_e3[8]) + 1.0); + rtb_Abs1 = sqrt(((rtb_Product2_p4[0] - rtb_Product2_p4[4]) - + rtb_Product2_p4[8]) + 1.0); /* Switch: '/Switch' incorporates: * Constant: '/Constant1' @@ -12656,21 +12675,21 @@ void ET39_SIL_step(void) * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[2] = (rtb_Product2_e3[1] + rtb_Product2_e3[3]) * + ET39_SIL_B.Merge_a[2] = (rtb_Product2_p4[1] + rtb_Product2_p4[3]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain2' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[3] = (rtb_Product2_e3[2] + rtb_Product2_e3[6]) * + ET39_SIL_B.Merge_a[3] = (rtb_Product2_p4[2] + rtb_Product2_p4[6]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain3' incorporates: * Product: '/Product' * Sum: '/Add' */ - ET39_SIL_B.Merge_a[0] = (rtb_Product2_e3[7] - rtb_Product2_e3[5]) * + ET39_SIL_B.Merge_a[0] = (rtb_Product2_p4[7] - rtb_Product2_p4[5]) * rtb_LugV1_n_idx_1; /* Gain: '/Gain' */ @@ -12737,7 +12756,7 @@ void ET39_SIL_step(void) /* Product: '/Product1' incorporates: * Integrator: '/q' */ - rtb_sincos_o2_c_idx_0 = ET39_SIL_X.q_CSTATE[1] / rtb_Product2_io; + rtb_product_n = ET39_SIL_X.q_CSTATE[1] / rtb_Product2_io; /* Product: '/Product2' incorporates: * Integrator: '/q' @@ -12757,19 +12776,19 @@ void ET39_SIL_step(void) /* Product: '/Product2' incorporates: * Product: '/Product2' */ - rtb_sincos_o2_l_idx_0 = rtb_sincos_o2_c_idx_0 * rtb_sincos_o2_c_idx_0; + rtb_sincos_o2_l_idx_0 = rtb_product_n * rtb_product_n; /* Product: '/Product1' incorporates: * Product: '/Product1' * Product: '/Product1' */ - rtb_ixk = rtb_saturation * rtb_saturation; + rtb_q2dot = rtb_saturation * rtb_saturation; /* Product: '/Product' incorporates: * Product: '/Product' * Product: '/Product' */ - rtb_Sideslip = rtb_Product2_io * rtb_Product2_io; + rtb_ixk = rtb_Product2_io * rtb_Product2_io; /* Sum: '/Sum' incorporates: * Product: '/Product' @@ -12777,8 +12796,8 @@ void ET39_SIL_step(void) * Product: '/Product2' * Product: '/Product3' */ - rtb_MathFunction1[0] = ((rtb_WhiteNoise_idx_2 + rtb_sincos_o2_l_idx_0) - - rtb_ixk) - rtb_Sideslip; + rtb_VectorConcatenate_ll[0] = ((rtb_WhiteNoise_idx_2 + rtb_sincos_o2_l_idx_0) + - rtb_q2dot) - rtb_ixk; /* Product: '/Product3' incorporates: * Product: '/Product3' @@ -12788,47 +12807,48 @@ void ET39_SIL_step(void) /* Product: '/Product2' incorporates: * Product: '/Product2' */ - rtb_add_j = rtb_sincos_o2_c_idx_0 * rtb_saturation; + rtb_add_j = rtb_product_n * rtb_saturation; /* Gain: '/Gain' incorporates: * Product: '/Product2' * Product: '/Product3' * Sum: '/Sum' */ - rtb_MathFunction1[1] = (rtb_add_j - rtb_product1) * 2.0; + rtb_VectorConcatenate_ll[1] = (rtb_add_j - rtb_product1) * 2.0; /* Product: '/Product2' incorporates: * Product: '/Product2' */ - rtb_add_o = rtb_sincos_o2_c_idx_0 * rtb_Product2_io; + rtb_add_o = rtb_product_n * rtb_Product2_io; /* Product: '/Product1' incorporates: * Product: '/Product1' */ - rtb_MathFunction1_tmp = rtb_LugV1_n_idx_0 * rtb_saturation; + rtb_VectorConcatenate_k_tmp = rtb_LugV1_n_idx_0 * rtb_saturation; /* Gain: '/Gain' incorporates: * Product: '/Product1' * Product: '/Product2' * Sum: '/Sum' */ - rtb_MathFunction1[2] = (rtb_MathFunction1_tmp + rtb_add_o) * 2.0; + rtb_VectorConcatenate_ll[2] = (rtb_VectorConcatenate_k_tmp + rtb_add_o) * + 2.0; /* Gain: '/Gain' incorporates: * Sum: '/Sum' */ - rtb_MathFunction1[3] = (rtb_product1 + rtb_add_j) * 2.0; + rtb_VectorConcatenate_ll[3] = (rtb_product1 + rtb_add_j) * 2.0; /* Sum: '/Sum' incorporates: * Sum: '/Sum' */ rtb_WhiteNoise_idx_2 -= rtb_sincos_o2_l_idx_0; - rtb_MathFunction1[4] = (rtb_WhiteNoise_idx_2 + rtb_ixk) - rtb_Sideslip; + rtb_VectorConcatenate_ll[4] = (rtb_WhiteNoise_idx_2 + rtb_q2dot) - rtb_ixk; /* Product: '/Product1' incorporates: * Product: '/Product1' */ - rtb_sincos_o2_l_idx_0 = rtb_LugV1_n_idx_0 * rtb_sincos_o2_c_idx_0; + rtb_sincos_o2_l_idx_0 = rtb_LugV1_n_idx_0 * rtb_product_n; /* Product: '/Product2' incorporates: * Product: '/Product2' @@ -12840,20 +12860,21 @@ void ET39_SIL_step(void) * Product: '/Product2' * Sum: '/Sum' */ - rtb_MathFunction1[5] = (rtb_product1 - rtb_sincos_o2_l_idx_0) * 2.0; + rtb_VectorConcatenate_ll[5] = (rtb_product1 - rtb_sincos_o2_l_idx_0) * 2.0; /* Gain: '/Gain' incorporates: * Sum: '/Sum' */ - rtb_MathFunction1[6] = (rtb_add_o - rtb_MathFunction1_tmp) * 2.0; + rtb_VectorConcatenate_ll[6] = (rtb_add_o - rtb_VectorConcatenate_k_tmp) * + 2.0; /* Gain: '/Gain' incorporates: * Sum: '/Sum' */ - rtb_MathFunction1[7] = (rtb_sincos_o2_l_idx_0 + rtb_product1) * 2.0; + rtb_VectorConcatenate_ll[7] = (rtb_sincos_o2_l_idx_0 + rtb_product1) * 2.0; /* Sum: '/Sum' */ - rtb_MathFunction1[8] = (rtb_WhiteNoise_idx_2 - rtb_ixk) + rtb_Sideslip; + rtb_VectorConcatenate_ll[8] = (rtb_WhiteNoise_idx_2 - rtb_q2dot) + rtb_ixk; /* UnitConversion: '/Unit Conversion' */ /* Unit Conversion - from: deg to: rad @@ -12870,13 +12891,13 @@ void ET39_SIL_step(void) rtb_WhiteNoise_idx_2 = 0.017453292519943295 * ET39_SIL_B.UnitConversion[1]; /* Trigonometry: '/sincos' */ - rtb_sincos_o2_c_idx_0 = cos(rtb_WhiteNoise_idx_2); + rtb_product_n = cos(rtb_WhiteNoise_idx_2); rtb_WhiteNoise_idx_2 = sin(rtb_WhiteNoise_idx_2); /* UnaryMinus: '/Unary Minus' incorporates: * Product: '/u(1)*u(4)' */ - rtb_add_mt[0] = -(rtb_LugV1_n_idx_0 * rtb_sincos_o2_c_idx_0); + rtb_add_mt[0] = -(rtb_LugV1_n_idx_0 * rtb_product_n); /* UnaryMinus: '/Unary Minus' */ rtb_add_mt[1] = -rtb_WhiteNoise_idx_2; @@ -12884,7 +12905,7 @@ void ET39_SIL_step(void) /* UnaryMinus: '/Unary Minus' incorporates: * Product: '/u(3)*u(4)' */ - rtb_add_mt[2] = -(rtb_sincos_o2_l_idx_0 * rtb_sincos_o2_c_idx_0); + rtb_add_mt[2] = -(rtb_sincos_o2_l_idx_0 * rtb_product_n); /* UnaryMinus: '/Unary Minus' incorporates: * Product: '/u(1)*u(2)' @@ -12892,7 +12913,7 @@ void ET39_SIL_step(void) rtb_add_mt[3] = -(rtb_LugV1_n_idx_0 * rtb_WhiteNoise_idx_2); /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn5' */ - rtb_add_mt[4] = rtb_sincos_o2_c_idx_0; + rtb_add_mt[4] = rtb_product_n; /* UnaryMinus: '/Unary Minus' incorporates: * Product: '/u(2)*u(3)' @@ -12920,14 +12941,14 @@ void ET39_SIL_step(void) ET39_SIL_B.Product4[rtb_Product2_b_tmp] = 0.0; rtb_Product2_b_tmp_0 = 3 * rtb_MatrixConcatenation_tmp + i; ET39_SIL_B.Product4[rtb_Product2_b_tmp] = - ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_MathFunction1[i] * - rtb_add_mt[rtb_MatrixConcatenation_tmp]; + ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_VectorConcatenate_ll[i] + * rtb_add_mt[rtb_MatrixConcatenation_tmp]; ET39_SIL_B.Product4[rtb_Product2_b_tmp] = - ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_MathFunction1[i + 3] * - rtb_add_mt[rtb_MatrixConcatenation_tmp + 3]; + ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_VectorConcatenate_ll[i + + 3] * rtb_add_mt[rtb_MatrixConcatenation_tmp + 3]; ET39_SIL_B.Product4[rtb_Product2_b_tmp] = - ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_MathFunction1[i + 6] * - rtb_add_mt[rtb_MatrixConcatenation_tmp + 6]; + ET39_SIL_B.Product4[rtb_Product2_b_tmp_0] + rtb_VectorConcatenate_ll[i + + 6] * rtb_add_mt[rtb_MatrixConcatenation_tmp + 6]; } } @@ -13175,7 +13196,7 @@ void ET39_SIL_step(void) /* Product: '/w4' */ rtb_sigma_ugsigma_vg = frac[0] * ET39_SIL_ConstB.UnitConversion_j; - rtb_sincos_o2_c_idx_0 = frac[1] * ET39_SIL_ConstB.UnitConversion_j; + rtb_product_n = frac[1] * ET39_SIL_ConstB.UnitConversion_j; /* Product: '/w1' incorporates: * Constant: '/Constant2' @@ -13219,11 +13240,11 @@ void ET39_SIL_step(void) rtb_Product2_io = 2.6 / sqrt(frac[1]); /* Math: '/Math Function' */ - if (rtb_sincos_o2_c_idx_0 < 0.0) { - rtb_sigma_ugsigma_vg = -rt_powd_snf(-rtb_sincos_o2_c_idx_0, + if (rtb_product_n < 0.0) { + rtb_sigma_ugsigma_vg = -rt_powd_snf(-rtb_product_n, 0.33333333333333331); } else { - rtb_sigma_ugsigma_vg = rt_powd_snf(rtb_sincos_o2_c_idx_0, + rtb_sigma_ugsigma_vg = rt_powd_snf(rtb_product_n, 0.33333333333333331); } @@ -14011,14 +14032,14 @@ void ET39_SIL_step(void) /* Sum: '/Sum2' incorporates: * Constant: '/Constant' */ - rtb_Sum2_eq[0] = ET39_SIL_B.wind_North; - rtb_Sum2_eq[1] = ET39_SIL_B.wind_East; - rtb_Sum2_eq[2] = 0.0; + tmp_0[0] = ET39_SIL_B.wind_North; + tmp_0[1] = ET39_SIL_B.wind_East; + tmp_0[2] = 0.0; for (i = 0; i < 3; i++) { /* Sum: '/Sum2' incorporates: * Product: '/MatrixMultiply1' */ - ET39_SIL_B.Sum2_d[i] = rtb_Sum2_eq[i] + (ET39_SIL_B.Transpose[i + 6] * + ET39_SIL_B.Sum2_d[i] = tmp_0[i] + (ET39_SIL_B.Transpose[i + 6] * rtb_MediumHighAltitudeIntensity + (ET39_SIL_B.Transpose[i + 3] * rtb_WhiteNoise_idx_0 + ET39_SIL_B.Transpose[i] * rtb_UnitConversion)); } @@ -14191,18 +14212,18 @@ void ET39_SIL_step(void) * Integrator: '/ub,vb,wb' * Math: '/Math Function1' */ - rtb_MathFunction1_1[i] = rtb_MathFunction1[3 * i + 2] * - ET39_SIL_X.ubvbwb_CSTATE[2] + (rtb_MathFunction1[3 * i + 1] * - ET39_SIL_X.ubvbwb_CSTATE[1] + rtb_MathFunction1[3 * i] * + rtb_Product_jt[i] = rtb_VectorConcatenate_ll[3 * i + 2] * + ET39_SIL_X.ubvbwb_CSTATE[2] + (rtb_VectorConcatenate_ll[3 * i + 1] * + ET39_SIL_X.ubvbwb_CSTATE[1] + rtb_VectorConcatenate_ll[3 * i] * ET39_SIL_X.ubvbwb_CSTATE[0]); } for (i = 0; i < 3; i++) { /* Product: '/Product1' */ ET39_SIL_B.Ve[i] = 0.0; - ET39_SIL_B.Ve[i] += rtb_add_mt[i] * rtb_MathFunction1_1[0]; - ET39_SIL_B.Ve[i] += rtb_add_mt[i + 3] * rtb_MathFunction1_1[1]; - ET39_SIL_B.Ve[i] += rtb_add_mt[i + 6] * rtb_MathFunction1_1[2]; + ET39_SIL_B.Ve[i] += rtb_add_mt[i] * rtb_Product_jt[0]; + ET39_SIL_B.Ve[i] += rtb_add_mt[i + 3] * rtb_Product_jt[1]; + ET39_SIL_B.Ve[i] += rtb_add_mt[i + 6] * rtb_Product_jt[2]; /* Gain: '/Gain1' incorporates: * Selector: '/Selector1' @@ -14285,14 +14306,15 @@ void ET39_SIL_step(void) /* Product: '/Product3' incorporates: * Product: '/Product2' */ - rtb_MathFunction1_1[i] = rtb_MathFunction1[i + 6] * 7.292115E-5 + - (rtb_MathFunction1[i + 3] * 0.0 + rtb_MathFunction1[i] * 0.0); + rtb_Sum4_d_tmp[i] = rtb_VectorConcatenate_ll[i + 6] * 7.292115E-5 + + (rtb_VectorConcatenate_ll[i + 3] * 0.0 + rtb_VectorConcatenate_ll[i] * + 0.0); /* Product: '/Product3' incorporates: * Integrator: '/ub,vb,wb' * Math: '/Math Function2' */ - rtb_Sum2_eq[i] = ET39_SIL_B.Product4[3 * i + 2] * + rtb_Product_jt[i] = ET39_SIL_B.Product4[3 * i + 2] * ET39_SIL_X.ubvbwb_CSTATE[2] + (ET39_SIL_B.Product4[3 * i + 1] * ET39_SIL_X.ubvbwb_CSTATE[1] + ET39_SIL_B.Product4[3 * i] * ET39_SIL_X.ubvbwb_CSTATE[0]); @@ -14304,14 +14326,13 @@ void ET39_SIL_step(void) rtb_LugV1_n_idx_0 = 0.017453292519943295 * ET39_SIL_B.UnitConversion[0]; /* Trigonometry: '/sine' */ - rtb_sincos_o2_c_idx_0 = sin(rtb_LugV1_n_idx_0); + rtb_product_n = sin(rtb_LugV1_n_idx_0); /* Sum: '/Sum2' incorporates: * Constant: '/f2' * Product: '/Product' */ - rtb_sincos_o2_c_idx_0 = 1.0 - rtb_sincos_o2_c_idx_0 * rtb_sincos_o2_c_idx_0 * - ET39_SIL_ConstB.Sum2; + rtb_product_n = 1.0 - rtb_product_n * rtb_product_n * ET39_SIL_ConstB.Sum2; /* Product: '/w1' incorporates: * Constant: '/f4' @@ -14319,22 +14340,22 @@ void ET39_SIL_step(void) * Sqrt: '/sqrt' * Sum: '/Sum4' */ - rtb_Product2_io = rtb_Sum2_eq[1] / (6.378137E+6 / sqrt(rtb_sincos_o2_c_idx_0) - + ET39_SIL_B.Sum3); + rtb_Product2_io = rtb_Product_jt[1] / (6.378137E+6 / sqrt(rtb_product_n) + + ET39_SIL_B.Sum3); /* Math: '/Math Function' incorporates: * Constant: '/f3' */ - if (rtb_sincos_o2_c_idx_0 < 0.0) { - rtb_sincos_o2_c_idx_0 = -rt_powd_snf(-rtb_sincos_o2_c_idx_0, 1.5); + if (rtb_product_n < 0.0) { + rtb_product_n = -rt_powd_snf(-rtb_product_n, 1.5); } else { - rtb_sincos_o2_c_idx_0 = rt_powd_snf(rtb_sincos_o2_c_idx_0, 1.5); + rtb_product_n = rt_powd_snf(rtb_product_n, 1.5); } /* End of Math: '/Math Function' */ /* Product: '/w2' */ - rtb_WhiteNoise_idx_2 = rtb_Sum2_eq[0]; + rtb_WhiteNoise_idx_2 = rtb_Product_jt[0]; /* SignalConversion: '/TmpSignal ConversionAtProduct2Inport2' incorporates: * Constant: '/f1' @@ -14346,10 +14367,10 @@ void ET39_SIL_step(void) * Sum: '/Sum1' * Trigonometry: '/tan' */ - rtb_Sum2_eq[0] = rtb_Product2_io; - rtb_Sum2_eq[1] = -(rtb_WhiteNoise_idx_2 / (6.378137E+6 * - ET39_SIL_ConstB.Sum_n / rtb_sincos_o2_c_idx_0 + ET39_SIL_B.Sum3)); - rtb_Sum2_eq[2] = -(rtb_Product2_io * tan(rtb_LugV1_n_idx_0)); + rtb_Product_jt[0] = rtb_Product2_io; + rtb_Product_jt[1] = -(rtb_WhiteNoise_idx_2 / (6.378137E+6 * + ET39_SIL_ConstB.Sum_n / rtb_product_n + ET39_SIL_B.Sum3)); + rtb_Product_jt[2] = -(rtb_Product2_io * tan(rtb_LugV1_n_idx_0)); /* Sum: '/Sum2' incorporates: * Product: '/Product2' @@ -14358,9 +14379,9 @@ void ET39_SIL_step(void) * Sum: '/Sum3' */ for (i = 0; i < 3; i++) { - ET39_SIL_B.Sum2[i] = ((ET39_SIL_B.Product4[i + 3] * rtb_Sum2_eq[1] + + ET39_SIL_B.Sum2[i] = ((ET39_SIL_B.Product4[i + 3] * rtb_Product_jt[1] + ET39_SIL_B.Product4[i] * rtb_Product2_io) + ET39_SIL_B.Product4[i + 6] * - rtb_Sum2_eq[2]) + rtb_MathFunction1_1[i]; + rtb_Product_jt[2]) + rtb_Sum4_d_tmp[i]; } /* End of Sum: '/Sum2' */ @@ -14380,9 +14401,9 @@ void ET39_SIL_step(void) * Integrator: '/ub,vb,wb' * Product: '/To Body Axes1' */ - rtb_Product2_k3[i] = ((ET39_SIL_B.Product4[i + 3] * ET39_SIL_B.Sum2_d[1] + - ET39_SIL_B.Product4[i] * ET39_SIL_B.Sum2_d[0]) + ET39_SIL_B.Product4[i + - 6] * ET39_SIL_B.Sum2_d[2]) + + rtb_Product_e2[i] = ((ET39_SIL_B.Product4[i + 3] * ET39_SIL_B.Sum2_d[1] + + ET39_SIL_B.Product4[i] * ET39_SIL_B.Sum2_d[0]) + + ET39_SIL_B.Product4[i + 6] * ET39_SIL_B.Sum2_d[2]) + ET39_SIL_X.ubvbwb_CSTATE[i]; /* End of Outputs for SubSystem: '/atmosphere' */ @@ -14394,19 +14415,18 @@ void ET39_SIL_step(void) * Product: '/Product' * Product: '/Product1' */ - rtb_LugV1_n_idx_0 = rtb_Product2_k3[0] * rtb_Product2_k3[0] + - rtb_Product2_k3[2] * rtb_Product2_k3[2]; + rtb_LugV1_n_idx_0 = rtb_Product_e2[0] * rtb_Product_e2[0] + rtb_Product_e2[2] + * rtb_Product_e2[2]; /* Sum: '/Sum1' incorporates: * Product: '/Product2' */ - rtb_sincos_o2_c_idx_0 = rtb_Product2_k3[1] * rtb_Product2_k3[1] + - rtb_LugV1_n_idx_0; + rtb_product_n = rtb_Product_e2[1] * rtb_Product_e2[1] + rtb_LugV1_n_idx_0; /* Gain: '/1//2rhoV^2' incorporates: * Product: '/Product4' */ - ET39_SIL_B.u2rhoV2 = rtb_sincos_o2_c_idx_0 * rtb_WhiteNoise_idx_0 * 0.5; + ET39_SIL_B.u2rhoV2 = rtb_product_n * rtb_WhiteNoise_idx_0 * 0.5; /* Integrator: '/rollrate' */ ET39_SIL_B.rollrate = ET39_SIL_X.rollrate_CSTATE; @@ -14452,10 +14472,10 @@ void ET39_SIL_step(void) /* End of Outputs for SubSystem: '/motor-prop960' */ /* Saturate: '/Saturation' */ - if (rtb_Product2_k3[0] <= 0.0) { - rtb_UnitConversion = 0.0; + if (rtb_Product_e2[0] <= 0.0) { + rtb_WhiteNoise_idx_2 = 0.0; } else { - rtb_UnitConversion = rtb_Product2_k3[0]; + rtb_WhiteNoise_idx_2 = rtb_Product_e2[0]; } /* End of Saturate: '/Saturation' */ @@ -14464,7 +14484,7 @@ void ET39_SIL_step(void) /* Product: '/Divide' incorporates: * Constant: '/Constant' */ - rtb_Switch2_f = rtb_UnitConversion / 0.5588 / rtb_Switch2_f; + rtb_Switch2_f = rtb_WhiteNoise_idx_2 / 0.5588 / rtb_Switch2_f; /* Lookup_n-D: '/cq' */ rtb_Switch2 = look1_pbinlcpw(rtb_Switch2_f, rtCP_cq_bp01Data, @@ -14560,11 +14580,11 @@ void ET39_SIL_step(void) /* Product: '/T' incorporates: * Constant: '/Constant' */ - rtb_WhiteNoise_idx_2 = rtb_UnitConversion * 0.097504708835353573 * + rtb_UnitConversion_d = rtb_UnitConversion * 0.097504708835353573 * rtb_Switch2_f * rtb_WhiteNoise_idx_0; /* Gain: '/Ixx1' */ - rtb_UnitConversion_d = 0.002 * rtb_Sum1_k4; + rtb_WhiteNoise_idx_2 = 0.002 * rtb_Sum1_k4; /* End of Outputs for SubSystem: '/motor-prop960' */ if (rtmIsMajorTimeStep(ET39_SIL_M)) { @@ -14771,13 +14791,14 @@ void ET39_SIL_step(void) rtb_Product2_io = ET39_SIL_B.u2rhoV2 * 1.2474; /* Trigonometry: '/Incidence' */ - rtb_UnitConversion = rt_atan2d_snf(rtb_Product2_k3[2], rtb_Product2_k3[0]); + rtb_UnitConversion = rt_atan2d_snf(rtb_Product_e2[2], rtb_Product_e2[0]); /* Sqrt: '/Sqrt' */ rtb_LugV1_n_idx_0 = sqrt(rtb_LugV1_n_idx_0); /* Trigonometry: '/Sideslip' */ - rtb_Sideslip = rt_atan2d_snf(rtb_Product2_k3[1], rtb_LugV1_n_idx_0); + rtb_LowAltitudeScaleLength = rt_atan2d_snf(rtb_Product_e2[1], + rtb_LugV1_n_idx_0); /* Product: '/product' incorporates: * Constant: '/value' @@ -14798,7 +14819,7 @@ void ET39_SIL_step(void) /* Product: '/product' incorporates: * Constant: '/value' */ - rtb_saturation = rtb_Sideslip * 57.29; + rtb_saturation = rtb_LowAltitudeScaleLength * 57.29; /* Saturate: '/saturation' */ if (rtb_saturation > 8.0) { @@ -14915,14 +14936,14 @@ void ET39_SIL_step(void) /* Product: '/product' incorporates: * Constant: '/value' */ - rtb_LowAltitudeScaleLength = ET39_SIL_B.In1_i * 57.3; + rtb_q2dot = ET39_SIL_B.In1_i * 57.3; /* Saturate: '/saturation' */ - if (rtb_LowAltitudeScaleLength > 25.0) { - rtb_LowAltitudeScaleLength = 25.0; + if (rtb_q2dot > 25.0) { + rtb_q2dot = 25.0; } else { - if (rtb_LowAltitudeScaleLength < -25.0) { - rtb_LowAltitudeScaleLength = -25.0; + if (rtb_q2dot < -25.0) { + rtb_q2dot = -25.0; } } @@ -15196,11 +15217,11 @@ void ET39_SIL_step(void) /* End of Sum: '/Sum1' */ /* Sqrt: '/Airspeed' */ - rtb_sincos_o2_c_idx_0 = sqrt(rtb_sincos_o2_c_idx_0); + rtb_product_n = sqrt(rtb_product_n); /* Saturate: '/saturation' */ - if (rtb_sincos_o2_c_idx_0 <= 0.01) { - rtb_sincos_o2_c_idx_0 = 0.01; + if (rtb_product_n <= 0.01) { + rtb_product_n = 0.01; } /* End of Saturate: '/saturation' */ @@ -15209,7 +15230,7 @@ void ET39_SIL_step(void) * Constant: '/value' * Constant: '/Const_RefLen' */ - rtb_Switch2 = rtb_pqr[1] * 0.315 / rtb_sincos_o2_c_idx_0 / 2.0; + rtb_Switch2 = rtb_pqr[1] * 0.315 / rtb_product_n / 2.0; /* Sum: '/add' incorporates: * Constant: '/value' @@ -15225,11 +15246,11 @@ void ET39_SIL_step(void) rtb_product1 = ((((((look2_binlxpw(rtb_LugV1_n_idx_0, rtb_saturation, rtCP_table2D_CL_base_bp01Data, rtCP_table2D_CL_base_bp02Data, rtCP_table2D_CL_base_tableData, rtCP_table2D_CL_base_maxIndex, 9U) + - look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_LowAltitudeScaleLength, rtCP_table2D_CL_dal_bp01Data, - rtCP_table2D_CL_dal_bp02Data, rtCP_table2D_CL_dal_tableData, - rtCP_table2D_CL_dal_maxIndex, 5U)) + look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_ixk, rtCP_table2D_CL_dar_bp01Data, rtCP_table2D_CL_dar_bp02Data, + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_q2dot, + rtCP_table2D_CL_dal_bp01Data, rtCP_table2D_CL_dal_bp02Data, + rtCP_table2D_CL_dal_tableData, rtCP_table2D_CL_dal_maxIndex, 5U)) + + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_ixk, + rtCP_table2D_CL_dar_bp01Data, rtCP_table2D_CL_dar_bp02Data, rtCP_table2D_CL_dar_tableData, rtCP_table2D_CL_dar_maxIndex, 5U)) + rtb_sincos_o2_l_idx_0) + rtb_product1) + rtb_Switch2_k * rtb_Switch2 * CLqUncertGain) + CL0UncertVal) + @@ -15244,13 +15265,13 @@ void ET39_SIL_step(void) * Constant: '/value' * Constant: '/Const_RefSpan' */ - rtb_Switch2_f = rtb_pqr[0] * 3.96 / rtb_sincos_o2_c_idx_0 / 2.0; + rtb_Switch2_f = rtb_pqr[0] * 3.96 / rtb_product_n / 2.0; /* Product: '/product' incorporates: * Constant: '/value' * Constant: '/Const_RefSpan' */ - rtb_sincos_o2_c_idx_0 = rtb_pqr[2] * 3.96 / rtb_sincos_o2_c_idx_0 / 2.0; + rtb_product_n = rtb_pqr[2] * 3.96 / rtb_product_n / 2.0; /* Sum: '/add' incorporates: * Constant: '/value' @@ -15273,10 +15294,10 @@ void ET39_SIL_step(void) * Product: '/product4' */ rtb_add_j = (((((((rtb_Switch2_k + look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_LowAltitudeScaleLength, rtCP_table2D_CY_dal_bp01Data, - rtCP_table2D_CY_dal_bp02Data, rtCP_table2D_CY_dal_tableData, - rtCP_table2D_CY_dal_maxIndex, 5U)) + look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_ixk, rtCP_table2D_CY_dar_bp01Data, rtCP_table2D_CY_dar_bp02Data, + rtb_q2dot, rtCP_table2D_CY_dal_bp01Data, rtCP_table2D_CY_dal_bp02Data, + rtCP_table2D_CY_dal_tableData, rtCP_table2D_CY_dal_maxIndex, 5U)) + + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_ixk, + rtCP_table2D_CY_dar_bp01Data, rtCP_table2D_CY_dar_bp02Data, rtCP_table2D_CY_dar_tableData, rtCP_table2D_CY_dar_maxIndex, 5U)) + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_sigma_ugsigma_vg, rtCP_table2D_CY_der_bp01Data, rtCP_table2D_CY_der_bp02Data, @@ -15287,9 +15308,9 @@ void ET39_SIL_step(void) CYdelUncertGain) + look1_binlxpw(rtb_LugV1_n_idx_0, rtCP_table1D_CYp_bp01Data, rtCP_table1D_CYp_tableData, 3U) * rtb_Switch2_f * CYpUncertGain) + look1_binlxpw(rtb_LugV1_n_idx_0, - rtCP_table1D_CYr_bp01Data, rtCP_table1D_CYr_tableData, 3U) * - rtb_sincos_o2_c_idx_0 * CYrUncertGain) + CY0UncertVal) + - CYbUncertGain * rtb_saturation * -0.006413; + rtCP_table1D_CYr_bp01Data, rtCP_table1D_CYr_tableData, 3U) * rtb_product_n + * CYrUncertGain) + CY0UncertVal) + CYbUncertGain * + rtb_saturation * -0.006413; /* Lookup_n-D: '/table2D_CD_base' */ rtb_Switch2_k = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_saturation, @@ -15307,11 +15328,11 @@ void ET39_SIL_step(void) * Lookup_n-D: '/table2D_CD_dar' * Lookup_n-D: '/table2D_CD_der' */ - rtb_add_o = ((((rtb_Switch2_k + look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_LowAltitudeScaleLength, rtCP_table2D_CD_dal_bp01Data, - rtCP_table2D_CD_dal_bp02Data, rtCP_table2D_CD_dal_tableData, - rtCP_table2D_CD_dal_maxIndex, 5U)) + look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_ixk, rtCP_table2D_CD_dar_bp01Data, rtCP_table2D_CD_dar_bp02Data, + rtb_add_o = ((((rtb_Switch2_k + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_q2dot, + rtCP_table2D_CD_dal_bp01Data, rtCP_table2D_CD_dal_bp02Data, + rtCP_table2D_CD_dal_tableData, rtCP_table2D_CD_dal_maxIndex, 5U)) + + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_ixk, + rtCP_table2D_CD_dar_bp01Data, rtCP_table2D_CD_dar_bp02Data, rtCP_table2D_CD_dar_tableData, rtCP_table2D_CD_dar_maxIndex, 5U)) + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_sigma_ugsigma_vg, rtCP_table2D_CD_der_bp01Data, rtCP_table2D_CD_der_bp02Data, @@ -15332,8 +15353,8 @@ void ET39_SIL_step(void) * ActionPort: '/Action Port' */ /* Trigonometry: '/Trigonometric Function2' */ - rtb_sincos_o2_l_idx_0 = sin(rtb_UnitConversion); - rtb_Sideslip = cos(rtb_UnitConversion); + rtb_LowAltitudeScaleLength = sin(rtb_UnitConversion); + rtb_sincos_o2_l_idx_0 = cos(rtb_UnitConversion); /* SignalConversion: '/OutportBufferForcoeff_out' incorporates: * Inport: '/coeff_in' @@ -15345,11 +15366,11 @@ void ET39_SIL_step(void) * Sum: '/Sum1' * Trigonometry: '/Trigonometric Function2' */ - rtb_Sum2_eq[0] = rtb_product1 * rtb_sincos_o2_l_idx_0 - rtb_add_o * - rtb_Sideslip; - rtb_Sum2_eq[2] = (0.0 - rtb_product1 * rtb_Sideslip) - rtb_add_o * + rtb_Product_jt[0] = rtb_product1 * rtb_LowAltitudeScaleLength - rtb_add_o * rtb_sincos_o2_l_idx_0; - rtb_Sum2_eq[1] = rtb_add_j; + rtb_Product_jt[2] = (0.0 - rtb_product1 * rtb_sincos_o2_l_idx_0) - + rtb_add_o * rtb_LowAltitudeScaleLength; + rtb_Product_jt[1] = rtb_add_j; /* End of Outputs for SubSystem: '/in half-body' */ break; @@ -15361,15 +15382,16 @@ void ET39_SIL_step(void) /* Trigonometry: '/sincos' incorporates: * SignalConversion: '/TmpSignal ConversionAtsincosInport1' */ - rtb_MathFunction1_tmp = cos(rtb_UnitConversion); + rtb_VectorConcatenate_k_tmp = cos(rtb_UnitConversion); rtb_sincos_o2_l_idx_0 = sin(rtb_UnitConversion); - rtb_sincos_o2_ly_idx_1 = cos(rtb_Sideslip); - rtb_Sideslip = sin(rtb_Sideslip); + rtb_sincos_o2_ly_idx_1 = cos(rtb_LowAltitudeScaleLength); + rtb_LowAltitudeScaleLength = sin(rtb_LowAltitudeScaleLength); /* Product: '/u(3)*u(4)' incorporates: * Trigonometry: '/sincos' */ - rtb_MathFunction_j0[0] = rtb_MathFunction1_tmp * rtb_sincos_o2_ly_idx_1; + rtb_MathFunction_j0[0] = rtb_VectorConcatenate_k_tmp * + rtb_sincos_o2_ly_idx_1; /* Product: '/u(1)*u(4)' incorporates: * Trigonometry: '/sincos' @@ -15380,13 +15402,15 @@ void ET39_SIL_step(void) * Product: '/u(2)*u(3)' * Trigonometry: '/sincos' */ - rtb_MathFunction_j0[1] = -(rtb_Sideslip * rtb_MathFunction1_tmp); + rtb_MathFunction_j0[1] = -(rtb_LowAltitudeScaleLength * + rtb_VectorConcatenate_k_tmp); /* UnaryMinus: '/Unary Minus' incorporates: * Product: '/u(1)*u(2)' * Trigonometry: '/sincos' */ - rtb_MathFunction_j0[7] = -(rtb_sincos_o2_l_idx_0 * rtb_Sideslip); + rtb_MathFunction_j0[7] = -(rtb_sincos_o2_l_idx_0 * + rtb_LowAltitudeScaleLength); /* UnaryMinus: '/Unary Minus' incorporates: * Trigonometry: '/sincos' @@ -15394,7 +15418,7 @@ void ET39_SIL_step(void) rtb_MathFunction_j0[2] = -rtb_sincos_o2_l_idx_0; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn4' */ - rtb_MathFunction_j0[3] = rtb_Sideslip; + rtb_MathFunction_j0[3] = rtb_LowAltitudeScaleLength; /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn5' */ rtb_MathFunction_j0[4] = rtb_sincos_o2_ly_idx_1; @@ -15407,7 +15431,7 @@ void ET39_SIL_step(void) /* SignalConversion: '/ConcatBufferAtVector ConcatenateIn9' incorporates: * Trigonometry: '/sincos' */ - rtb_MathFunction_j0[8] = rtb_MathFunction1_tmp; + rtb_MathFunction_j0[8] = rtb_VectorConcatenate_k_tmp; /* Math: '/Math Function' */ for (i = 0; i < 3; i++) { @@ -15426,7 +15450,7 @@ void ET39_SIL_step(void) * SignalConversion: '/TmpSignal ConversionAtProductInport2' */ for (i = 0; i < 3; i++) { - rtb_Sum2_eq[i] = rtb_MathFunction_j0[i + 6] * -rtb_product1 + + rtb_Product_jt[i] = rtb_MathFunction_j0[i + 6] * -rtb_product1 + (rtb_MathFunction_j0[i + 3] * rtb_add_j + rtb_MathFunction_j0[i] * -rtb_add_o); } @@ -15442,9 +15466,9 @@ void ET39_SIL_step(void) /* SignalConversion: '/OutportBufferForcoeff_out' incorporates: * Inport: '/coeff_in' */ - rtb_Sum2_eq[0] = rtb_add_o; - rtb_Sum2_eq[1] = rtb_add_j; - rtb_Sum2_eq[2] = rtb_product1; + rtb_Product_jt[0] = rtb_add_o; + rtb_Product_jt[1] = rtb_add_j; + rtb_Product_jt[2] = rtb_product1; /* End of Outputs for SubSystem: '/in body axis' */ break; @@ -15453,10 +15477,10 @@ void ET39_SIL_step(void) /* End of SwitchCase: '/Switch Case1' */ /* Product: '/Product' */ - rtb_Sum2_eq[0] *= rtb_Product2_io; - rtb_Sum2_eq[1] *= rtb_Product2_io; - rtb_sincos_o2_l_idx_0 = rtb_Product2_io * rtb_Sum2_eq[2]; - rtb_Sum2_eq[2] = rtb_sincos_o2_l_idx_0; + rtb_Product_jt[0] *= rtb_Product2_io; + rtb_Product_jt[1] *= rtb_Product2_io; + rtb_LowAltitudeScaleLength = rtb_Product2_io * rtb_Product_jt[2]; + rtb_Product_jt[2] = rtb_LowAltitudeScaleLength; if (rtmIsMajorTimeStep(ET39_SIL_M)) { /* Sum: '/Sum' */ ET39_SIL_B.Sum_p[0] = rtb_add[0]; @@ -15465,25 +15489,25 @@ void ET39_SIL_step(void) } /* Product: '/j x k' */ - rtb_Switch2_c = rtb_Sum2_eq[1] * ET39_SIL_B.Sum_p[2]; + rtb_Switch2_c = rtb_Product_jt[1] * ET39_SIL_B.Sum_p[2]; /* Product: '/k x i' */ - rtb_Switch2_k = rtb_sincos_o2_l_idx_0 * ET39_SIL_B.Sum_p[0]; + rtb_Switch2_k = rtb_LowAltitudeScaleLength * ET39_SIL_B.Sum_p[0]; /* DotProduct: '/Dot Product' incorporates: * Product: '/j x i' */ - rtb_Sum1_k4 = rtb_Sum2_eq[1] * ET39_SIL_B.Sum_p[0]; + rtb_Sum1_k4 = rtb_Product_jt[1] * ET39_SIL_B.Sum_p[0]; /* Sum: '/Sum' incorporates: * Product: '/i x j' * Product: '/i x k' * Product: '/k x j' */ - rtb_Product2_k3[0] = rtb_Switch2_c - rtb_sincos_o2_l_idx_0 * + rtb_Product_e2[0] = rtb_Switch2_c - rtb_LowAltitudeScaleLength * ET39_SIL_B.Sum_p[1]; - rtb_Product2_k3[1] = rtb_Switch2_k - rtb_Sum2_eq[0] * ET39_SIL_B.Sum_p[2]; - rtb_Product2_k3[2] = rtb_Sum2_eq[0] * ET39_SIL_B.Sum_p[1] - rtb_Sum1_k4; + rtb_Product_e2[1] = rtb_Switch2_k - rtb_Product_jt[0] * ET39_SIL_B.Sum_p[2]; + rtb_Product_e2[2] = rtb_Product_jt[0] * ET39_SIL_B.Sum_p[1] - rtb_Sum1_k4; /* DotProduct: '/Dot Product' incorporates: * Lookup_n-D: '/table2D_Cl_base' @@ -15522,19 +15546,18 @@ void ET39_SIL_step(void) * Sum: '/add' */ rtb_Sum1_k4 = (((((((rtb_Sum1_k4 + rtb_Switch2_c) + rtb_Switch2_k) + - look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_LowAltitudeScaleLength, rtCP_table2D_Cl_dal_bp01Data, - rtCP_table2D_Cl_dal_bp02Data, rtCP_table2D_Cl_dal_tableData, - rtCP_table2D_Cl_dal_maxIndex, 5U) * CldalUncertGain) + look2_binlxpw - (rtb_LugV1_n_idx_0, rtb_ixk, rtCP_table2D_Cl_dar_bp01Data, - rtCP_table2D_Cl_dar_bp02Data, - rtCP_table2D_Cl_dar_tableData, - rtCP_table2D_Cl_dar_maxIndex, 5U) * CldarUncertGain) + - look1_binlxpw(rtb_LugV1_n_idx_0, rtCP_table1D_Clp_bp01Data, - rtCP_table1D_Clp_tableData, 3U) * rtb_Switch2_f * ClpUncertGain) + - look1_binlxpw(rtb_LugV1_n_idx_0, rtCP_table1D_Clr_bp01Data, - rtCP_table1D_Clr_tableData, 3U) * rtb_sincos_o2_c_idx_0 * ClrUncertGain) + - Cl0UncertVal) + ClbUncertGain * rtb_saturation * -3.1E-5; + look2_binlxpw(rtb_LugV1_n_idx_0, rtb_q2dot, + rtCP_table2D_Cl_dal_bp01Data, rtCP_table2D_Cl_dal_bp02Data, + rtCP_table2D_Cl_dal_tableData, rtCP_table2D_Cl_dal_maxIndex, 5U) * + CldalUncertGain) + look2_binlxpw(rtb_LugV1_n_idx_0, + rtb_ixk, rtCP_table2D_Cl_dar_bp01Data, rtCP_table2D_Cl_dar_bp02Data, + rtCP_table2D_Cl_dar_tableData, rtCP_table2D_Cl_dar_maxIndex, 5U) * + CldarUncertGain) + look1_binlxpw(rtb_LugV1_n_idx_0, + rtCP_table1D_Clp_bp01Data, rtCP_table1D_Clp_tableData, 3U) * rtb_Switch2_f + * ClpUncertGain) + look1_binlxpw(rtb_LugV1_n_idx_0, + rtCP_table1D_Clr_bp01Data, rtCP_table1D_Clr_tableData, 3U) * rtb_product_n + * ClrUncertGain) + Cl0UncertVal) + ClbUncertGain * + rtb_saturation * -3.1E-5; /* Lookup_n-D: '/table2D_Cm_base' */ rtb_Switch2_c = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_saturation, @@ -15542,7 +15565,7 @@ void ET39_SIL_step(void) rtCP_table2D_Cm_base_tableData, rtCP_table2D_Cm_base_maxIndex, 9U); /* Lookup_n-D: '/table2D_Cm_dal' */ - rtb_Switch2_k = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_LowAltitudeScaleLength, + rtb_Switch2_k = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_q2dot, rtCP_table2D_Cm_dal_bp01Data, rtCP_table2D_Cm_dal_bp02Data, rtCP_table2D_Cm_dal_tableData, rtCP_table2D_Cm_dal_maxIndex, 5U); @@ -15587,10 +15610,9 @@ void ET39_SIL_step(void) rtCP_table2D_Cn_base_tableData, rtCP_table2D_Cn_base_maxIndex, 9U); /* Lookup_n-D: '/table2D_Cn_dal' */ - rtb_LowAltitudeScaleLength = look2_binlxpw(rtb_LugV1_n_idx_0, - rtb_LowAltitudeScaleLength, rtCP_table2D_Cn_dal_bp01Data, - rtCP_table2D_Cn_dal_bp02Data, rtCP_table2D_Cn_dal_tableData, - rtCP_table2D_Cn_dal_maxIndex, 5U); + rtb_q2dot = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_q2dot, + rtCP_table2D_Cn_dal_bp01Data, rtCP_table2D_Cn_dal_bp02Data, + rtCP_table2D_Cn_dal_tableData, rtCP_table2D_Cn_dal_maxIndex, 5U); /* Lookup_n-D: '/table2D_Cn_dar' */ rtb_ixk = look2_binlxpw(rtb_LugV1_n_idx_0, rtb_ixk, @@ -15629,10 +15651,10 @@ void ET39_SIL_step(void) * Product: '/product3' * Product: '/product4' */ - rtb_Switch2 = (((((((rtb_Switch2 + rtb_LowAltitudeScaleLength) + rtb_ixk) + + rtb_Switch2 = (((((((rtb_Switch2 + rtb_q2dot) + rtb_ixk) + rtb_sigma_ugsigma_vg * CnderUncertGain) + rtb_Product1_k * CndelUncertGain) + rtb_Switch2_k * rtb_Switch2_f * - CnpUncertGain) + rtb_LugV1_n_idx_0 * rtb_sincos_o2_c_idx_0 * + CnpUncertGain) + rtb_LugV1_n_idx_0 * rtb_product_n * CnrUncertGain) + Cn0UncertVal) + CnbUncertGain * rtb_saturation * 0.00055; @@ -15642,9 +15664,9 @@ void ET39_SIL_step(void) * Product: '/Product1' * Product: '/Product3' */ - rtb_Product2_k3[0] += 3.96 * rtb_Product2_io * rtb_Sum1_k4; - rtb_Product2_k3[1] += 0.315 * rtb_Product2_io * rtb_Switch2_c; - rtb_Product2_k3[2] += 3.96 * rtb_Product2_io * rtb_Switch2; + rtb_Product_e2[0] += 3.96 * rtb_Product2_io * rtb_Sum1_k4; + rtb_Product_e2[1] += 0.315 * rtb_Product2_io * rtb_Switch2_c; + rtb_Product_e2[2] += 3.96 * rtb_Product2_io * rtb_Switch2; /* DotProduct: '/Dot Product' incorporates: * Gain: '/Gain' @@ -16117,9 +16139,9 @@ void ET39_SIL_step(void) * SignalConversion: '/TmpSignal ConversionAtProductInport2' */ for (i = 0; i < 3; i++) { - rtb_MathFunction_j0[i] = rtb_WhiteNoise_idx_2; + rtb_MathFunction_j0[i] = rtb_UnitConversion_d; rtb_MathFunction_j0[i + 3] = rtb_MediumHighAltitudeIntensity; - rtb_MathFunction_j0[i + 6] = rtb_UnitConversion_d; + rtb_MathFunction_j0[i + 6] = rtb_WhiteNoise_idx_2; } /* End of Product: '/Product' */ @@ -16159,18 +16181,18 @@ void ET39_SIL_step(void) */ rtb_MathFunction_i[2] = rtb_MathFunction_j0[6]; rtb_MathFunction_i[3] = rtb_MathFunction_j0[8]; - tmp_0[0] = rtb_pqr[2]; + tmp_1[0] = rtb_pqr[2]; rtb_MathFunction_i[0] = rtb_MathFunction_j0[7]; rtb_MathFunction_i[4] = rtb_MathFunction_j0[6]; - tmp_0[1] = rtb_pqr[0]; - tmp_0[3] = rtb_pqr[1]; + tmp_1[1] = rtb_pqr[0]; + tmp_1[3] = rtb_pqr[1]; rtb_MathFunction_i[1] = rtb_MathFunction_j0[8]; rtb_MathFunction_i[5] = rtb_MathFunction_j0[7]; - tmp_0[2] = rtb_pqr[1]; - tmp_0[4] = rtb_pqr[2]; - tmp_0[5] = rtb_pqr[0]; + tmp_1[2] = rtb_pqr[1]; + tmp_1[4] = rtb_pqr[2]; + tmp_1[5] = rtb_pqr[0]; for (i = 0; i < 6; i++) { - rtb_add_f[i] = rtb_MathFunction_i[i] * tmp_0[i]; + rtb_add_f[i] = rtb_MathFunction_i[i] * tmp_1[i]; } /* End of Product: '/Element product' */ @@ -16205,8 +16227,8 @@ void ET39_SIL_step(void) for (i = 0; i < 3; i++) { /* Sum: '/add' */ - rtb_Sum2_j[i] = rtb_Sum2_eq[i]; - rtb_Sum2_j[i + 3] = rtb_Product2_k3[i]; + rtb_Product_e_0[i] = rtb_Product_jt[i]; + rtb_Product_e_0[i + 3] = rtb_Product_e2[i]; /* Sum: '/Add' incorporates: * Product: '/force to moment' @@ -16215,14 +16237,14 @@ void ET39_SIL_step(void) * Sum: '/Sum' * Sum: '/Add3' */ - tmp_0[i] = rtb_T_d[i]; - tmp_0[i + 3] = rtb_Sum_iy[i]; - tmp_1[i] = rtb_T_c[i]; - tmp_1[i + 3] = rtb_Sum_ol[i]; - tmp_2[i] = rtb_T_h[i]; - tmp_2[i + 3] = rtb_Sum_gf[i]; - tmp_3[i] = rtb_T_gbh[i]; - tmp_3[i + 3] = rtb_Sum_og[i]; + tmp_1[i] = rtb_T_d[i]; + tmp_1[i + 3] = rtb_Sum_iy[i]; + tmp_2[i] = rtb_T_c[i]; + tmp_2[i + 3] = rtb_Sum_ol[i]; + tmp_3[i] = rtb_T_h[i]; + tmp_3[i + 3] = rtb_Sum_gf[i]; + tmp_4[i] = rtb_T_gbh[i]; + tmp_4[i + 3] = rtb_Sum_og[i]; rtb_MathFunction_i[i] = rtb_MathFunction_j0[i]; rtb_MathFunction_i[i + 3] = (((ET39_SIL_B.VectorConcatenate[i + 3] * rtb_MathFunction_j0[1] + ET39_SIL_B.VectorConcatenate[i] * @@ -16237,8 +16259,8 @@ void ET39_SIL_step(void) * Sum: '/Add' */ for (i = 0; i < 6; i++) { - rtb_add_f[i] = (((((tmp_0[i] + tmp_1[i]) + tmp_2[i]) + tmp_3[i]) + - rtb_MathFunction_i[i]) + rtb_Sum2_j[i]) + + rtb_add_f[i] = (((((tmp_1[i] + tmp_2[i]) + tmp_3[i]) + tmp_4[i]) + + rtb_MathFunction_i[i]) + rtb_Product_e_0[i]) + ET39_SIL_B.Sum_pc[i]; } @@ -16276,7 +16298,7 @@ void ET39_SIL_step(void) /* Product: '/Product' */ for (i = 0; i < 3; i++) { - rtb_Product2_k3[i] = ET39_SIL_B.Selector[i + 6] * ET39_SIL_B.pqr[2] + + rtb_Product_e2[i] = ET39_SIL_B.Selector[i + 6] * ET39_SIL_B.pqr[2] + (ET39_SIL_B.Selector[i + 3] * ET39_SIL_B.pqr[1] + ET39_SIL_B.Selector[i] * ET39_SIL_B.pqr[0]); } @@ -16286,10 +16308,10 @@ void ET39_SIL_step(void) /* DotProduct: '/Dot Product' incorporates: * Product: '/j x k' */ - rtb_Sum1_k4 = ET39_SIL_B.pqr[1] * rtb_Product2_k3[2]; + rtb_Sum1_k4 = ET39_SIL_B.pqr[1] * rtb_Product_e2[2]; /* Product: '/k x i' */ - rtb_Product1_k = ET39_SIL_B.pqr[2] * rtb_Product2_k3[0]; + rtb_Product1_k = ET39_SIL_B.pqr[2] * rtb_Product_e2[0]; /* Sum: '/Sum' incorporates: * Product: '/i x j' @@ -16297,21 +16319,20 @@ void ET39_SIL_step(void) * Product: '/j x i' * Product: '/k x j' */ - rtb_Sum2_eq[0] = rtb_Sum1_k4; - rtb_Sum2_eq[1] = rtb_Product1_k; - rtb_Sum2_eq[2] = ET39_SIL_B.pqr[0] * rtb_Product2_k3[1]; - tmp_4[0] = ET39_SIL_B.pqr[2] * rtb_Product2_k3[1]; - tmp_4[1] = ET39_SIL_B.pqr[0] * rtb_Product2_k3[2]; - tmp_4[2] = ET39_SIL_B.pqr[1] * rtb_Product2_k3[0]; + tmp_0[0] = rtb_Sum1_k4; + tmp_0[1] = rtb_Product1_k; + tmp_0[2] = ET39_SIL_B.pqr[0] * rtb_Product_e2[1]; + tmp_5[0] = ET39_SIL_B.pqr[2] * rtb_Product_e2[1]; + tmp_5[1] = ET39_SIL_B.pqr[0] * rtb_Product_e2[2]; + tmp_5[2] = ET39_SIL_B.pqr[1] * rtb_Product_e2[0]; for (i = 0; i < 3; i++) { /* Sum: '/Sum2' incorporates: * Product: '/Product' * Sum: '/Sum' */ - rtb_add_p[i] = (rtb_add_f[3 + i] - (ET39_SIL_B.Selector1[i + 6] * + rtb_add[i] = (rtb_add_f[3 + i] - (ET39_SIL_B.Selector1[i + 6] * ET39_SIL_B.pqr[2] + (ET39_SIL_B.Selector1[i + 3] * ET39_SIL_B.pqr[1] + - ET39_SIL_B.Selector1[i] * ET39_SIL_B.pqr[0]))) - (rtb_Sum2_eq[i] - - tmp_4[i]); + ET39_SIL_B.Selector1[i] * ET39_SIL_B.pqr[0]))) - (tmp_0[i] - tmp_5[i]); /* Product: '/Divide' incorporates: * Constant: '/Constant1' @@ -16322,7 +16343,7 @@ void ET39_SIL_step(void) /* Product: '/Product2' incorporates: * Reshape: '/Reshape' */ - rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf(rtb_add_p, ET39_SIL_B.Selector2, + rt_mrdivide_U1d1x3_U2d3x3_Yd1x3_snf(rtb_add, ET39_SIL_B.Selector2, ET39_SIL_B.Reshape); /* DotProduct: '/Dot Product' incorporates: @@ -16765,42 +16786,42 @@ void ET39_SIL_step(void) * Sum: '/Sum7' * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_add[0] = rtb_LookupTableDynamic - rtb_LookupTableDynamic3; - rtb_add[1] = rtb_LookupTableDynamic1 - (0.0 - ET39_SIL_P.IMUloc[2]) * - ET39_SIL_B.pqr[0]; - rtb_add[2] = rtb_LookupTableDynamic2 - (0.0 - ET39_SIL_P.IMUloc[0]) * - ET39_SIL_B.pqr[1]; + rtb_Product_jt[0] = rtb_LookupTableDynamic - rtb_LookupTableDynamic3; + rtb_Product_jt[1] = rtb_LookupTableDynamic1 - (0.0 - ET39_SIL_P.IMUloc[2]) + * ET39_SIL_B.pqr[0]; + rtb_Product_jt[2] = rtb_LookupTableDynamic2 - (0.0 - ET39_SIL_P.IMUloc[0]) + * ET39_SIL_B.pqr[1]; /* Product: '/i x j' incorporates: * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_LookupTableDynamic = ET39_SIL_B.pqr[0] * rtb_add[1]; + rtb_LookupTableDynamic = ET39_SIL_B.pqr[0] * rtb_Product_jt[1]; /* Product: '/k x j' incorporates: * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_LookupTableDynamic1 = ET39_SIL_B.pqr[2] * rtb_add[1]; + rtb_LookupTableDynamic1 = ET39_SIL_B.pqr[2] * rtb_Product_jt[1]; /* Product: '/i x k' incorporates: * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_LookupTableDynamic2 = ET39_SIL_B.pqr[0] * rtb_add[2]; + rtb_LookupTableDynamic2 = ET39_SIL_B.pqr[0] * rtb_Product_jt[2]; /* Product: '/j x i' incorporates: * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_LookupTableDynamic3 = ET39_SIL_B.pqr[1] * rtb_add[0]; + rtb_LookupTableDynamic3 = ET39_SIL_B.pqr[1] * rtb_Product_jt[0]; /* Sum: '/Sum' incorporates: * Product: '/j x k' * Product: '/k x i' * ZeroOrderHold: '/Zero-Order Hold' */ - rtb_Product2_k3[0] = ET39_SIL_B.pqr[1] * rtb_add[2] - + rtb_Product_e2[0] = ET39_SIL_B.pqr[1] * rtb_Product_jt[2] - rtb_LookupTableDynamic1; - rtb_Product2_k3[1] = ET39_SIL_B.pqr[2] * rtb_add[0] - + rtb_Product_e2[1] = ET39_SIL_B.pqr[2] * rtb_Product_jt[0] - rtb_LookupTableDynamic2; - rtb_Product2_k3[2] = rtb_LookupTableDynamic - rtb_LookupTableDynamic3; + rtb_Product_e2[2] = rtb_LookupTableDynamic - rtb_LookupTableDynamic3; /* Product: '/i x j' incorporates: * Constant: '/wl_ins' @@ -16845,13 +16866,13 @@ void ET39_SIL_step(void) * ZeroOrderHold: '/Zero-Order Hold1' * ZeroOrderHold: '/Zero-Order Hold3' */ - rtb_add[0] = ((0.0 - ET39_SIL_P.IMUloc[2]) * ET39_SIL_B.Reshape[1] - - rtb_LookupTableDynamic1) + (ET39_SIL_B.Accels[0] + - rtb_Product2_k3[0]); - rtb_add[1] = ((0.0 - ET39_SIL_P.IMUloc[0]) * ET39_SIL_B.Reshape[2] - - rtb_LookupTableDynamic2) + (ET39_SIL_B.Accels[1] + - rtb_Product2_k3[1]); - rtb_add[2] = (ET39_SIL_B.Accels[2] + rtb_Product2_k3[2]) + + rtb_Product_jt[0] = ((0.0 - ET39_SIL_P.IMUloc[2]) * ET39_SIL_B.Reshape[1] + - rtb_LookupTableDynamic1) + (ET39_SIL_B.Accels[0] + + rtb_Product_e2[0]); + rtb_Product_jt[1] = ((0.0 - ET39_SIL_P.IMUloc[0]) * ET39_SIL_B.Reshape[2] + - rtb_LookupTableDynamic2) + (ET39_SIL_B.Accels[1] + + rtb_Product_e2[1]); + rtb_Product_jt[2] = (ET39_SIL_B.Accels[2] + rtb_Product_e2[2]) + (rtb_LookupTableDynamic - rtb_LookupTableDynamic3); /* Sum: '/Sum4' incorporates: @@ -16860,9 +16881,9 @@ void ET39_SIL_step(void) * Product: '/Product' */ for (i = 0; i < 3; i++) { - rtb_Sum2_eq[i] = ((ET39_SIL_P.AccelScaleMatrix[i + 3] * rtb_add[1] + - ET39_SIL_P.AccelScaleMatrix[i] * rtb_add[0]) + - ET39_SIL_P.AccelScaleMatrix[i + 6] * rtb_add[2]) + + rtb_add[i] = ((ET39_SIL_P.AccelScaleMatrix[i + 3] * rtb_Product_jt[1] + + ET39_SIL_P.AccelScaleMatrix[i] * rtb_Product_jt[0]) + + ET39_SIL_P.AccelScaleMatrix[i + 6] * rtb_Product_jt[2]) + ET39_SIL_P.AccelBias[i]; } @@ -16910,7 +16931,7 @@ void ET39_SIL_step(void) idx = rtb_BitwiseAND4 << 1; rtb_WhiteNoise_idx_0 = ET39_SIL_DW.DiscreteTransferFcn_states[idx + 1]; ET39_SIL_DW.DiscreteTransferFcn_tmp[rtb_BitwiseAND4] = - (rtb_Sum2_eq[rtb_BitwiseAND4] - + (rtb_add[rtb_BitwiseAND4] - ET39_SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3[1] * ET39_SIL_DW.DiscreteTransferFcn_states[idx]) - rtb_WhiteNoise_idx_0 * ET39_SIL_B.TmpSignalConversionAtDiscreteTransferFcnInport3[2]; @@ -16954,7 +16975,7 @@ void ET39_SIL_step(void) /* End of RateLimiter: '/Rate Limiter' */ /* Gain: '/gain' */ - rtb_Product2_g[rtb_BitwiseAND4] = scale; + rtb_Product2_my[rtb_BitwiseAND4] = scale; } /* Product: '/Divide5' incorporates: @@ -17001,11 +17022,11 @@ void ET39_SIL_step(void) /* Product: '/Product' */ ET39_SIL_B.accel[i] = 0.0F; ET39_SIL_B.accel[i] += (real32_T)rtb_VectorConcatenate_o[i] * - rtb_Product2_g[0]; + rtb_Product2_my[0]; ET39_SIL_B.accel[i] += (real32_T)rtb_VectorConcatenate_o[i + 3] * - rtb_Product2_g[1]; + rtb_Product2_my[1]; ET39_SIL_B.accel[i] += (real32_T)rtb_VectorConcatenate_o[i + 6] * - rtb_Product2_g[2]; + rtb_Product2_my[2]; /* DiscreteTransferFcn: '/Discrete Transfer Fcn' incorporates: * Constant: '/Measurement bias' @@ -17038,18 +17059,18 @@ void ET39_SIL_step(void) /* UnitConversion: '/Unit Conversion' incorporates: * DiscreteTransferFcn: '/Discrete Transfer Fcn' */ - rtb_add[i] = rtb_WhiteNoise_idx_0; + rtb_Product_jt[i] = rtb_WhiteNoise_idx_0; /* Saturate: '/Saturation' incorporates: * DiscreteTransferFcn: '/Discrete Transfer Fcn' */ if (rtb_WhiteNoise_idx_0 > 7.0) { /* UnitConversion: '/Unit Conversion' */ - rtb_add[i] = 7.0; + rtb_Product_jt[i] = 7.0; } else { if (rtb_WhiteNoise_idx_0 < -7.0) { /* UnitConversion: '/Unit Conversion' */ - rtb_add[i] = -7.0; + rtb_Product_jt[i] = -7.0; } } @@ -17059,7 +17080,7 @@ void ET39_SIL_step(void) /* Gain: '/Gain' incorporates: * DataTypeConversion: '/Data Type Conversion1' */ - scale = 57.2957802F * (real32_T)rtb_add[0]; + scale = 57.2957802F * (real32_T)rtb_Product_jt[0]; /* RateLimiter: '/Rate Limiter1' */ absxk = scale - ET39_SIL_DW.PrevY_n[0]; @@ -17076,8 +17097,8 @@ void ET39_SIL_step(void) /* Gain: '/Gain' incorporates: * DataTypeConversion: '/Data Type Conversion1' */ - rtb_Product2_g[0] = scale; - scale = 57.2957802F * (real32_T)rtb_add[1]; + rtb_Product2_my[0] = scale; + scale = 57.2957802F * (real32_T)rtb_Product_jt[1]; /* RateLimiter: '/Rate Limiter1' */ absxk = scale - ET39_SIL_DW.PrevY_n[1]; @@ -17094,8 +17115,8 @@ void ET39_SIL_step(void) /* Gain: '/Gain' incorporates: * DataTypeConversion: '/Data Type Conversion1' */ - rtb_Product2_g[1] = scale; - scale = 57.2957802F * (real32_T)rtb_add[2]; + rtb_Product2_my[1] = scale; + scale = 57.2957802F * (real32_T)rtb_Product_jt[2]; /* RateLimiter: '/Rate Limiter1' */ absxk = scale - ET39_SIL_DW.PrevY_n[2]; @@ -17113,9 +17134,9 @@ void ET39_SIL_step(void) for (i = 0; i < 3; i++) { ET39_SIL_B.Gain1_m[i] = 0.0F; ET39_SIL_B.Gain1_m[i] += (real32_T)rtb_VectorConcatenate_o[i] * - rtb_Product2_g[0]; + rtb_Product2_my[0]; ET39_SIL_B.Gain1_m[i] += (real32_T)rtb_VectorConcatenate_o[i + 3] * - rtb_Product2_g[1]; + rtb_Product2_my[1]; ET39_SIL_B.Gain1_m[i] += (real32_T)rtb_VectorConcatenate_o[i + 6] * scale; } @@ -17249,7 +17270,7 @@ void ET39_SIL_step(void) /* Product: '/Product2' */ for (i = 0; i < 3; i++) { - rtb_Product2_g[i] = (real32_T)rtb_VectorConcatenate_o[i + 6] * + rtb_Product2_my[i] = (real32_T)rtb_VectorConcatenate_o[i + 6] * ET39_SIL_B.DataTypeConversion1_p[2] + ((real32_T) rtb_VectorConcatenate_o[i + 3] * ET39_SIL_B.DataTypeConversion1_p[1] + (real32_T)rtb_VectorConcatenate_o[i] * @@ -17262,8 +17283,8 @@ void ET39_SIL_step(void) * Gain: '/Gain' * Trigonometry: '/Trigonometric Function' */ - ET39_SIL_B.OutportBufferFormag_hdg = rt_atan2f_snf(-rtb_Product2_g[1], - rtb_Product2_g[0]); + ET39_SIL_B.OutportBufferFormag_hdg = rt_atan2f_snf(-rtb_Product2_my[1], + rtb_Product2_my[0]); /* Chart: '/inpi' */ if (ET39_SIL_B.OutportBufferFormag_hdg > 3.1415926535897931) { @@ -17356,9 +17377,9 @@ void ET39_SIL_step(void) ET39_SIL_OutputStateVars(); ET39_SIL_DW.gps_use_started = false; } else { - ET39_SIL_PredictStates(rtb_Product2_g, rtb_sincos_o1_m); + ET39_SIL_PredictStates(rtb_Product2_my, rtb_sincos_o1_m); ET39_SIL_ConstrainStates(); - ET39_SIL_PredictCovariance(rtb_Product2_g, rtb_sincos_o1_m); + ET39_SIL_PredictCovariance(rtb_Product2_my, rtb_sincos_o1_m); ET39_SIL_OutputStateVars(); if (ET39_SIL_B.LogicalOperator) { if (ET39_SIL_DW.gps_use_started) { @@ -18706,7 +18727,7 @@ void ET39_SIL_step(void) /* Product: '/Product2' incorporates: * Constant: '/Constant8' */ - rtb_Product2_ff = rtb_horiz_offset_f * ET39_SIL_P.max_da; + rtb_Product2_b = rtb_horiz_offset_f * ET39_SIL_P.max_da; /* Lookup_n-D: '/1-D Lookup Table4' */ rtb_vert_offset_k = look1_iflf_pbinlcapw(rtb_vert_offset_k, @@ -18716,7 +18737,7 @@ void ET39_SIL_step(void) /* Product: '/Product' incorporates: * Constant: '/Constant1' */ - rtb_Product_pp2 = rtb_vert_offset_k * ET39_SIL_P.max_de; + rtb_Product_bu = rtb_vert_offset_k * ET39_SIL_P.max_de; /* Product: '/Product1' incorporates: * Constant: '/Constant5' @@ -22395,6 +22416,7 @@ void ET39_SIL_step(void) ET39_SIL_enter_atomic_Prepare(); } else { guard1 = false; + guard2 = false; switch (ET39_SIL_DW.is_c27_ET39_autopilot) { case ET39_SIL_IN_Decelerate: if (ET39_SIL_Y.traj.v_g < ET39_SIL_P.mc_max_v) { @@ -22425,17 +22447,7 @@ void ET39_SIL_step(void) break; case ET39_SIL_IN_Hovering_d: - ET39_SIL_B.engine_mode_c = 0U; - ET39_SIL_B.mode_p = ENUM_mode_AUTO_LAND; - ET39_SIL_B.landed_state_f = ENUM_LANDED_STATE_LANDING; - ET39_SIL_B.AFCS_LAT_e = ENUM_AFCS_LAT_MC_HOLD_POS; - ET39_SIL_B.AFCS_VERT_k = ENUM_AFCS_VERT_VNAV2HDOT; - ET39_SIL_B.use_mission_traj_p = false; - if (ET39_SIL_Y.traj.dist < 5.0F) { - ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_Hover1; - ET39_SIL_B.traj_p.h1 = ET39_SIL_B.home.h1 + - ET39_SIL_P.LandHoverAgl; - } + ET39_SIL_Hovering(); break; case ET39_SIL_IN_Landed_n: @@ -22447,7 +22459,34 @@ void ET39_SIL_step(void) break; case ET39_SIL_IN_OnRunWay: - ET39_SIL_OnRunWay(); + ET39_SIL_B.engine_mode_c = 1U; + ET39_SIL_B.use_mission_traj_p = true; + ET39_SIL_B.landed_state_f = ENUM_LANDED_STATE_IN_AIR; + ET39_SIL_B.AFCS_VERT_k = ENUM_AFCS_VERT_VNAV2HDOT; + ET39_SIL_B.AFCS_LAT_e = ENUM_AFCS_LAT_MC_HOLD_POS_VMAN; + rtb_GreaterThan = ((ET39_SIL_Y.traj.vert_offset < 1.0F) && + (ET39_SIL_Y.traj.vert_offset > -1.0F) && + (ET39_SIL_Y.traj.horiz_offset < 1.5F) && + (ET39_SIL_Y.traj.horiz_offset > -1.5F) && + (ET39_SIL_get_abs_dpsi() < 0.2F)); + if (rtb_GreaterThan) { + ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_wait_on_line; + ET39_SIL_DW.temporalCounter_i1_a = 0U; + } else if ((ET39_SIL_B.BusAssignment_b.rc.throttle_cmd < 0.25F) + || ET39_SIL_B.BusAssignment_b.abort_takeoff_cmd || + (ET39_SIL_B.BusAssignment_n.RPMs[4] < 1000)) { + ET39_SIL_B.abort_takeoff_cmd_out = false; + guard1 = true; + } else if (ET39_SIL_DW.tick_abort > 12000U) { + guard1 = true; + } else { + rtb_out_gd = ET39_SIL_DW.tick_abort + /*MW:OvSatOk*/ 1U; + if (rtb_out_gd < ET39_SIL_DW.tick_abort) { + rtb_out_gd = MAX_uint32_T; + } + + ET39_SIL_DW.tick_abort = rtb_out_gd; + } break; case ET39_SIL_IN_Prepare: @@ -22578,11 +22617,11 @@ void ET39_SIL_step(void) ET39_SIL_B.WP_out_j = (uint16_T)rtb_out_gd; ET39_SIL_B.landed_state_f = ENUM_LANDED_STATE_IN_AIR; } else { - guard1 = true; + guard2 = true; } } } else { - guard1 = true; + guard2 = true; } break; @@ -22612,7 +22651,7 @@ void ET39_SIL_step(void) break; } - if (guard1) { + if (guard2) { if ((ET39_SIL_B.BusAssignment_b.rc.throttle_cmd < 0.25F) || ET39_SIL_B.BusAssignment_b.abort_takeoff_cmd || (ET39_SIL_B.BusAssignment_n.RPMs[4] < 1000)) { @@ -22623,6 +22662,11 @@ void ET39_SIL_step(void) ET39_SIL_B.WP_out_j = ET39_SIL_B.BusAssignment_b.WP_cur; } } + + if (guard1) { + ET39_SIL_DW.is_c27_ET39_autopilot = ET39_SIL_IN_Hovering_d; + ET39_SIL_enter_atomic_Hovering(); + } } /* End of Chart: '/takeoff_task' */ @@ -22735,7 +22779,15 @@ void ET39_SIL_step(void) } else { switch (ET39_SIL_DW.is_c26_ET39_autopilot) { case ET39_SIL_IN_Hover_d: - ET39_SIL_Hover(); + ET39_SIL_B.AFCS_VERT = ENUM_AFCS_VERT_VNAV2HDOT; + if ((ET39_SIL_B.BusAssignment_b.rc.throttle_cmd < 0.25F) && + ET39_SIL_B.BusAssignment_b.landing_cmd) { + ET39_SIL_B.landing_cmd_out = false; + ET39_SIL_DW.is_c26_ET39_autopilot = ET39_SIL_IN_Sink_i; + ET39_SIL_B.AFCS_VERT = ENUM_AFCS_VERT_OFF; + ET39_SIL_B.AG = ENUM_AG_HDOT_MC; + ET39_SIL_B.hdot_c_out = -0.5F; + } break; case ET39_SIL_IN_Hovering_h: @@ -23175,10 +23227,10 @@ void ET39_SIL_step(void) } } - rtb_UnitConversion_d = cos(rtb_WhiteNoise_idx_0 * 3.1415926535897931 + rtb_WhiteNoise_idx_2 = cos(rtb_WhiteNoise_idx_0 * 3.1415926535897931 / 180.0); - rtb_WhiteNoise_idx_2 = 111699.749 - 1132.978 * rtb_UnitConversion_d; - rtb_UnitConversion_d *= 111321.543; + rtb_UnitConversion_d = 111699.749 - 1132.978 * rtb_WhiteNoise_idx_2; + rtb_WhiteNoise_idx_2 *= 111321.543; prev_np = (uint16_T)(cur_np - 1); exitg1 = false; while ((!exitg1) && (prev_np > 0)) { @@ -23206,10 +23258,10 @@ void ET39_SIL_step(void) dy = (real32_T)((rtb_MediumHighAltitudeIntensity - (real_T) dummyMission[prev_np - 1].latlon[1] * 1.0E-7) * - rtb_UnitConversion_d); + rtb_WhiteNoise_idx_2); heading = (real32_T)((rtb_WhiteNoise_idx_0 - (real_T) dummyMission[prev_np - 1].latlon[0] * 1.0E-7) - * rtb_WhiteNoise_idx_2); + * rtb_UnitConversion_d); dist = sqrtf(dy * dy + heading * heading); rtb_de_l = rt_atan2f_snf(dy, heading); elevation_baseline = rt_atan2f_snf(rtb_Switch2_d4 - @@ -23237,10 +23289,10 @@ void ET39_SIL_step(void) dy = (real32_T)(((real_T)dummyMission[cur_np - 1].latlon[1] * 1.0E-7 - rtb_MediumHighAltitudeIntensity) * - rtb_UnitConversion_d); + rtb_WhiteNoise_idx_2); heading = (real32_T)(((real_T)dummyMission[cur_np - 1].latlon[0] * 1.0E-7 - rtb_WhiteNoise_idx_0) * - rtb_WhiteNoise_idx_2); + rtb_UnitConversion_d); dist2 = sqrtf(dy * dy + heading * heading); heading = rt_atan2f_snf(dy, heading); elevation_baseline2 = rt_atan2f_snf(elevation_baseline2 - @@ -27179,9 +27231,9 @@ void ET39_SIL_step(void) rtb_Merge2_AFCS_LAT = rtb_Merge_kp_AFCS_LAT; rtb_Merge2_AFCS_VERT = rtb_Merge_kp_AFCS_VERT; rtb_Merge2_AG = rtb_Merge_kp_AG; - rtb_Product_j0 = rtb_MaxHdot_d; + rtb_Product_j3 = rtb_MaxHdot_d; rtb_Merge2_armed = rtb_out_oa; - rtb_Product2_ld = rtb_Switch2_dv; + rtb_Product2_jc = rtb_Switch2_dv; rtb_Merge2_AT = rtb_Merge_kp_AT; rtb_Merge2_autocont = rtb_Merge_kp_autocont; rtb_Product1_h4 = rtb_Sum1_o; @@ -27419,9 +27471,9 @@ void ET39_SIL_step(void) rtb_Merge2_AFCS_LAT = rtb_Merge_kp_AFCS_LAT; rtb_Merge2_AFCS_VERT = rtb_Merge_kp_AFCS_VERT; rtb_Merge2_AG = rtb_Merge_kp_AG; - rtb_Product_j0 = rtb_MaxHdot_d; + rtb_Product_j3 = rtb_MaxHdot_d; rtb_Merge2_armed = rtb_out_oa; - rtb_Product2_ld = rtb_Switch2_dv; + rtb_Product2_jc = rtb_Switch2_dv; rtb_Merge2_AT = rtb_Merge_kp_AT; rtb_Merge2_autocont = rtb_Merge_kp_autocont; rtb_Product1_h4 = rtb_Sum1_o; @@ -27589,9 +27641,9 @@ void ET39_SIL_step(void) rtb_Merge2_AFCS_LAT = rtb_Merge_kp_AFCS_LAT; rtb_Merge2_AFCS_VERT = rtb_Merge_kp_AFCS_VERT; rtb_Merge2_AG = rtb_Merge_kp_AG; - rtb_Product_j0 = rtb_MaxHdot_d; + rtb_Product_j3 = rtb_MaxHdot_d; rtb_Merge2_armed = rtb_out_oa; - rtb_Product2_ld = rtb_Switch2_dv; + rtb_Product2_jc = rtb_Switch2_dv; rtb_Merge2_AT = rtb_Merge_kp_AT; rtb_Merge2_autocont = rtb_Merge_kp_autocont; rtb_Product1_h4 = rtb_Sum1_o; @@ -27729,9 +27781,9 @@ void ET39_SIL_step(void) rtb_Merge2_AFCS_LAT = rtb_Merge_kp_AFCS_LAT; rtb_Merge2_AFCS_VERT = rtb_Merge_kp_AFCS_VERT; rtb_Merge2_AG = rtb_Merge_kp_AG; - rtb_Product_j0 = rtb_MaxHdot_d; + rtb_Product_j3 = rtb_MaxHdot_d; rtb_Merge2_armed = rtb_out_oa; - rtb_Product2_ld = rtb_Switch2_dv; + rtb_Product2_jc = rtb_Switch2_dv; rtb_Merge2_AT = rtb_Merge_kp_AT; rtb_Merge2_autocont = rtb_Merge_kp_autocont; rtb_Product1_h4 = rtb_Sum1_o; @@ -27872,9 +27924,9 @@ void ET39_SIL_step(void) rtb_Merge2_AFCS_LAT = rtb_Merge_kp_AFCS_LAT; rtb_Merge2_AFCS_VERT = rtb_Merge_kp_AFCS_VERT; rtb_Merge2_AG = rtb_Merge_kp_AG; - rtb_Product_j0 = rtb_MaxHdot_d; + rtb_Product_j3 = rtb_MaxHdot_d; rtb_Merge2_armed = rtb_out_oa; - rtb_Product2_ld = rtb_Switch2_dv; + rtb_Product2_jc = rtb_Switch2_dv; rtb_Merge2_AT = rtb_Merge_kp_AT; rtb_Merge2_autocont = rtb_Merge_kp_autocont; rtb_Product1_h4 = rtb_Sum1_o; @@ -28033,14 +28085,14 @@ void ET39_SIL_step(void) * Switch: '/Switch' */ if (rtb_Merge2_gyro_c > ET39_SIL_P.max_gyro) { - rtb_Product_is = ET39_SIL_P.max_gyro; + rtb_Product_h = ET39_SIL_P.max_gyro; } else if (rtb_Merge2_gyro_c < 0.0F) { /* Switch: '/Switch' incorporates: * Constant: '/Constant' */ - rtb_Product_is = 0.0F; + rtb_Product_h = 0.0F; } else { - rtb_Product_is = rtb_Merge2_gyro_c; + rtb_Product_h = rtb_Merge2_gyro_c; } /* End of Switch: '/Switch2' */ @@ -28050,9 +28102,9 @@ void ET39_SIL_step(void) rtb_Merge_h_AFCS_LAT = rtb_Merge2_AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge2_AFCS_VERT; rtb_Merge_h_AG = rtb_Merge2_AG; - rtb_az_c = rtb_Product_j0; + rtb_az_c = rtb_Product_j3; rtb_Merge_h_armed = rtb_Merge2_armed; - rtb_Sum2_b = rtb_Product2_ld; + rtb_Sum2_a = rtb_Product2_jc; rtb_Merge_h_AT = rtb_Merge2_AT; rtb_Merge_h_autocont = rtb_Merge2_autocont; rtb_Sum5_b = rtb_Product1_h4; @@ -28117,7 +28169,7 @@ void ET39_SIL_step(void) rtb_Merge_h_rc_gear_up = rtb_Merge2_rc_gear_up; rtb_Merge_h_rc_connected = rtb_Merge2_rc_connected; rtb_Merge_h_rot_pitch = rtb_Merge2_rot_pitch; - rtb_Sum2_hh = rtb_Merge2_rot_roll; + rtb_Sum2_fk = rtb_Merge2_rot_roll; rtb_Merge_h_rot_yaw = rtb_Merge2_rot_yaw; rtb_Merge_h_standby_cmd = rtb_Merge2_standby_cmd; rtb_Merge_h_state = rtb_Merge2_state; @@ -28267,7 +28319,7 @@ void ET39_SIL_step(void) /* End of Switch: '/Switch2' */ /* Product: '/Product' */ - rtb_Product_is = rtb_az_c * rtb_MaxHdot_d; + rtb_Product_h = rtb_az_c * rtb_MaxHdot_d; /* Switch: '/Switch2' incorporates: * Constant: '/Constant10' @@ -28276,14 +28328,14 @@ void ET39_SIL_step(void) * RelationalOperator: '/UpperRelop' * Switch: '/Switch' */ - if (rtb_Product_is > ET39_SIL_P.max_gyro) { - rtb_Product_is = ET39_SIL_P.max_gyro; + if (rtb_Product_h > ET39_SIL_P.max_gyro) { + rtb_Product_h = ET39_SIL_P.max_gyro; } else { - if (rtb_Product_is < 0.0F) { + if (rtb_Product_h < 0.0F) { /* Switch: '/Switch' incorporates: * Constant: '/Constant' */ - rtb_Product_is = 0.0F; + rtb_Product_h = 0.0F; } } @@ -28294,9 +28346,9 @@ void ET39_SIL_step(void) rtb_Merge_h_AFCS_LAT = rtb_Merge2_AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge2_AFCS_VERT; rtb_Merge_h_AG = rtb_Merge2_AG; - rtb_az_c = rtb_Product_j0; + rtb_az_c = rtb_Product_j3; rtb_Merge_h_armed = rtb_Merge2_armed; - rtb_Sum2_b = rtb_Product2_ld; + rtb_Sum2_a = rtb_Product2_jc; rtb_Merge_h_AT = rtb_Merge2_AT; rtb_Merge_h_autocont = rtb_Merge2_autocont; rtb_Sum5_b = rtb_Product1_h4; @@ -28361,7 +28413,7 @@ void ET39_SIL_step(void) rtb_Merge_h_rc_gear_up = rtb_Merge2_rc_gear_up; rtb_Merge_h_rc_connected = rtb_Merge2_rc_connected; rtb_Merge_h_rot_pitch = rtb_Merge2_rot_pitch; - rtb_Sum2_hh = rtb_Merge2_rot_roll; + rtb_Sum2_fk = rtb_Merge2_rot_roll; rtb_Merge_h_rot_yaw = rtb_Merge2_rot_yaw; rtb_Merge_h_standby_cmd = rtb_Merge2_standby_cmd; rtb_Merge_h_state = rtb_Merge2_state; @@ -28429,7 +28481,7 @@ void ET39_SIL_step(void) * Sum: '/az_d' */ ET39_SIL_DW.icLoad_g = 0U; - ET39_SIL_DW.IntVal_DSTATE_p = (rtb_Product_is / rtb_MaxHdot_d + + ET39_SIL_DW.IntVal_DSTATE_p = (rtb_Product_h / rtb_MaxHdot_d + rtb_Switch2_dv) - ET39_SIL_P.acc_g; /* End of Outputs for SubSystem: '/hdot_mc' */ @@ -28446,9 +28498,9 @@ void ET39_SIL_step(void) rtb_Merge_h_AFCS_LAT = rtb_Merge2_AFCS_LAT; rtb_Merge_h_AFCS_VERT = rtb_Merge2_AFCS_VERT; rtb_Merge_h_AG = rtb_Merge2_AG; - rtb_az_c = rtb_Product_j0; + rtb_az_c = rtb_Product_j3; rtb_Merge_h_armed = rtb_Merge2_armed; - rtb_Sum2_b = rtb_Product2_ld; + rtb_Sum2_a = rtb_Product2_jc; rtb_Merge_h_AT = rtb_Merge2_AT; rtb_Merge_h_autocont = rtb_Merge2_autocont; rtb_Sum5_b = rtb_Product1_h4; @@ -28513,7 +28565,7 @@ void ET39_SIL_step(void) rtb_Merge_h_rc_gear_up = rtb_Merge2_rc_gear_up; rtb_Merge_h_rc_connected = rtb_Merge2_rc_connected; rtb_Merge_h_rot_pitch = rtb_Merge2_rot_pitch; - rtb_Sum2_hh = rtb_Merge2_rot_roll; + rtb_Sum2_fk = rtb_Merge2_rot_roll; rtb_Merge_h_rot_yaw = rtb_Merge2_rot_yaw; rtb_Merge_h_standby_cmd = rtb_Merge2_standby_cmd; rtb_Merge_h_state = rtb_Merge2_state; @@ -28568,7 +28620,7 @@ void ET39_SIL_step(void) rtb_Merge_h_generator_sw = rtb_Merge2_generator_sw; rtb_Merge_h_cdi_sw = rtb_Merge2_cdi_sw; rtb_Merge_h_engine_mode = rtb_Merge2_engine_mode; - rtb_Product_is = 0.0F; + rtb_Product_h = 0.0F; /* End of BusAssignment: '/Bus Assignment' */ /* End of Outputs for SubSystem: '/OFF' */ @@ -28580,17 +28632,17 @@ void ET39_SIL_step(void) /* Product: '/Product' incorporates: * Constant: '/Constant6' */ - rtb_Product_j0 = rtb_Product_is * ET39_SIL_P.max_rot_roll_perc; + rtb_Product_j3 = rtb_Product_h * ET39_SIL_P.max_rot_roll_perc; /* Product: '/Product2' incorporates: * Constant: '/Constant7' */ - rtb_Product2_ld = rtb_Product_is * ET39_SIL_P.max_rot_pitch_perc; + rtb_Product2_jc = rtb_Product_h * ET39_SIL_P.max_rot_pitch_perc; /* Product: '/Product1' incorporates: * Constant: '/Constant8' */ - rtb_Product1_h4 = rtb_Product_is * ET39_SIL_P.max_rot_yaw_perc; + rtb_Product1_h4 = rtb_Product_h * ET39_SIL_P.max_rot_yaw_perc; /* SwitchCase: '/Switch Case' incorporates: * Constant: '/Constant6' @@ -28963,10 +29015,10 @@ void ET39_SIL_step(void) ET39_SIL_B.Za = t; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_roll_perc = rtb_Product_j0; + ET39_SIL_B.max_rot_roll_perc = rtb_Product_j3; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_ld; + ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_jc; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ ET39_SIL_B.max_rot_yaw_perc = rtb_Product1_h4; @@ -29018,16 +29070,16 @@ void ET39_SIL_step(void) ET39_SIL_B.Izz = ET39_SIL_P.Izz; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_de_L1 = rtb_Product_pp2; + ET39_SIL_B.max_de_L1 = rtb_Product_bu; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_da_L1 = rtb_Product2_ff; + ET39_SIL_B.max_da_L1 = rtb_Product2_b; /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' incorporates: * Gain: '/Gain' */ - ET39_SIL_B.min_da_L1 = -rtb_Product2_ff; + ET39_SIL_B.min_da_L1 = -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ @@ -29231,7 +29283,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_AG = rtb_Merge_h_AG; max_pdot_c = rtb_az_c; rtb_Merge2_o_armed = rtb_Merge_h_armed; - rtb_Merge2_o_as_c = rtb_Sum2_b; + rtb_Merge2_o_as_c = rtb_Sum2_a; rtb_Merge2_o_AT = rtb_Merge_h_AT; rtb_Merge2_o_autocont = rtb_Merge_h_autocont; rtb_Merge2_o_ay_c = rtb_Sum5_b; @@ -29295,7 +29347,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_rc_brake = rtb_Merge_h_rc_brake; rtb_Merge2_o_rc_gear_up = rtb_Merge_h_rc_gear_up; rtb_Merge2_o_rc_connected = rtb_Merge_h_rc_connected; - rtb_Merge2_o_rot_heave = rtb_Product_is; + rtb_Merge2_o_rot_heave = rtb_Product_h; rtb_Merge2_o_rot_pitch = rtb_Merge_h_rot_pitch; rtb_Merge2_o_rot_yaw = rtb_Merge_h_rot_yaw; rtb_Merge2_o_standby_cmd = rtb_Merge_h_standby_cmd; @@ -29360,18 +29412,18 @@ void ET39_SIL_step(void) /* Outputs for IfAction SubSystem: '/command_mc' incorporates: * ActionPort: '/Action Port' */ - if (rtb_Sum2_hh > rtb_Product_j0) { + if (rtb_Sum2_fk > rtb_Product_j3) { /* Switch: '/Switch2' */ - rtb_Switch2_pb = rtb_Product_j0; - } else if (rtb_Sum2_hh < -rtb_Product_j0) { + rtb_Switch2_pb = rtb_Product_j3; + } else if (rtb_Sum2_fk < -rtb_Product_j3) { /* Switch: '/Switch' incorporates: * Gain: '/Gain' * Switch: '/Switch2' */ - rtb_Switch2_pb = -rtb_Product_j0; + rtb_Switch2_pb = -rtb_Product_j3; } else { /* Switch: '/Switch2' */ - rtb_Switch2_pb = rtb_Sum2_hh; + rtb_Switch2_pb = rtb_Sum2_fk; } /* BusAssignment: '/Bus Assignment' incorporates: @@ -29387,7 +29439,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_AG = rtb_Merge_h_AG; max_pdot_c = rtb_az_c; rtb_Merge2_o_armed = rtb_Merge_h_armed; - rtb_Merge2_o_as_c = rtb_Sum2_b; + rtb_Merge2_o_as_c = rtb_Sum2_a; rtb_Merge2_o_AT = rtb_Merge_h_AT; rtb_Merge2_o_autocont = rtb_Merge_h_autocont; rtb_Merge2_o_ay_c = rtb_Sum5_b; @@ -29451,7 +29503,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_rc_brake = rtb_Merge_h_rc_brake; rtb_Merge2_o_rc_gear_up = rtb_Merge_h_rc_gear_up; rtb_Merge2_o_rc_connected = rtb_Merge_h_rc_connected; - rtb_Merge2_o_rot_heave = rtb_Product_is; + rtb_Merge2_o_rot_heave = rtb_Product_h; rtb_Merge2_o_rot_pitch = rtb_Merge_h_rot_pitch; rtb_Merge2_o_rot_yaw = rtb_Merge_h_rot_yaw; rtb_Merge2_o_standby_cmd = rtb_Merge_h_standby_cmd; @@ -29532,7 +29584,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_AG = rtb_Merge_h_AG; max_pdot_c = rtb_az_c; rtb_Merge2_o_armed = rtb_Merge_h_armed; - rtb_Merge2_o_as_c = rtb_Sum2_b; + rtb_Merge2_o_as_c = rtb_Sum2_a; rtb_Merge2_o_AT = rtb_Merge_h_AT; rtb_Merge2_o_autocont = rtb_Merge_h_autocont; rtb_Merge2_o_ay_c = rtb_Sum5_b; @@ -29596,7 +29648,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_rc_brake = rtb_Merge_h_rc_brake; rtb_Merge2_o_rc_gear_up = rtb_Merge_h_rc_gear_up; rtb_Merge2_o_rc_connected = rtb_Merge_h_rc_connected; - rtb_Merge2_o_rot_heave = rtb_Product_is; + rtb_Merge2_o_rot_heave = rtb_Product_h; rtb_Merge2_o_rot_pitch = rtb_Merge_h_rot_pitch; rtb_Merge2_o_rot_yaw = rtb_Merge_h_rot_yaw; rtb_Merge2_o_standby_cmd = rtb_Merge_h_standby_cmd; @@ -29990,10 +30042,10 @@ void ET39_SIL_step(void) ET39_SIL_B.Za = t; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_roll_perc = rtb_Product_j0; + ET39_SIL_B.max_rot_roll_perc = rtb_Product_j3; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_ld; + ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_jc; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ ET39_SIL_B.max_rot_yaw_perc = rtb_Product1_h4; @@ -30045,16 +30097,16 @@ void ET39_SIL_step(void) ET39_SIL_B.Izz = ET39_SIL_P.Izz; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_de_L1 = rtb_Product_pp2; + ET39_SIL_B.max_de_L1 = rtb_Product_bu; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_da_L1 = rtb_Product2_ff; + ET39_SIL_B.max_da_L1 = rtb_Product2_b; /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' incorporates: * Gain: '/Gain' */ - ET39_SIL_B.min_da_L1 = -rtb_Product2_ff; + ET39_SIL_B.min_da_L1 = -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ @@ -30265,8 +30317,8 @@ void ET39_SIL_step(void) * Product: '/Product1' * Product: '/Product3' */ - rtb_Merge_my = rtb_effi_rot_roll * rtb_Product_j0 + - rtb_TrigonometricFunction_d * -rtb_Product2_ff; + rtb_Merge_my = rtb_effi_rot_roll * rtb_Product_j3 + + rtb_TrigonometricFunction_d * -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ @@ -30280,7 +30332,7 @@ void ET39_SIL_step(void) /* End of Saturate: '/Saturation' */ /* Product: '/Product2' */ - rtb_Merge_my = rtb_effi_rot_roll * rtb_Sum2_hh; + rtb_Merge_my = rtb_effi_rot_roll * rtb_Sum2_fk; /* Delay: '/Delay' incorporates: * Product: '/Product4' @@ -30581,7 +30633,7 @@ void ET39_SIL_step(void) * Product: '/Product1' * Product: '/Product2' */ - rtb_Sum2_hh = (rtb_Switch2_h * ET39_SIL_DW.Delay_DSTATE_i + + rtb_Sum2_fk = (rtb_Switch2_h * ET39_SIL_DW.Delay_DSTATE_i + rtb_Switch2_i) + rtb_Switch2_lz * ET39_SIL_B.BusAssignment_n.p; @@ -30592,7 +30644,7 @@ void ET39_SIL_step(void) * Product: '/Product1' * Sum: '/Sum' */ - rtb_Sum5_o = (rtb_Switch_f2 * rtb_Merge_my - rtb_Sum2_hh) * rtb_Merge9_p + rtb_Sum5_o = (rtb_Switch_f2 * rtb_Merge_my - rtb_Sum2_fk) * rtb_Merge9_p * 0.005F + ET39_SIL_DW.Delay_DSTATE_i; /* Switch: '/Switch2' incorporates: @@ -30628,18 +30680,18 @@ void ET39_SIL_step(void) } /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ - max_pdot_c = rtb_Product_j0 * rtb_da_out + -rtb_Product2_ff * + max_pdot_c = rtb_Product_j3 * rtb_da_out + -rtb_Product2_b * rtb_Switch2_pb; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ - rec_hi.pdot_c_out = -rtb_Product_j0 * rtb_da_out + rtb_Product2_ff * + rec_hi.pdot_c_out = -rtb_Product_j3 * rtb_da_out + rtb_Product2_b * rtb_Switch2_pb; if (rtb_Sum5_o > max_pdot_c) { /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ - rtb_da_out = -rtb_Product2_ff; + rtb_da_out = -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ - rtb_Switch2_pb = rtb_Product_j0; + rtb_Switch2_pb = rtb_Product_j3; /* SignalConversion: '/Signal Copy5' */ rec_hi.pdot_c_out = max_pdot_c; @@ -30647,23 +30699,23 @@ void ET39_SIL_step(void) k = rtb_Sum5_o / max_pdot_c; /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ - rtb_da_out = k * -rtb_Product2_ff; + rtb_da_out = k * -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ - rtb_Switch2_pb = k * rtb_Product_j0; + rtb_Switch2_pb = k * rtb_Product_j3; /* SignalConversion: '/Signal Copy5' */ rec_hi.pdot_c_out = rtb_Sum5_o; } else if (rtb_Sum5_o > rec_hi.pdot_c_out) { k = rtb_Sum5_o / rec_hi.pdot_c_out; - rtb_da_out = k * rtb_Product2_ff; - rtb_Switch2_pb = k * -rtb_Product_j0; + rtb_da_out = k * rtb_Product2_b; + rtb_Switch2_pb = k * -rtb_Product_j3; /* SignalConversion: '/Signal Copy5' */ rec_hi.pdot_c_out = rtb_Sum5_o; } else { - rtb_da_out = rtb_Product2_ff; - rtb_Switch2_pb = -rtb_Product_j0; + rtb_da_out = rtb_Product2_b; + rtb_Switch2_pb = -rtb_Product_j3; } /* End of MATLAB Function: '/MATLAB Function' */ @@ -30674,15 +30726,15 @@ void ET39_SIL_step(void) * RelationalOperator: '/UpperRelop' * Switch: '/Switch' */ - if (rtb_da_out > rtb_Product2_ff) { - rtb_da_out = rtb_Product2_ff; + if (rtb_da_out > rtb_Product2_b) { + rtb_da_out = rtb_Product2_b; } else { /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ - if (rtb_da_out < -rtb_Product2_ff) { + if (rtb_da_out < -rtb_Product2_b) { /* Switch: '/Switch' incorporates: * Gain: '/Gain' */ - rtb_da_out = -rtb_Product2_ff; + rtb_da_out = -rtb_Product2_b; } /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ @@ -30697,7 +30749,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_AG = rtb_Merge_h_AG; max_pdot_c = rtb_az_c; rtb_Merge2_o_armed = rtb_Merge_h_armed; - rtb_Merge2_o_as_c = rtb_Sum2_b; + rtb_Merge2_o_as_c = rtb_Sum2_a; rtb_Merge2_o_AT = rtb_Merge_h_AT; rtb_Merge2_o_autocont = rtb_Merge_h_autocont; rtb_Merge2_o_ay_c = rtb_Sum5_b; @@ -30760,7 +30812,7 @@ void ET39_SIL_step(void) rtb_Merge2_o_rc_brake = rtb_Merge_h_rc_brake; rtb_Merge2_o_rc_gear_up = rtb_Merge_h_rc_gear_up; rtb_Merge2_o_rc_connected = rtb_Merge_h_rc_connected; - rtb_Merge2_o_rot_heave = rtb_Product_is; + rtb_Merge2_o_rot_heave = rtb_Product_h; rtb_Merge2_o_rot_pitch = rtb_Merge_h_rot_pitch; rtb_Merge2_o_rot_yaw = rtb_Merge_h_rot_yaw; rtb_Merge2_o_standby_cmd = rtb_Merge_h_standby_cmd; @@ -30831,7 +30883,7 @@ void ET39_SIL_step(void) * Sum: '/Sum' * UnitDelay: '/Unit Delay' */ - ET39_SIL_DW.UnitDelay_DSTATE_c += (rtb_Sum2_hh - rtb_Switch_f2 * + ET39_SIL_DW.UnitDelay_DSTATE_c += (rtb_Sum2_fk - rtb_Switch_f2 * ET39_SIL_DW.UnitDelay_DSTATE_c) * 0.005F; /* SignalConversion: '/Signal Copy4' */ @@ -31175,10 +31227,10 @@ void ET39_SIL_step(void) ET39_SIL_B.Za = t; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_roll_perc = rtb_Product_j0; + ET39_SIL_B.max_rot_roll_perc = rtb_Product_j3; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_ld; + ET39_SIL_B.max_rot_pitch_perc = rtb_Product2_jc; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ ET39_SIL_B.max_rot_yaw_perc = rtb_Product1_h4; @@ -31230,16 +31282,16 @@ void ET39_SIL_step(void) ET39_SIL_B.Izz = ET39_SIL_P.Izz; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_de_L1 = rtb_Product_pp2; + ET39_SIL_B.max_de_L1 = rtb_Product_bu; /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' */ - ET39_SIL_B.max_da_L1 = rtb_Product2_ff; + ET39_SIL_B.max_da_L1 = rtb_Product2_b; /* Outputs for Atomic SubSystem: '/Calc_FW_Effic' */ /* SignalConversion: '/BusConversion_InsertedFor_CSAS_out_Outport_2_at_inport_0' incorporates: * Gain: '/Gain' */ - ET39_SIL_B.min_da_L1 = -rtb_Product2_ff; + ET39_SIL_B.min_da_L1 = -rtb_Product2_b; /* End of Outputs for SubSystem: '/Calc_FW_Effic' */ @@ -33044,7 +33096,7 @@ void ET39_SIL_step(void) * Product: '/Product1' * Product: '/Product2' */ - rtb_Sum2_b = (rtb_Switch2_p2 * ET39_SIL_DW.Delay_DSTATE_e + + rtb_Sum2_a = (rtb_Switch2_p2 * ET39_SIL_DW.Delay_DSTATE_e + rtb_Switch2_n2) + rtb_Switch2_a * ET39_SIL_B.sensors.q; /* Sum: '/Sum5' incorporates: @@ -33054,7 +33106,7 @@ void ET39_SIL_step(void) * Product: '/Product1' * Sum: '/Sum' */ - rtb_Sum5_b = (rtb_az_c * rtb_Merge_eb - rtb_Sum2_b) * ET39_SIL_B.k_q * + rtb_Sum5_b = (rtb_az_c * rtb_Merge_eb - rtb_Sum2_a) * ET39_SIL_B.k_q * 0.005F + ET39_SIL_DW.Delay_DSTATE_e; /* Switch: '/Switch2' incorporates: @@ -33331,7 +33383,7 @@ void ET39_SIL_step(void) * Sum: '/Sum' * UnitDelay: '/Unit Delay' */ - ET39_SIL_DW.UnitDelay_DSTATE_b1 += (rtb_Sum2_b - rtb_az_c * + ET39_SIL_DW.UnitDelay_DSTATE_b1 += (rtb_Sum2_a - rtb_az_c * ET39_SIL_DW.UnitDelay_DSTATE_b1) * 0.005F; /* SignalConversion: '/Signal Copy4' */ @@ -33926,7 +33978,7 @@ void ET39_SIL_step(void) rtb_Merge2_g_generator_sw = ET39_SIL_B.Merge2.generator_sw; rtb_Merge2_g_cdi_sw = ET39_SIL_B.Merge2.cdi_sw; rtb_Merge2_g_engine_mode = ET39_SIL_B.Merge2.engine_mode; - rtb_Product_ny = 0.0F; + rtb_Product_e = 0.0F; /* End of BusAssignment: '/Bus Assignment' */ /* End of Outputs for SubSystem: '/command_fw' */ @@ -33936,19 +33988,19 @@ void ET39_SIL_step(void) */ if (ET39_SIL_B.Merge2.rot_yaw > ET39_SIL_B.max_rot_yaw_perc_k) { /* Switch: '/Switch2' */ - rtb_Product_ny = ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = ET39_SIL_B.max_rot_yaw_perc_k; } else if (ET39_SIL_B.Merge2.rot_yaw < -ET39_SIL_B.max_rot_yaw_perc_k) { /* Switch: '/Switch' incorporates: * Gain: '/Gain' * Switch: '/Switch2' */ - rtb_Product_ny = -ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = -ET39_SIL_B.max_rot_yaw_perc_k; } else { /* Switch: '/Switch2' incorporates: * Switch: '/Switch' */ - rtb_Product_ny = ET39_SIL_B.Merge2.rot_yaw; + rtb_Product_e = ET39_SIL_B.Merge2.rot_yaw; } /* BusAssignment: '/Bus Assignment' incorporates: @@ -34231,7 +34283,7 @@ void ET39_SIL_step(void) rtb_Merge2_g_generator_sw = ET39_SIL_B.Merge2.generator_sw; rtb_Merge2_g_cdi_sw = ET39_SIL_B.Merge2.cdi_sw; rtb_Merge2_g_engine_mode = ET39_SIL_B.Merge2.engine_mode; - rtb_Product_ny = 0.0F; + rtb_Product_e = 0.0F; rtb_dr_out = 0.0F; /* End of BusAssignment: '/Bus Assignment' */ @@ -34452,7 +34504,7 @@ void ET39_SIL_step(void) rtb_Merge2_g_generator_sw = ET39_SIL_B.Merge2.generator_sw; rtb_Merge2_g_cdi_sw = ET39_SIL_B.Merge2.cdi_sw; rtb_Merge2_g_engine_mode = ET39_SIL_B.Merge2.engine_mode; - rtb_Product_ny = 0.0F; + rtb_Product_e = 0.0F; /* End of BusAssignment: '/Bus Assignment' */ @@ -34571,8 +34623,8 @@ void ET39_SIL_step(void) * Trigonometry: '/cos(tht)' * Trigonometry: '/sin(phi)' */ - rtb_Product_ny = (ET39_SIL_B.Merge2.psidot_c * cosf(rtb_Switch2_d4) - - ET39_SIL_B.sensors_l.q * sinf(rtb_Switch_cz)) / + rtb_Product_e = (ET39_SIL_B.Merge2.psidot_c * cosf(rtb_Switch2_d4) - + ET39_SIL_B.sensors_l.q * sinf(rtb_Switch_cz)) / cosf(rtb_Switch_cz); /* Gain: '/neg1' */ @@ -34582,8 +34634,8 @@ void ET39_SIL_step(void) * Gain: '/neg1' * RelationalOperator: '/UpperRelop' */ - if (!(rtb_Product_ny < -ET39_SIL_B.max_r_o)) { - rtb_Switch_cz = rtb_Product_ny; + if (!(rtb_Product_e < -ET39_SIL_B.max_r_o)) { + rtb_Switch_cz = rtb_Product_e; } /* End of Switch: '/Switch' */ @@ -34591,7 +34643,7 @@ void ET39_SIL_step(void) /* Switch: '/Switch2' incorporates: * RelationalOperator: '/LowerRelop1' */ - if (rtb_Product_ny > ET39_SIL_B.max_r_o) { + if (rtb_Product_e > ET39_SIL_B.max_r_o) { /* SignalConversion: '/OutportBufferForr_c' */ rtb_Switch_cz = ET39_SIL_B.max_r_o; } @@ -34781,10 +34833,10 @@ void ET39_SIL_step(void) /* End of Switch: '/Switch2' */ /* MATLAB Function: '/MATLAB Function' */ - rtb_Product_ny = ET39_SIL_B.fw_effic_yaw_g; + rtb_Product_e = ET39_SIL_B.fw_effic_yaw_g; rtb_dr_out = ET39_SIL_B.mc_effic_yaw_m; if (ET39_SIL_B.fw_effic_yaw_g > -2.22044605E-16F) { - rtb_Product_ny = -2.22044605E-16F; + rtb_Product_e = -2.22044605E-16F; } if (ET39_SIL_B.mc_effic_yaw_m < 2.22044605E-16F) { @@ -34792,32 +34844,32 @@ void ET39_SIL_step(void) } max_rdot_c = ET39_SIL_B.max_rot_yaw_perc_k * rtb_dr_out + - ET39_SIL_B.min_dr_L1_m * rtb_Product_ny; + ET39_SIL_B.min_dr_L1_m * rtb_Product_e; rec_hi.rdot_c_out = -ET39_SIL_B.max_rot_yaw_perc_k * rtb_dr_out + - ET39_SIL_B.max_dr_L1_d * rtb_Product_ny; + ET39_SIL_B.max_dr_L1_d * rtb_Product_e; if (rtb_Switch2_l > max_rdot_c) { rtb_dr_out = ET39_SIL_B.min_dr_L1_m; - rtb_Product_ny = ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = ET39_SIL_B.max_rot_yaw_perc_k; /* SignalConversion: '/Signal Copy5' */ rec_hi.rdot_c_out = max_rdot_c; } else if (rtb_Switch2_l > 0.0F) { k = rtb_Switch2_l / max_rdot_c; rtb_dr_out = k * ET39_SIL_B.min_dr_L1_m; - rtb_Product_ny = k * ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = k * ET39_SIL_B.max_rot_yaw_perc_k; /* SignalConversion: '/Signal Copy5' */ rec_hi.rdot_c_out = rtb_Switch2_l; } else if (rtb_Switch2_l > rec_hi.rdot_c_out) { k = rtb_Switch2_l / rec_hi.rdot_c_out; rtb_dr_out = k * ET39_SIL_B.max_dr_L1_d; - rtb_Product_ny = k * -ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = k * -ET39_SIL_B.max_rot_yaw_perc_k; /* SignalConversion: '/Signal Copy5' */ rec_hi.rdot_c_out = rtb_Switch2_l; } else { rtb_dr_out = ET39_SIL_B.max_dr_L1_d; - rtb_Product_ny = -ET39_SIL_B.max_rot_yaw_perc_k; + rtb_Product_e = -ET39_SIL_B.max_rot_yaw_perc_k; } /* End of MATLAB Function: '/MATLAB Function' */ @@ -35163,7 +35215,7 @@ void ET39_SIL_step(void) rtb_Merge_m_rc_gear_up = rtb_Merge2_g_rc_gear_up; rtb_Merge_m_rc_connected = rtb_Merge2_g_rc_connected; rtb_Merge_m_rot_heave = rtb_Merge2_g_rot_heave; - rtb_Merge_m_rot_yaw = rtb_Product_ny; + rtb_Merge_m_rot_yaw = rtb_Product_e; rtb_Merge_m_standby_cmd = rtb_Merge2_g_standby_cmd; rtb_Merge_m_state = rtb_Merge2_g_state; rtb_Merge_m_takeoff_tht = rtb_Merge2_g_takeoff_tht; @@ -35310,7 +35362,7 @@ void ET39_SIL_step(void) rtb_Merge_m_rot_heave = rtb_Merge2_g_rot_heave; rtb_Multiply_idx_0 = rtb_Merge2_g_rot_pitch; numAccum = rtb_Merge2_g_rot_roll; - rtb_Merge_m_rot_yaw = rtb_Product_ny; + rtb_Merge_m_rot_yaw = rtb_Product_e; rtb_Merge_m_standby_cmd = rtb_Merge2_g_standby_cmd; rtb_Merge_m_state = rtb_Merge2_g_state; rtb_Merge_m_takeoff_tht = rtb_Merge2_g_takeoff_tht; @@ -36887,7 +36939,7 @@ void ET39_SIL_step(void) /* SignalConversion: '/TmpSignal ConversionAtSelectorInport1' */ for (i = 0; i < 9; i++) { - tmp_5[i] = ET39_SIL_B.Merge_g[i]; + tmp_6[i] = ET39_SIL_B.Merge_g[i]; } /* Saturate: '/Saturation' incorporates: @@ -36908,11 +36960,11 @@ void ET39_SIL_step(void) (int32_T)(uint16_T)-(int16_T)(uint16_T)-rtb_Switch2_d4 : (int32_T) (uint16_T)rtb_Switch2_d4) + ET39_SIL_P.actuator_trim[0]); if (rtb_Merge_kp_WP_cur > ET39_SIL_P.actuator_hi[0]) { - tmp_5[9] = ET39_SIL_P.actuator_hi[0]; + tmp_6[9] = ET39_SIL_P.actuator_hi[0]; } else if (rtb_Merge_kp_WP_cur < ET39_SIL_P.actuator_lo[0]) { - tmp_5[9] = ET39_SIL_P.actuator_lo[0]; + tmp_6[9] = ET39_SIL_P.actuator_lo[0]; } else { - tmp_5[9] = rtb_Merge_kp_WP_cur; + tmp_6[9] = rtb_Merge_kp_WP_cur; } rtb_Switch2_d4 = floorf(ET39_SIL_P.actuator_k[1] * rtb_Multiply_idx_0); @@ -36926,11 +36978,11 @@ void ET39_SIL_step(void) (int32_T)(uint16_T)-(int16_T)(uint16_T)-rtb_Switch2_d4 : (int32_T) (uint16_T)rtb_Switch2_d4) + ET39_SIL_P.actuator_trim[1]); if (rtb_Merge_kp_WP_cur > ET39_SIL_P.actuator_hi[1]) { - tmp_5[10] = ET39_SIL_P.actuator_hi[1]; + tmp_6[10] = ET39_SIL_P.actuator_hi[1]; } else if (rtb_Merge_kp_WP_cur < ET39_SIL_P.actuator_lo[1]) { - tmp_5[10] = ET39_SIL_P.actuator_lo[1]; + tmp_6[10] = ET39_SIL_P.actuator_lo[1]; } else { - tmp_5[10] = rtb_Merge_kp_WP_cur; + tmp_6[10] = rtb_Merge_kp_WP_cur; } rtb_Switch2_d4 = floorf((ET39_SIL_B.Merge_j.de_c - numAccum) * @@ -36945,11 +36997,11 @@ void ET39_SIL_step(void) (int32_T)(uint16_T)-(int16_T)(uint16_T)-rtb_Switch2_d4 : (int32_T) (uint16_T)rtb_Switch2_d4) + ET39_SIL_P.actuator_trim[2]); if (rtb_Merge_kp_WP_cur > ET39_SIL_P.actuator_hi[2]) { - tmp_5[11] = ET39_SIL_P.actuator_hi[2]; + tmp_6[11] = ET39_SIL_P.actuator_hi[2]; } else if (rtb_Merge_kp_WP_cur < ET39_SIL_P.actuator_lo[2]) { - tmp_5[11] = ET39_SIL_P.actuator_lo[2]; + tmp_6[11] = ET39_SIL_P.actuator_lo[2]; } else { - tmp_5[11] = rtb_Merge_kp_WP_cur; + tmp_6[11] = rtb_Merge_kp_WP_cur; } rtb_Switch2_d4 = floorf(ET39_SIL_P.actuator_k[3] * rtb_de_r); @@ -36963,11 +37015,11 @@ void ET39_SIL_step(void) (int32_T)(uint16_T)-(int16_T)(uint16_T)-rtb_Switch2_d4 : (int32_T) (uint16_T)rtb_Switch2_d4) + ET39_SIL_P.actuator_trim[3]); if (rtb_Merge_kp_WP_cur > ET39_SIL_P.actuator_hi[3]) { - tmp_5[12] = ET39_SIL_P.actuator_hi[3]; + tmp_6[12] = ET39_SIL_P.actuator_hi[3]; } else if (rtb_Merge_kp_WP_cur < ET39_SIL_P.actuator_lo[3]) { - tmp_5[12] = ET39_SIL_P.actuator_lo[3]; + tmp_6[12] = ET39_SIL_P.actuator_lo[3]; } else { - tmp_5[12] = rtb_Merge_kp_WP_cur; + tmp_6[12] = rtb_Merge_kp_WP_cur; } /* End of Saturate: '/Saturation' */ @@ -36977,7 +37029,7 @@ void ET39_SIL_step(void) * SignalConversion: '/TmpSignal ConversionAtSelectorInport1' */ for (i = 0; i < 13; i++) { - ET39_SIL_B.pwms[i] = tmp_5[ET39_SIL_P.pwm_map[i]]; + ET39_SIL_B.pwms[i] = tmp_6[ET39_SIL_P.pwm_map[i]]; } /* End of Selector: '/Selector' */ @@ -38204,7 +38256,7 @@ void ET39_SIL_step(void) if (ET39_SIL_DW.left > 0) { if (ET39_SIL_DW.cnt10 >= 7) { ET39_SIL_DW.cnt10 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport2_b[0] = ET39_SIL_B.Merge_j.q_c; ET39_SIL_B.TmpSignalConversionAtBytePackInport2_b[1] = @@ -38285,13 +38337,13 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_nx[123] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_nx[0], - &ET39_SIL_ConstB.Width1_m, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_m, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_n, &rtCP_SFunction_P1_d, 1, 124); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_m; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.cnt11 >= 11) { ET39_SIL_DW.cnt11 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; rtb_Multiply_idx_0 = cosf(ET39_SIL_B.BusAssignment_n.psi); numAccum = sinf(ET39_SIL_B.BusAssignment_n.psi); ET39_SIL_B.TmpSignalConversionAtBytePackInport2[0] = @@ -38372,13 +38424,13 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_d[100] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_d[0], - &ET39_SIL_ConstB.Width1_ne, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_ne, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_mt, &rtCP_SFunction_P1_f0, 1, 101); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_ne; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.cnt12 >= 23) { ET39_SIL_DW.cnt12 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport3[0] = ET39_SIL_B.BusAssignment_n.lat; ET39_SIL_B.TmpSignalConversionAtBytePackInport3[1] = @@ -38492,13 +38544,13 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_li[103] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_li[0], - &ET39_SIL_ConstB.Width1_fj, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_fj, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_l, &rtCP_SFunction_P1_pc, 1, 104); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_fj; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.cnt13 >= 203) { ET39_SIL_DW.cnt13 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.INS_monitor_in[0] = ET39_SIL_B.err_hdr_a; ET39_SIL_B.INS_monitor_in[1] = ET39_SIL_B.bad_d; ET39_SIL_B.INS_monitor_in[2] = ET39_SIL_B.err_crc_d; @@ -38544,6 +38596,9 @@ void ET39_SIL_step(void) ET39_SIL_Y.traj.home_dist; ET39_SIL_B.TmpSignalConversionAtBytePackInport3_g[19] = ET39_SIL_Y.traj.home_bearing; + ET39_SIL_B.TmpSignalConversionAtBytePackInport3_g[20] = + 0.000999987125F * (real32_T) + ET39_SIL_B.BusAssignment_n.voltage_battery; /* Pack: /Byte Pack */ (void) memcpy(&ET39_SIL_B.BytePack_a[0], @@ -38554,9 +38609,9 @@ void ET39_SIL_step(void) 10); (void) memcpy(&ET39_SIL_B.BytePack_a[14], &ET39_SIL_B.TmpSignalConversionAtBytePackInport3_g[0], - 80); + 84); mode = 0U; - for (i = 0; i < 94; i++) { + for (i = 0; i < 98; i++) { mode = (uint8_T)((uint32_T)mode + ET39_SIL_B.BytePack_a[i]); ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[i + 4] = ET39_SIL_B.BytePack_a[i]; @@ -38567,16 +38622,16 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[2] = 13U; ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[3] = ET39_SIL_ConstB.Width_e; - ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[98] = mode; + ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[102] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_n[0], - &ET39_SIL_ConstB.Width1_n, &ET39_SIL_B.seq_f, - &ET39_SIL_B.ErrCode_js, &rtCP_SFunction_P1_a, 1, 99); + &ET39_SIL_ConstB.Width1_n, &ET39_SIL_B.seq_m, + &ET39_SIL_B.ErrCode_js, &rtCP_SFunction_P1_a, 1, 103); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_n; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.cnt14 >= 5) { ET39_SIL_DW.cnt14 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; hal_rec_Outputs_wrapper(&rtCP_Constant_Value_b4, &ET39_SIL_B.Merge_j.boot_time, &ET39_SIL_B.hal_rec_o1[0], &ET39_SIL_B.hal_rec_o2, 256); @@ -38595,13 +38650,13 @@ void ET39_SIL_step(void) ET39_SIL_B.Sum_o = (uint16_T)((uint8_T)rtb_Merge_kp_WP_cur + 5U); hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_l[0], - &ET39_SIL_B.Sum_o, &ET39_SIL_B.seq_f, &ET39_SIL_B.ErrCode_jl, + &ET39_SIL_B.Sum_o, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_jl, &rtCP_SFunction_P1_bq, 1, 260); ET39_SIL_B.len = ET39_SIL_B.Sum_o; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_B.gps_utc_time_seq_h != ET39_SIL_DW.last_gps1_tim_seq) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3j[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3j[1] = @@ -38646,14 +38701,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_p[29] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_p[0], - &ET39_SIL_ConstB.Width1_j, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_j, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_jz, &rtCP_SFunction_P1_p, 1, 30); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_j; ET39_SIL_DW.last_gps1_tim_seq = ET39_SIL_B.gps_utc_time_seq_h; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_B.gps_hdt_seq != ET39_SIL_DW.last_gps1_hdt_seq) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3ja[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3ja[1] = @@ -38695,14 +38750,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_o[34] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_o[0], - &ET39_SIL_ConstB.Width1_i, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_i, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_lr, &rtCP_SFunction_P1_h, 1, 35); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_i; ET39_SIL_DW.last_gps1_hdt_seq = ET39_SIL_B.gps_hdt_seq; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.last_gps1_vel_seq != ET39_SIL_B.gps_vel_seq_l) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaa[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaa[1] = @@ -38738,14 +38793,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_pz[44] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_pz[0], - &ET39_SIL_ConstB.Width1_jc, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_jc, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_i, &rtCP_SFunction_P1_b, 1, 45); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_jc; ET39_SIL_DW.last_gps1_vel_seq = ET39_SIL_B.gps_vel_seq_l; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.last_gps1_pos_seq != ET39_SIL_B.gps_pos_seq_n) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3[1] = @@ -38784,7 +38839,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_b[59] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_b[0], - &ET39_SIL_ConstB.Width1_e, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_e, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_d, &rtCP_SFunction_P1_hl, 1, 60); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_e; ET39_SIL_DW.last_gps1_pos_seq = ET39_SIL_B.gps_pos_seq_n; @@ -38794,7 +38849,7 @@ void ET39_SIL_step(void) ET39_SIL_DW.ins1_euler_cnt++; ET39_SIL_DW.last_ins1_euler_seq = ET39_SIL_B.euler_seq_j; if (ET39_SIL_DW.ins1_euler_cnt >= 4) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaamq[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaamq[1] = @@ -38833,7 +38888,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_ij[64] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_ij[0], - &ET39_SIL_ConstB.Width1_a, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_a, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_b, &rtCP_SFunction_P1, 1, 65); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_a; ET39_SIL_DW.ins1_euler_cnt = 0U; @@ -38843,7 +38898,7 @@ void ET39_SIL_step(void) ET39_SIL_DW.ins1_nav_cnt++; ET39_SIL_DW.last_ins1_nav_seq = ET39_SIL_B.nav_seq_g; if (ET39_SIL_DW.ins1_nav_cnt >= 4) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaam[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm3jaam[1] = @@ -38880,7 +38935,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_ih[72] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_ih[0], - &ET39_SIL_ConstB.Width1_jp, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_jp, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_a, &rtCP_SFunction_P1_g, 1, 73); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_jp; ET39_SIL_DW.ins1_nav_cnt = 0U; @@ -38891,7 +38946,7 @@ void ET39_SIL_step(void) ET39_SIL_DW.ins2_euler_cnt++; ET39_SIL_DW.last_ins2_euler_seq = ET39_SIL_B.euler_seq; if (ET39_SIL_DW.ins2_euler_cnt >= 4) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_phpm[1] = @@ -38928,7 +38983,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_i[64] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_i[0], - &ET39_SIL_ConstB.Width1_o, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_o, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_m, &rtCP_SFunction_P1_c, 1, 65); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_o; ET39_SIL_DW.ins2_euler_cnt = 0U; @@ -38938,7 +38993,7 @@ void ET39_SIL_step(void) ET39_SIL_DW.ins2_nav_cnt++; ET39_SIL_DW.last_ins2_nav_seq = ET39_SIL_B.nav_seq; if (ET39_SIL_DW.ins2_nav_cnt >= 4) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_php[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_php[1] = @@ -38973,7 +39028,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_e[72] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_e[0], - &ET39_SIL_ConstB.Width1_l, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_l, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_h, &rtCP_SFunction_P1_i, 1, 73); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_l; ET39_SIL_DW.ins2_nav_cnt = 0U; @@ -38981,7 +39036,7 @@ void ET39_SIL_step(void) } } else if (ET39_SIL_B.gps_utc_time_seq != ET39_SIL_DW.last_gps2_tim_seq) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_p[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_p[1] = @@ -39025,14 +39080,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_k[29] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_k[0], - &ET39_SIL_ConstB.Width1_d, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_d, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_k, &rtCP_SFunction_P1_aq, 1, 30); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_d; ET39_SIL_DW.last_gps2_tim_seq = ET39_SIL_B.gps_utc_time_seq; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.last_gps2_vel_seq != ET39_SIL_B.gps_vel_seq) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_ph[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1_ph[1] = @@ -39068,14 +39123,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_f[44] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_f[0], - &ET39_SIL_ConstB.Width1_f, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_f, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_j, &rtCP_SFunction_P1_k, 1, 45); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_f; ET39_SIL_DW.last_gps2_vel_seq = ET39_SIL_B.gps_vel_seq; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.last_gps2_pos_seq != ET39_SIL_B.gps_pos_seq) { - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; ET39_SIL_B.TmpSignalConversionAtBytePackInport1[0] = ET39_SIL_B.Merge_j.boot_time; ET39_SIL_B.TmpSignalConversionAtBytePackInport1[1] = @@ -39112,14 +39167,14 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1[59] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1[0], - &ET39_SIL_ConstB.Width1, &ET39_SIL_B.seq_f, &ET39_SIL_B.ErrCode, + &ET39_SIL_ConstB.Width1, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode, &rtCP_SFunction_P1_df, 1, 60); ET39_SIL_B.len = ET39_SIL_ConstB.Width1; ET39_SIL_DW.last_gps2_pos_seq = ET39_SIL_B.gps_pos_seq; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; } else if (ET39_SIL_DW.cnt1 > 5) { ET39_SIL_DW.cnt1 = 0U; - ET39_SIL_B.seq_f++; + ET39_SIL_B.seq_m++; /* Pack: /Byte Pack */ (void) memcpy(&ET39_SIL_B.BytePack_o[0], @@ -39143,7 +39198,7 @@ void ET39_SIL_step(void) ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_lp[18] = mode; hal_uart_out_Outputs_wrapper (&ET39_SIL_B.TmpSignalConversionAtSFunctionInport1_lp[0], - &ET39_SIL_ConstB.Width1_d3, &ET39_SIL_B.seq_f, + &ET39_SIL_ConstB.Width1_d3, &ET39_SIL_B.seq_m, &ET39_SIL_B.ErrCode_lm, &rtCP_SFunction_P1_f, 1, 19); ET39_SIL_B.len = ET39_SIL_ConstB.Width1_d3; ET39_SIL_DW.left -= (int16_T)ET39_SIL_B.len; @@ -39241,17 +39296,17 @@ void ET39_SIL_step(void) /* SignalConversion: '/TmpSignal ConversionAtSelectorInport1' */ for (i = 0; i < 13; i++) { - tmp_6[i] = ET39_SIL_B.pwms[i]; + tmp_7[i] = ET39_SIL_B.pwms[i]; } - tmp_6[13] = ET39_SIL_B.BusAssignment_n.RPMs[4]; + tmp_7[13] = ET39_SIL_B.BusAssignment_n.RPMs[4]; /* Selector: '/Selector' incorporates: * Constant: '/Constant2' * SignalConversion: '/TmpSignal ConversionAtSelectorInport1' */ for (i = 0; i < 9; i++) { - rtb_Selector[i] = tmp_6[ET39_SIL_P.pwm_inv_map[i]]; + rtb_Selector[i] = tmp_7[ET39_SIL_P.pwm_inv_map[i]]; } /* End of Selector: '/Selector' */ @@ -39422,11 +39477,11 @@ void ET39_SIL_step(void) for (i = 0; i < 3; i++) { for (rtb_MatrixConcatenation_tmp = 0; rtb_MatrixConcatenation_tmp < 3; rtb_MatrixConcatenation_tmp++) { - rtb_add_mt[i + 3 * rtb_MatrixConcatenation_tmp] = ((rtb_Product2_e3 - [3 * i + 1] * rtb_Product2_e3[3 * rtb_MatrixConcatenation_tmp + 1] - + rtb_Product2_e3[3 * i] * rtb_Product2_e3[3 * - rtb_MatrixConcatenation_tmp]) + rtb_Product2_e3[3 * i + 2] * - rtb_Product2_e3[3 * rtb_MatrixConcatenation_tmp + 2]) + + rtb_add_mt[i + 3 * rtb_MatrixConcatenation_tmp] = ((rtb_Product2_p4 + [3 * i + 1] * rtb_Product2_p4[3 * rtb_MatrixConcatenation_tmp + 1] + + rtb_Product2_p4[3 * i] * rtb_Product2_p4[3 * + rtb_MatrixConcatenation_tmp]) + rtb_Product2_p4[3 * i + 2] * + rtb_Product2_p4[3 * rtb_MatrixConcatenation_tmp + 2]) + rtCP_Bias1_Bias_c[3 * rtb_MatrixConcatenation_tmp + i]; } } @@ -39460,13 +39515,13 @@ void ET39_SIL_step(void) * RelationalOperator: '/Compare' * Sum: '/Sum' */ - if (fabs((((((rtb_Product2_e3[0] * rtb_Product2_e3[4] * rtb_Product2_e3 - [8] - rtb_Product2_e3[0] * rtb_Product2_e3[5] * - rtb_Product2_e3[7]) - rtb_Product2_e3[1] * - rtb_Product2_e3[3] * rtb_Product2_e3[8]) + rtb_Product2_e3 - [2] * rtb_Product2_e3[3] * rtb_Product2_e3[7]) + - rtb_Product2_e3[1] * rtb_Product2_e3[5] * rtb_Product2_e3[6]) - - rtb_Product2_e3[2] * rtb_Product2_e3[4] * rtb_Product2_e3[6]) + if (fabs((((((rtb_Product2_p4[0] * rtb_Product2_p4[4] * rtb_Product2_p4 + [8] - rtb_Product2_p4[0] * rtb_Product2_p4[5] * + rtb_Product2_p4[7]) - rtb_Product2_p4[1] * + rtb_Product2_p4[3] * rtb_Product2_p4[8]) + rtb_Product2_p4 + [2] * rtb_Product2_p4[3] * rtb_Product2_p4[7]) + + rtb_Product2_p4[1] * rtb_Product2_p4[5] * rtb_Product2_p4[6]) + - rtb_Product2_p4[2] * rtb_Product2_p4[4] * rtb_Product2_p4[6]) + -1.0) > 4.4408920985006262E-16) { /* Outputs for IfAction SubSystem: '/If Not Proper' incorporates: * ActionPort: '/Action Port' @@ -39536,26 +39591,26 @@ void ET39_SIL_step(void) /* Sum: '/Sum4' incorporates: * Product: '/Product3' */ - rtb_Merge_kp_home_lon1 = ET39_SIL_B.pqr[0] - rtb_MathFunction1_1[0]; + rtb_LowAltitudeScaleLength = ET39_SIL_B.pqr[0] - rtb_Sum4_d_tmp[0]; /* Fcn: '/q0dot' */ - rtb_Merge_kp_traj_lat1 = rtb_Merge_kp_home_lon1; + rtb_Merge_kp_home_lon1 = rtb_LowAltitudeScaleLength; /* Sum: '/Sum4' incorporates: * Product: '/Product3' */ - rtb_add[0] = rtb_Merge_kp_home_lon1; - rtb_Merge_kp_home_lon1 = ET39_SIL_B.pqr[1] - rtb_MathFunction1_1[1]; + rtb_Product_jt[0] = rtb_LowAltitudeScaleLength; + rtb_LowAltitudeScaleLength = ET39_SIL_B.pqr[1] - rtb_Sum4_d_tmp[1]; /* Fcn: '/q0dot' */ - rtb_Merge_kp_traj_lon1 = rtb_Merge_kp_home_lon1; + rtb_Merge_kp_traj_lat1 = rtb_LowAltitudeScaleLength; /* Sum: '/Sum4' incorporates: * Product: '/Product3' */ - rtb_add[1] = rtb_Merge_kp_home_lon1; - rtb_Merge_kp_home_lon1 = ET39_SIL_B.pqr[2] - rtb_MathFunction1_1[2]; - rtb_add[2] = rtb_Merge_kp_home_lon1; + rtb_Product_jt[1] = rtb_LowAltitudeScaleLength; + rtb_LowAltitudeScaleLength = ET39_SIL_B.pqr[2] - rtb_Sum4_d_tmp[2]; + rtb_Product_jt[2] = rtb_LowAltitudeScaleLength; /* SignalConversion: '/TmpSignal ConversionAtqInport1' incorporates: * Fcn: '/q0dot' @@ -39563,57 +39618,60 @@ void ET39_SIL_step(void) * Fcn: '/q2dot' */ ET39_SIL_B.TmpSignalConversionAtqInport1[0] = ((rtb_sigma_ugsigma_vg * - rtb_Merge_kp_traj_lat1 + rtb_Sum_bp * rtb_Merge_kp_traj_lon1) + - rtb_Sum1_k4 * rtb_Merge_kp_home_lon1) * -0.5; - ET39_SIL_B.TmpSignalConversionAtqInport1[1] = ((rtb_Product1_k * rtb_add[0] - + rtb_Sum_bp * rtb_Merge_kp_home_lon1) - rtb_Sum1_k4 * rtb_add[1]) * 0.5; - ET39_SIL_B.TmpSignalConversionAtqInport1[2] = ((rtb_Product1_k * rtb_add[1] - + rtb_Sum1_k4 * rtb_add[0]) - rtb_sigma_ugsigma_vg * - rtb_Merge_kp_home_lon1) * 0.5; + rtb_Merge_kp_home_lon1 + rtb_Sum_bp * rtb_Merge_kp_traj_lat1) + + rtb_Sum1_k4 * rtb_LowAltitudeScaleLength) * -0.5; + ET39_SIL_B.TmpSignalConversionAtqInport1[1] = ((rtb_Product1_k * + rtb_Product_jt[0] + rtb_Sum_bp * rtb_LowAltitudeScaleLength) - rtb_Sum1_k4 + * rtb_Product_jt[1]) * 0.5; + ET39_SIL_B.TmpSignalConversionAtqInport1[2] = ((rtb_Product1_k * + rtb_Product_jt[1] + rtb_Sum1_k4 * rtb_Product_jt[0]) - + rtb_sigma_ugsigma_vg * rtb_LowAltitudeScaleLength) * 0.5; for (i = 0; i < 3; i++) { /* Fcn: '/q3dot' */ - rtb_VectorConcatenate[i] = rtb_add[i]; - rtb_add_3[i] = rtb_add[i]; - rtb_add_4[i] = rtb_add[i]; + rtb_VectorConcatenate[i] = rtb_Product_jt[i]; + rtb_Product_e_1[i] = rtb_Product_jt[i]; + rtb_Product_e_2[i] = rtb_Product_jt[i]; /* Product: '/Product5' incorporates: * Math: '/Math Function2' */ ET39_SIL_B.Product5[i] = 0.0; - ET39_SIL_B.Product5[i] += rtb_MathFunction1[3 * i] * rtb_Sum_bx[0]; + ET39_SIL_B.Product5[i] += rtb_VectorConcatenate_ll[3 * i] * rtb_Sum_bx[0]; /* Math: '/Math Function1' incorporates: * Math: '/Math Function' */ - rtb_Product2_e3[3 * i] = rtb_MathFunction_j0[i]; + rtb_Product2_p4[3 * i] = rtb_MathFunction_j0[i]; /* Product: '/Product5' incorporates: * Math: '/Math Function2' */ - ET39_SIL_B.Product5[i] += rtb_MathFunction1[3 * i + 1] * rtb_Sum_bx[1]; + ET39_SIL_B.Product5[i] += rtb_VectorConcatenate_ll[3 * i + 1] * + rtb_Sum_bx[1]; /* Math: '/Math Function1' incorporates: * Math: '/Math Function' */ - rtb_Product2_e3[1 + 3 * i] = rtb_MathFunction_j0[i + 3]; + rtb_Product2_p4[1 + 3 * i] = rtb_MathFunction_j0[i + 3]; /* Product: '/Product5' incorporates: * Math: '/Math Function2' */ - ET39_SIL_B.Product5[i] += rtb_MathFunction1[3 * i + 2] * rtb_Sum_bx[2]; + ET39_SIL_B.Product5[i] += rtb_VectorConcatenate_ll[3 * i + 2] * + rtb_Sum_bx[2]; /* Math: '/Math Function1' incorporates: * Math: '/Math Function' */ - rtb_Product2_e3[2 + 3 * i] = rtb_MathFunction_j0[i + 6]; + rtb_Product2_p4[2 + 3 * i] = rtb_MathFunction_j0[i + 6]; } /* SignalConversion: '/TmpSignal ConversionAtqInport1' incorporates: * Fcn: '/q3dot' */ ET39_SIL_B.TmpSignalConversionAtqInport1[3] = ((rtb_Product1_k * - rtb_VectorConcatenate[2] + rtb_sigma_ugsigma_vg * rtb_add_3[1]) - - rtb_Sum_bp * rtb_add_4[0]) * 0.5; + rtb_VectorConcatenate[2] + rtb_sigma_ugsigma_vg * rtb_Product_e_1[1]) - + rtb_Sum_bp * rtb_Product_e_2[0]) * 0.5; for (i = 0; i < 3; i++) { /* Product: '/Product1' */ ET39_SIL_B.Product1[i] = 0.0; @@ -39624,8 +39682,8 @@ void ET39_SIL_step(void) /* Product: '/Product4' incorporates: * Math: '/Math Function1' */ - rtb_add[i] = rtb_Product2_e3[i + 6] * 7.292115E-5 + (rtb_Product2_e3[i + 3] - * 0.0 + rtb_Product2_e3[i] * 0.0); + rtb_Product_jt[i] = rtb_Product2_p4[i + 6] * 7.292115E-5 + + (rtb_Product2_p4[i + 3] * 0.0 + rtb_Product2_p4[i] * 0.0); } /* Integrator: '/p' */ @@ -39639,12 +39697,12 @@ void ET39_SIL_step(void) * Integrator: '/p' * Product: '/j x k' */ - rtb_Sum1_k4 = ET39_SIL_X.p_CSTATE[1] * rtb_add[2]; + rtb_Sum1_k4 = ET39_SIL_X.p_CSTATE[1] * rtb_Product_jt[2]; /* Product: '/k x i' incorporates: * Integrator: '/p' */ - rtb_Product1_k = ET39_SIL_X.p_CSTATE[2] * rtb_add[0]; + rtb_Product1_k = ET39_SIL_X.p_CSTATE[2] * rtb_Product_jt[0]; /* Sum: '/Sum' incorporates: * Integrator: '/p' @@ -39653,12 +39711,12 @@ void ET39_SIL_step(void) * Product: '/j x i' * Product: '/k x j' */ - rtb_Sum2_eq[0] = rtb_Sum1_k4; - rtb_Sum2_eq[1] = rtb_Product1_k; - rtb_Sum2_eq[2] = ET39_SIL_X.p_CSTATE[0] * rtb_add[1]; - tmp_4[0] = ET39_SIL_X.p_CSTATE[2] * rtb_add[1]; - tmp_4[1] = ET39_SIL_X.p_CSTATE[0] * rtb_add[2]; - tmp_4[2] = ET39_SIL_X.p_CSTATE[1] * rtb_add[0]; + tmp_0[0] = rtb_Sum1_k4; + tmp_0[1] = rtb_Product1_k; + tmp_0[2] = ET39_SIL_X.p_CSTATE[0] * rtb_Product_jt[1]; + tmp_5[0] = ET39_SIL_X.p_CSTATE[2] * rtb_Product_jt[1]; + tmp_5[1] = ET39_SIL_X.p_CSTATE[0] * rtb_Product_jt[2]; + tmp_5[2] = ET39_SIL_X.p_CSTATE[1] * rtb_Product_jt[0]; for (i = 0; i < 3; i++) { /* Sum: '/Sum2' */ rtb_WhiteNoise_idx_2 = 0.0; @@ -39670,22 +39728,22 @@ void ET39_SIL_step(void) * Product: '/Product2' */ rtb_BitwiseAND = i + 3 * rtb_MatrixConcatenation_tmp; - rtb_MathFunction1_0[rtb_BitwiseAND] = 0.0; + rtb_VectorConcatenate_k[rtb_BitwiseAND] = 0.0; rtb_BitwiseAND1 = 3 * rtb_MatrixConcatenation_tmp + i; - rtb_MathFunction1_0[rtb_BitwiseAND] = - rtb_MathFunction1_0[rtb_BitwiseAND1] + rtb_Product2_e3[3 * i] * - rtb_MathFunction1[rtb_MatrixConcatenation_tmp]; - rtb_MathFunction1_0[rtb_BitwiseAND] = rtb_Product2_e3[3 * i + 1] * - rtb_MathFunction1[rtb_MatrixConcatenation_tmp + 3] + - rtb_MathFunction1_0[rtb_BitwiseAND1]; - rtb_MathFunction1_0[rtb_BitwiseAND] = rtb_Product2_e3[3 * i + 2] * - rtb_MathFunction1[rtb_MatrixConcatenation_tmp + 6] + - rtb_MathFunction1_0[rtb_BitwiseAND1]; + rtb_VectorConcatenate_k[rtb_BitwiseAND] = + rtb_VectorConcatenate_k[rtb_BitwiseAND1] + rtb_Product2_p4[3 * i] * + rtb_VectorConcatenate_ll[rtb_MatrixConcatenation_tmp]; + rtb_VectorConcatenate_k[rtb_BitwiseAND] = rtb_Product2_p4[3 * i + 1] * + rtb_VectorConcatenate_ll[rtb_MatrixConcatenation_tmp + 3] + + rtb_VectorConcatenate_k[rtb_BitwiseAND1]; + rtb_VectorConcatenate_k[rtb_BitwiseAND] = rtb_Product2_p4[3 * i + 2] * + rtb_VectorConcatenate_ll[rtb_MatrixConcatenation_tmp + 6] + + rtb_VectorConcatenate_k[rtb_BitwiseAND1]; /* Sum: '/Sum2' incorporates: * Product: '/Product2' */ - rtb_WhiteNoise_idx_2 += rtb_MathFunction1_0[rtb_BitwiseAND1] * + rtb_WhiteNoise_idx_2 += rtb_VectorConcatenate_k[rtb_BitwiseAND1] * rtb_Sum_bx[rtb_MatrixConcatenation_tmp]; } @@ -39693,7 +39751,7 @@ void ET39_SIL_step(void) * Product: '/Product2' * Sum: '/Sum' */ - ET39_SIL_B.Sum2_g[i] = rtb_WhiteNoise_idx_2 - (rtb_Sum2_eq[i] - tmp_4[i]); + ET39_SIL_B.Sum2_g[i] = rtb_WhiteNoise_idx_2 - (tmp_0[i] - tmp_5[i]); } if (rtmIsMajorTimeStep(ET39_SIL_M)) { @@ -39730,17 +39788,17 @@ void ET39_SIL_step(void) /* Sum: '/Sum2' incorporates: * Product: '/Product2' */ - rtb_add[0] = ET39_SIL_B.pqr[0] + rtb_MathFunction1_1[0]; - rtb_add[1] = ET39_SIL_B.pqr[1] + rtb_MathFunction1_1[1]; - rtb_add[2] = ET39_SIL_B.pqr[2] + rtb_MathFunction1_1[2]; + rtb_Product_jt[0] = ET39_SIL_B.pqr[0] + rtb_Sum4_d_tmp[0]; + rtb_Product_jt[1] = ET39_SIL_B.pqr[1] + rtb_Sum4_d_tmp[1]; + rtb_Product_jt[2] = ET39_SIL_B.pqr[2] + rtb_Sum4_d_tmp[2]; /* DotProduct: '/Dot Product' incorporates: * Product: '/j x k' */ - rtb_Sum1_k4 = rtb_Sum_bx[1] * rtb_add[2]; + rtb_Sum1_k4 = rtb_Sum_bx[1] * rtb_Product_jt[2]; /* Product: '/k x i' */ - rtb_Product1_k = rtb_Sum_bx[2] * rtb_add[0]; + rtb_Product1_k = rtb_Sum_bx[2] * rtb_Product_jt[0]; /* Sum: '/Sum' incorporates: * Product: '/i x j' @@ -39748,9 +39806,10 @@ void ET39_SIL_step(void) * Product: '/j x i' * Product: '/k x j' */ - rtb_Merge_fq[0] = rtb_Sum1_k4 - rtb_Sum_bx[2] * rtb_add[1]; - rtb_Merge_fq[1] = rtb_Product1_k - rtb_Sum_bx[0] * rtb_add[2]; - rtb_Merge_fq[2] = rtb_Sum_bx[0] * rtb_add[1] - rtb_Sum_bx[1] * rtb_add[0]; + rtb_Merge_fq[0] = rtb_Sum1_k4 - rtb_Sum_bx[2] * rtb_Product_jt[1]; + rtb_Merge_fq[1] = rtb_Product1_k - rtb_Sum_bx[0] * rtb_Product_jt[2]; + rtb_Merge_fq[2] = rtb_Sum_bx[0] * rtb_Product_jt[1] - rtb_Sum_bx[1] * + rtb_Product_jt[0]; /* DotProduct: '/Dot Product' incorporates: * Constant: '/omega_earth2' @@ -39814,10 +39873,11 @@ void ET39_SIL_step(void) * Sum: '/Sum' */ rtb_ImpAsg_InsertedFor_F_at_inport_0_idx_0 = (rtb_Merge_fq[i] - - ((rtb_MathFunction1[i + 3] * rtb_Sum_bx[1] + rtb_MathFunction1[i] * - rtb_Sum_bx[0]) + rtb_MathFunction1[i + 6] * rtb_Sum_bx[2])) + - ((tmpForInput[i] * ET39_SIL_P.mass0 + rtb_add_f[i]) + - ET39_SIL_B.SumofElements[i]) / ET39_SIL_P.mass0; + ((rtb_VectorConcatenate_ll[i + 3] * rtb_Sum_bx[1] + + rtb_VectorConcatenate_ll[i] * rtb_Sum_bx[0]) + + rtb_VectorConcatenate_ll[i + 6] * rtb_Sum_bx[2])) + ((tmpForInput[i] * + ET39_SIL_P.mass0 + rtb_add_f[i]) + ET39_SIL_B.SumofElements[i]) / + ET39_SIL_P.mass0; /* DeadZone: '/Dead Zone' */ if (rtb_ImpAsg_InsertedFor_F_at_inport_0_idx_0 > 2.2204460492503131E-16) { @@ -40045,7 +40105,7 @@ void ET39_SIL_step(void) ET39_SIL_DW.sens.RPMs[i] = rtb_rpm[i]; } - ET39_SIL_DW.sens.voltage_battery = 48U; + ET39_SIL_DW.sens.voltage_battery = 48000U; /* End of BusAssignment: '/Bus Assignment' */ } @@ -41549,7 +41609,7 @@ void ET39_SIL_initialize(void) * sizeof(MavMission)); /* Start for DataStoreMemory: '/dummyMissionCount' */ - dummyMissionCount = 7U; + dummyMissionCount = 12U; /* Start for DataStoreMemory: '/dummyRally' */ memcpy(&dummyRally[0], &ET39_SIL_ConstP.dummyRally_InitialValue[0], sizeof @@ -42866,7 +42926,7 @@ void ET39_SIL_initialize(void) ET39_SIL_DW.last_gps2_vel_seq = 0U; ET39_SIL_DW.last_gps2_pos_seq = 0U; ET39_SIL_DW.last_gps2_tim_seq = 0U; - ET39_SIL_B.seq_f = 0U; + ET39_SIL_B.seq_m = 0U; /* SystemInitialize for Merge: '/Merge' */ ET39_SIL_B.len = 0U; diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.h b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.h index 7a6e2e0..7dd741b 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.h +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL.h @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -590,7 +590,7 @@ typedef struct { uint32_T SFunction_n; /* '/S-Function' */ uint32_T OutportBuffer_InsertedFor_gps_vel_status_at_inport_0;/* '/Constant' */ uint32_T OutportBuffer_InsertedFor_gps_pos_status_at_inport_0;/* '/Constant' */ - real32_T TmpSignalConversionAtBytePackInport3_g[20]; + real32_T TmpSignalConversionAtBytePackInport3_g[21]; real32_T TmpSignalConversionAtBytePackInport4[12]; real32_T TmpSignalConversionAtBytePackInport2[11]; real32_T TmpSignalConversionAtBytePackInport4_e[4]; @@ -1093,7 +1093,7 @@ typedef struct { int16_T temp; /* '/Byte Unpack' */ int16_T param_idx; /* '/set_val_capi' */ int16_T param_idx_a; /* '/find_idx_capi' */ - uint8_T seq_f; /* '/record_traffic_ctrl' */ + uint8_T seq_m; /* '/record_traffic_ctrl' */ uint8_T BytePack[55]; /* '/Byte Pack' */ uint8_T TmpSignalConversionAtSFunctionInport1[60]; uint8_T BytePack_n[25]; /* '/Byte Pack' */ @@ -1106,8 +1106,8 @@ typedef struct { uint8_T TmpSignalConversionAtSFunctionInport1_i[65]; uint8_T hal_rec_o1[256]; /* '/hal_rec' */ uint8_T TmpSignalConversionAtSFunctionInport1_l[260]; - uint8_T BytePack_a[94]; /* '/Byte Pack' */ - uint8_T TmpSignalConversionAtSFunctionInport1_n[99]; + uint8_T BytePack_a[98]; /* '/Byte Pack' */ + uint8_T TmpSignalConversionAtSFunctionInport1_n[103]; uint8_T TmpSignalConversionAtBytePackInport6_c[2]; uint8_T TmpSignalConversionAtBytePackInport8[17]; uint8_T BytePack_j[99]; /* '/Byte Pack' */ @@ -2225,19 +2225,6 @@ typedef struct { const real_T Sum1_lq; /* '/Sum1' */ const real_T Sum1_o; /* '/Sum1' */ const real_T Product2_g; /* '/Product2' */ - const real_T TmpSignalConversionAtsincosInport1[3]; - const real_T sincos_o1[3]; /* '/sincos' */ - const real_T sincos_o2[3]; /* '/sincos' */ - const real_T Fcn11; /* '/Fcn11' */ - const real_T Fcn21; /* '/Fcn21' */ - const real_T Fcn31; /* '/Fcn31' */ - const real_T Fcn12; /* '/Fcn12' */ - const real_T Fcn22; /* '/Fcn22' */ - const real_T Fcn32; /* '/Fcn32' */ - const real_T Fcn13; /* '/Fcn13' */ - const real_T Fcn23; /* '/Fcn23' */ - const real_T Fcn33; /* '/Fcn33' */ - const real_T VectorConcatenate[9]; /* '/Vector Concatenate' */ const real_T Sum_k; /* '/Sum' */ const real_T Product3; /* '/Product3' */ const real_T Sum2; /* '/Sum2' */ @@ -2260,19 +2247,19 @@ typedef struct { const real_T Selector1[3]; /* '/Selector1' */ const real_T Selector[3]; /* '/Selector' */ const real_T Selector2[3]; /* '/Selector2' */ - const real_T TmpSignalConversionAtsincosInport1_k[3]; - const real_T sincos_o1_m[3]; /* '/sincos' */ - const real_T sincos_o2_a[3]; /* '/sincos' */ - const real_T Fcn11_h; /* '/Fcn11' */ - const real_T Fcn21_c; /* '/Fcn21' */ - const real_T Fcn31_l; /* '/Fcn31' */ - const real_T Fcn12_k; /* '/Fcn12' */ - const real_T Fcn22_n; /* '/Fcn22' */ - const real_T Fcn32_n; /* '/Fcn32' */ - const real_T Fcn13_p; /* '/Fcn13' */ - const real_T Fcn23_o; /* '/Fcn23' */ - const real_T Fcn33_d; /* '/Fcn33' */ - const real_T VectorConcatenate_c[9]; /* '/Vector Concatenate' */ + const real_T TmpSignalConversionAtsincosInport1[3]; + const real_T sincos_o1[3]; /* '/sincos' */ + const real_T sincos_o2[3]; /* '/sincos' */ + const real_T Fcn11; /* '/Fcn11' */ + const real_T Fcn21; /* '/Fcn21' */ + const real_T Fcn31; /* '/Fcn31' */ + const real_T Fcn12; /* '/Fcn12' */ + const real_T Fcn22; /* '/Fcn22' */ + const real_T Fcn32; /* '/Fcn32' */ + const real_T Fcn13; /* '/Fcn13' */ + const real_T Fcn23; /* '/Fcn23' */ + const real_T Fcn33; /* '/Fcn33' */ + const real_T VectorConcatenate[9]; /* '/Vector Concatenate' */ const real_T MathFunction[9]; /* '/Math Function' */ const real_T TrigonometricFunction; /* '/Trigonometric Function' */ const real_T TrigonometricFunction1; /* '/Trigonometric Function1' */ @@ -3140,6 +3127,9 @@ extern const ConstP_ET39_SIL_T ET39_SIL_ConstP; * these parameters and exports their symbols. * */ +extern real_T Att0[3]; /* Variable: Att0 + * Referenced by: '/Initial Euler Angles' + */ extern real_T CD0UncertVal; /* Variable: CD0UncertVal * Referenced by: '/Param_CD0UncertVal' */ diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.c b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.c index e15ec7a..8f9eea9 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.c +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.c @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -394,71 +394,73 @@ static const rtwCAPI_ModelParameters rtModelParameters[] = { { 170, TARGET_STRING("use_tht_leadlag"), 4, 2, 0 }, - { 171, TARGET_STRING("CD0UncertVal"), 0, 2, 0 }, + { 171, TARGET_STRING("Att0"), 0, 0, 0 }, - { 172, TARGET_STRING("CG_bias_m"), 0, 0, 0 }, + { 172, TARGET_STRING("CD0UncertVal"), 0, 2, 0 }, - { 173, TARGET_STRING("CL0UncertVal"), 0, 2, 0 }, + { 173, TARGET_STRING("CG_bias_m"), 0, 0, 0 }, - { 174, TARGET_STRING("CLaUncertGain"), 0, 2, 0 }, + { 174, TARGET_STRING("CL0UncertVal"), 0, 2, 0 }, - { 175, TARGET_STRING("CLdelUncertGain"), 0, 2, 0 }, + { 175, TARGET_STRING("CLaUncertGain"), 0, 2, 0 }, - { 176, TARGET_STRING("CLderUncertGain"), 0, 2, 0 }, + { 176, TARGET_STRING("CLdelUncertGain"), 0, 2, 0 }, - { 177, TARGET_STRING("CLqUncertGain"), 0, 2, 0 }, + { 177, TARGET_STRING("CLderUncertGain"), 0, 2, 0 }, - { 178, TARGET_STRING("CY0UncertVal"), 0, 2, 0 }, + { 178, TARGET_STRING("CLqUncertGain"), 0, 2, 0 }, - { 179, TARGET_STRING("CYbUncertGain"), 0, 2, 0 }, + { 179, TARGET_STRING("CY0UncertVal"), 0, 2, 0 }, - { 180, TARGET_STRING("CYdelUncertGain"), 0, 2, 0 }, + { 180, TARGET_STRING("CYbUncertGain"), 0, 2, 0 }, - { 181, TARGET_STRING("CYderUncertGain"), 0, 2, 0 }, + { 181, TARGET_STRING("CYdelUncertGain"), 0, 2, 0 }, - { 182, TARGET_STRING("CYpUncertGain"), 0, 2, 0 }, + { 182, TARGET_STRING("CYderUncertGain"), 0, 2, 0 }, - { 183, TARGET_STRING("CYrUncertGain"), 0, 2, 0 }, + { 183, TARGET_STRING("CYpUncertGain"), 0, 2, 0 }, - { 184, TARGET_STRING("Cl0UncertVal"), 0, 2, 0 }, + { 184, TARGET_STRING("CYrUncertGain"), 0, 2, 0 }, - { 185, TARGET_STRING("ClbUncertGain"), 0, 2, 0 }, + { 185, TARGET_STRING("Cl0UncertVal"), 0, 2, 0 }, - { 186, TARGET_STRING("CldalUncertGain"), 0, 2, 0 }, + { 186, TARGET_STRING("ClbUncertGain"), 0, 2, 0 }, - { 187, TARGET_STRING("CldarUncertGain"), 0, 2, 0 }, + { 187, TARGET_STRING("CldalUncertGain"), 0, 2, 0 }, - { 188, TARGET_STRING("ClpUncertGain"), 0, 2, 0 }, + { 188, TARGET_STRING("CldarUncertGain"), 0, 2, 0 }, - { 189, TARGET_STRING("ClrUncertGain"), 0, 2, 0 }, + { 189, TARGET_STRING("ClpUncertGain"), 0, 2, 0 }, - { 190, TARGET_STRING("Cm0UncertVal"), 0, 2, 0 }, + { 190, TARGET_STRING("ClrUncertGain"), 0, 2, 0 }, - { 191, TARGET_STRING("CmaUncertPct"), 0, 2, 0 }, + { 191, TARGET_STRING("Cm0UncertVal"), 0, 2, 0 }, - { 192, TARGET_STRING("CmdelUncertGain"), 0, 2, 0 }, + { 192, TARGET_STRING("CmaUncertPct"), 0, 2, 0 }, - { 193, TARGET_STRING("CmderUncertGain"), 0, 2, 0 }, + { 193, TARGET_STRING("CmdelUncertGain"), 0, 2, 0 }, - { 194, TARGET_STRING("CmqUncertGain"), 0, 2, 0 }, + { 194, TARGET_STRING("CmderUncertGain"), 0, 2, 0 }, - { 195, TARGET_STRING("Cn0UncertVal"), 0, 2, 0 }, + { 195, TARGET_STRING("CmqUncertGain"), 0, 2, 0 }, - { 196, TARGET_STRING("CnbUncertGain"), 0, 2, 0 }, + { 196, TARGET_STRING("Cn0UncertVal"), 0, 2, 0 }, - { 197, TARGET_STRING("CndelUncertGain"), 0, 2, 0 }, + { 197, TARGET_STRING("CnbUncertGain"), 0, 2, 0 }, - { 198, TARGET_STRING("CnderUncertGain"), 0, 2, 0 }, + { 198, TARGET_STRING("CndelUncertGain"), 0, 2, 0 }, - { 199, TARGET_STRING("CnpUncertGain"), 0, 2, 0 }, + { 199, TARGET_STRING("CnderUncertGain"), 0, 2, 0 }, - { 200, TARGET_STRING("CnrUncertGain"), 0, 2, 0 }, + { 200, TARGET_STRING("CnpUncertGain"), 0, 2, 0 }, - { 201, TARGET_STRING("InertiaMoments_bias_kg_m2"), 0, 1, 0 }, + { 201, TARGET_STRING("CnrUncertGain"), 0, 2, 0 }, - { 202, TARGET_STRING("X0"), 0, 0, 0 }, + { 202, TARGET_STRING("InertiaMoments_bias_kg_m2"), 0, 1, 0 }, - { 203, TARGET_STRING("hground"), 0, 2, 0 }, + { 203, TARGET_STRING("X0"), 0, 0, 0 }, + + { 204, TARGET_STRING("hground"), 0, 2, 0 }, { 0, (NULL), 0, 0, 0 } }; @@ -638,39 +640,40 @@ static void* rtDataAddrMap[] = { &ET39_SIL_P.use_hv_leadlag, /* 168: Model Parameter */ &ET39_SIL_P.use_phi_leadlag, /* 169: Model Parameter */ &ET39_SIL_P.use_tht_leadlag, /* 170: Model Parameter */ - &CD0UncertVal, /* 171: Model Parameter */ - CG_bias_m, /* 172: Model Parameter */ - &CL0UncertVal, /* 173: Model Parameter */ - &CLaUncertGain, /* 174: Model Parameter */ - &CLdelUncertGain, /* 175: Model Parameter */ - &CLderUncertGain, /* 176: Model Parameter */ - &CLqUncertGain, /* 177: Model Parameter */ - &CY0UncertVal, /* 178: Model Parameter */ - &CYbUncertGain, /* 179: Model Parameter */ - &CYdelUncertGain, /* 180: Model Parameter */ - &CYderUncertGain, /* 181: Model Parameter */ - &CYpUncertGain, /* 182: Model Parameter */ - &CYrUncertGain, /* 183: Model Parameter */ - &Cl0UncertVal, /* 184: Model Parameter */ - &ClbUncertGain, /* 185: Model Parameter */ - &CldalUncertGain, /* 186: Model Parameter */ - &CldarUncertGain, /* 187: Model Parameter */ - &ClpUncertGain, /* 188: Model Parameter */ - &ClrUncertGain, /* 189: Model Parameter */ - &Cm0UncertVal, /* 190: Model Parameter */ - &CmaUncertPct, /* 191: Model Parameter */ - &CmdelUncertGain, /* 192: Model Parameter */ - &CmderUncertGain, /* 193: Model Parameter */ - &CmqUncertGain, /* 194: Model Parameter */ - &Cn0UncertVal, /* 195: Model Parameter */ - &CnbUncertGain, /* 196: Model Parameter */ - &CndelUncertGain, /* 197: Model Parameter */ - &CnderUncertGain, /* 198: Model Parameter */ - &CnpUncertGain, /* 199: Model Parameter */ - &CnrUncertGain, /* 200: Model Parameter */ - InertiaMoments_bias_kg_m2, /* 201: Model Parameter */ - X0, /* 202: Model Parameter */ - &hground, /* 203: Model Parameter */ + Att0, /* 171: Model Parameter */ + &CD0UncertVal, /* 172: Model Parameter */ + CG_bias_m, /* 173: Model Parameter */ + &CL0UncertVal, /* 174: Model Parameter */ + &CLaUncertGain, /* 175: Model Parameter */ + &CLdelUncertGain, /* 176: Model Parameter */ + &CLderUncertGain, /* 177: Model Parameter */ + &CLqUncertGain, /* 178: Model Parameter */ + &CY0UncertVal, /* 179: Model Parameter */ + &CYbUncertGain, /* 180: Model Parameter */ + &CYdelUncertGain, /* 181: Model Parameter */ + &CYderUncertGain, /* 182: Model Parameter */ + &CYpUncertGain, /* 183: Model Parameter */ + &CYrUncertGain, /* 184: Model Parameter */ + &Cl0UncertVal, /* 185: Model Parameter */ + &ClbUncertGain, /* 186: Model Parameter */ + &CldalUncertGain, /* 187: Model Parameter */ + &CldarUncertGain, /* 188: Model Parameter */ + &ClpUncertGain, /* 189: Model Parameter */ + &ClrUncertGain, /* 190: Model Parameter */ + &Cm0UncertVal, /* 191: Model Parameter */ + &CmaUncertPct, /* 192: Model Parameter */ + &CmdelUncertGain, /* 193: Model Parameter */ + &CmderUncertGain, /* 194: Model Parameter */ + &CmqUncertGain, /* 195: Model Parameter */ + &Cn0UncertVal, /* 196: Model Parameter */ + &CnbUncertGain, /* 197: Model Parameter */ + &CndelUncertGain, /* 198: Model Parameter */ + &CnderUncertGain, /* 199: Model Parameter */ + &CnpUncertGain, /* 200: Model Parameter */ + &CnrUncertGain, /* 201: Model Parameter */ + InertiaMoments_bias_kg_m2, /* 202: Model Parameter */ + X0, /* 203: Model Parameter */ + &hground, /* 204: Model Parameter */ }; /* Declare Data Run-Time Dimension Buffer Addresses statically */ @@ -787,7 +790,7 @@ static rtwCAPI_ModelMappingStaticInfo mmiStatic = { (NULL), 0 }, { rtBlockParameters, 0, - rtModelParameters, 204 }, + rtModelParameters, 205 }, { (NULL), 0 }, @@ -795,10 +798,10 @@ static rtwCAPI_ModelMappingStaticInfo mmiStatic = { rtElementMap, rtSampleTimeMap, rtDimensionArray }, "float", - { 3675274250U, - 3873472928U, - 2308787951U, - 3647369256U }, + { 3124855479U, + 53724352U, + 224880413U, + 1463409290U }, (NULL), 0, 0 }; diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.h b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.h index 9463485..6620ea1 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.h +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_capi.h @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_data.c b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_data.c index 49bc1b2..a7a51ad 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_data.c +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_data.c @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) @@ -33,23 +33,6 @@ const ConstB_ET39_SIL_T ET39_SIL_ConstB = { 0.00669437999014133, /* '/Sum1' */ 0.99330562000985867, /* '/Sum1' */ 0.0067394967422764488, /* '/Product2' */ - - { 0.0, 0.0, 0.0 }, /* synthesized block */ - - { 0.0, 0.0, 0.0 }, /* '/sincos' */ - - { 1.0, 1.0, 1.0 }, /* '/sincos' */ - 1.0, /* '/Fcn11' */ - 0.0, /* '/Fcn21' */ - 0.0, /* '/Fcn31' */ - 0.0, /* '/Fcn12' */ - 1.0, /* '/Fcn22' */ - 0.0, /* '/Fcn32' */ - -0.0, /* '/Fcn13' */ - 0.0, /* '/Fcn23' */ - 1.0, /* '/Fcn33' */ - - { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, 0.0, 1.0 },/* '/Vector Concatenate' */ 0.99664718933525254, /* '/Sum' */ 0.99330562000985867, /* '/Product3' */ 0.00669437999014133, /* '/Sum2' */ @@ -113,7 +96,7 @@ const ConstB_ET39_SIL_T ET39_SIL_ConstB = { 45U, /* '/Width1' */ 73U, /* '/Width1' */ 65U, /* '/Width1' */ - 99U, /* '/Width1' */ + 103U, /* '/Width1' */ 104U, /* '/Width1' */ 101U, /* '/Width1' */ 124U, /* '/Width1' */ @@ -129,7 +112,7 @@ const ConstB_ET39_SIL_T ET39_SIL_ConstB = { 40U, /* '/Width' */ 68U, /* '/Width' */ 60U, /* '/Width' */ - 94U, /* '/Width' */ + 98U, /* '/Width' */ 99U, /* '/Width' */ 96U, /* '/Width' */ 119U, /* '/Width' */ @@ -930,7 +913,7 @@ P_ET39_SIL_T ET39_SIL_P = { /* Variable: mc_min_az * Referenced by: '/mc_min_az' */ - 8.0F, + 7.0F, /* Variable: mc_min_hdot * Referenced by: '/mc_max_hdot1' @@ -965,7 +948,7 @@ P_ET39_SIL_T ET39_SIL_P = { /* Variable: mc_w_hover * Referenced by: '/Constant46' */ - 0.8F, + 1.2F, /* Variable: mc_w_p * Referenced by: '/mc_w_p' @@ -1075,7 +1058,7 @@ P_ET39_SIL_T ET39_SIL_P = { * '/Constant30' * '/Constant1' */ - { 1033.0F, 1896.0F }, + { 1050.0F, 1896.0F }, /* Variable: prop_pwm_lst2 * Referenced by: '/Constant1' @@ -1155,7 +1138,7 @@ P_ET39_SIL_T ET39_SIL_P = { /* Variable: volt0 * Referenced by: '/Constant BP1' */ - 48.0F, + 48000.0F, /* Variable: washout_r_den * Referenced by: '/Constant40' @@ -1253,37 +1236,72 @@ const ConstP_ET39_SIL_T ET39_SIL_ConstP = { 84U, 1U, - { 0.0F, 0.0F, 0.0F, 0.0F, 55.0F }, + { 0.0F, 0.0F, 0.0F, 0.0F, 50.0F }, - { 318236463, 1187816754 } + { 409219636, 1096188147 } }, { 3U, 16U, 1U, - { 0.0F, 100.0F, 250.0F, 0.0F, 60.0F }, + { 0.0F, 5.0F, 0.0F, 0.0F, 50.0F }, - { 318323879, 1187806429 } + { 409229947, 1096228816 } }, { 3U, 16U, 1U, - { 0.0F, 100.0F, 250.0F, 0.0F, 80.0F }, + { 0.0F, 50.0F, 200.0F, 0.0F, 60.0F }, - { 318336921, 1187858216 } + { 409242802, 1096279285 } }, { 3U, 16U, 1U, - { 0.0F, 100.0F, 250.0F, 0.0F, 60.0F }, + { 0.0F, 50.0F, 200.0F, 0.0F, 70.0F }, - { 318288506, 1187865570 } + { 409279022, 1096265266 } }, { 3U, 16U, 1U, - { 0.0F, 100.0F, 250.0F, 0.0F, 50.0F }, + { 0.0F, 50.0F, 200.0F, 0.0F, 70.0F }, - { 318281933, 1187803392 } + { 409280889, 1096150289 } + }, { 3U, + 16U, + 1U, + + { 0.0F, 50.0F, 200.0F, 0.0F, 50.0F }, + + { 409220116, 1096172527 } + }, { 3U, + 16U, + 1U, + + { 0.0F, 50.0F, 200.0F, 0.0F, 60.0F }, + + { 409245012, 1096278457 } + }, { 3U, + 16U, + 1U, + + { 0.0F, 50.0F, 200.0F, 0.0F, 70.0F }, + + { 409280993, 1096264677 } + }, { 3U, + 16U, + 1U, + + { 0.0F, 50.0F, 200.0F, 0.0F, 70.0F }, + + { 409283154, 1096149244 } + }, { 3U, + 16U, + 1U, + + { 0.0F, 5.0F, 200.0F, 0.0F, 50.0F }, + + { 409246534, 1096162703 } }, { 2U, 178U, 1U, @@ -1297,42 +1315,7 @@ const ConstP_ET39_SIL_T ET39_SIL_ConstP = { { 0.0F, 0.0F, 0.0F, 0.0F, 50.0F }, - { 318241061, 1187814212 } - }, { 0U, - 0U, - 0U, - - { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F }, - - { 0, 0 } - }, { 0U, - 0U, - 0U, - - { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F }, - - { 0, 0 } - }, { 0U, - 0U, - 0U, - - { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F }, - - { 0, 0 } - }, { 0U, - 0U, - 0U, - - { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F }, - - { 0, 0 } - }, { 0U, - 0U, - 0U, - - { 0.0F, 0.0F, 0.0F, 0.0F, 0.0F }, - - { 0, 0 } + { 409220834, 1096187631 } }, { 0U, 0U, 0U, diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_private.h b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_private.h index 8b7a440..55bdd77 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_private.h +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_private.h @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_types.h b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_types.h index 02b60e7..9fdf061 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_types.h +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/ET39_SIL_types.h @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64) diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/buildInfo.mat b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/buildInfo.mat index e5bcd5c..8bf2309 100644 Binary files a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/buildInfo.mat and b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/buildInfo.mat differ diff --git a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/rtmodel.h b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/rtmodel.h index f692025..2ca992d 100644 --- a/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/rtmodel.h +++ b/ET39_SIL/work/ET39_SIL_ert_shrlib_rtw/rtmodel.h @@ -5,7 +5,7 @@ * * Model version : 1.1206 * Simulink Coder version : 9.0 (R2018b) 24-May-2018 - * C/C++ source code generated on : Sat Jul 31 16:19:43 2021 + * C/C++ source code generated on : Sun Aug 1 11:52:22 2021 * * Target selection: ert_shrlib.tlc * Embedded hardware selection: Intel->x86-64 (Windows64)