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IMUSim.mdl.r2010a
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BlockType "S-Function"
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
SFunctionDeploymentMode off
}
Block {
BlockType Scope
ModelBased off
TickLabels "OneTimeTick"
ZoomMode "on"
Grid "on"
TimeRange "auto"
YMin "-5"
YMax "5"
SaveToWorkspace off
SaveName "ScopeData"
LimitDataPoints on
MaxDataPoints "5000"
Decimation "1"
SampleInput off
SampleTime "-1"
}
Block {
BlockType Sum
IconShape "rectangular"
Inputs "++"
CollapseMode "All dimensions"
CollapseDim "1"
InputSameDT on
AccumDataTypeStr "Inherit: Inherit via internal rule"
OutMin "[]"
OutMax "[]"
OutDataTypeMode "Same as first input"
OutDataType "fixdt(1,16,0)"
OutScaling "[]"
OutDataTypeStr "Inherit: Same as first input"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
SampleTime "-1"
}
}
System {
Name "IMUSim"
Location [2306, 385, 3474, 1183]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
SIDHighWatermark 28
Block {
BlockType BusCreator
Name "Bus\nCreator"
SID 27
Ports [2, 1]
Position [820, 191, 825, 229]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Constant
Name "Constant"
SID 1
Position [425, 625, 455, 655]
Value "9.78"
}
Block {
BlockType Demux
Name "Demux"
SID 2
Ports [1, 1]
Position [160, 32, 165, 108]
BackgroundColor "black"
ShowName off
Outputs "1"
}
Block {
BlockType Demux
Name "Demux2"
SID 3
Ports [1, 7]
Position [475, 80, 480, 480]
BackgroundColor "black"
ShowName off
Outputs "[4,3,3,2,2,2,2]"
}
Block {
BlockType Demux
Name "Demux3"
SID 4
Ports [1, 2]
Position [245, 442, 250, 578]
BackgroundColor "black"
ShowName off
Outputs "[3,3]"
}
Block {
BlockType FromWorkspace
Name "From\nWorkspace"
SID 28
Position [35, 58, 100, 82]
VariableName "imudata"
SampleTime "1/180"
ZeroCross on
}
Block {
BlockType Gain
Name "Gain1"
SID 7
Position [695, 265, 725, 295]
Gain "diag([180/pi,180/pi])"
Multiplication "Matrix(K*u)"
}
Block {
BlockType Gain
Name "Gain2"
SID 8
Position [300, 460, 325, 490]
Gain "180/pi"
}
Block {
BlockType Gain
Name "Gain3"
SID 9
Position [695, 320, 725, 350]
Gain "diag([180/pi,180/pi])"
Multiplication "Matrix(K*u)"
}
Block {
BlockType MATLABFcn
Name "Interpreted MATLAB\nFunction"
SID 26
Ports [1, 1]
Position [865, 195, 935, 225]
MATLABFcn "updateAttitude"
}
Block {
BlockType MATLABFcn
Name "MATLAB Fcn1"
SID 10
Ports [1, 1]
Position [345, 590, 405, 620]
MATLABFcn "norm(u)"
}
Block {
BlockType Scope
Name "Pitch Est1"
SID 11
Ports [1]
Position [835, 319, 865, 351]
Floating off
Location [6, 370, 330, 609]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "300"
YMin "-100"
YMax "100"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "Roll Est"
SID 13
Ports [1]
Position [835, 254, 865, 286]
Floating off
Location [9, 71, 333, 310]
Open on
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "300"
YMin "-200"
YMax "200"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType "S-Function"
Name "S-Function1"
SID 14
Ports [1, 1]
Position [355, 135, 415, 165]
FunctionName "GyroGloveAHRS"
EnableBusSupport off
}
Block {
BlockType Sum
Name "Sum1"
SID 15
Ports [2, 1]
Position [480, 595, 500, 615]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType Scope
Name "accel"
SID 17
Ports [1]
Position [330, 529, 360, 561]
Floating off
Location [700, 72, 1024, 311]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "300"
YMin "-20"
YMax "20"
SaveName "ScopeData8"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "gyro"
SID 18
Ports [1]
Position [345, 459, 375, 491]
Floating off
Location [1041, 79, 1365, 318]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "300"
YMin "-100"
YMax "100"
SaveName "ScopeData6"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Block {
BlockType Scope
Name "nrm_f"
SID 19
Ports [1]
Position [595, 589, 625, 621]
Floating off
Location [339, 71, 663, 310]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
TimeRange "137.5 "
YMin "-1"
YMax "1"
SaveName "ScopeData15"
DataFormat "StructureWithTime"
LimitDataPoints off
SampleTime "0"
}
Line {
SrcBlock "Demux"
SrcPort 1
Points [25, 0; 0, 80; 145, 0]
Branch {
DstBlock "S-Function1"
DstPort 1
}
Branch {
Points [-145, 0; 0, 360]
DstBlock "Demux3"
DstPort 1
}
}
Line {
SrcBlock "S-Function1"
SrcPort 1
Points [40, 0]
DstBlock "Demux2"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 4
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Demux3"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
Line {
SrcBlock "Demux3"
SrcPort 2
Points [20, 0]
Branch {
DstBlock "accel"
DstPort 1
}
Branch {
Points [0, 60]
DstBlock "MATLAB Fcn1"
DstPort 1
}
}
Line {
SrcBlock "Demux2"
SrcPort 2
Points [70, 0]
}
Line {
Labels [1, 0]
SrcBlock "Demux2"
SrcPort 3
Points [70, 0]
}
Line {
SrcBlock "Gain1"
SrcPort 1
Points [50, 0]
Branch {
Points [40, 0]
DstBlock "Roll Est"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "Bus\nCreator"
DstPort 2
}
}
Line {
SrcBlock "Demux2"
SrcPort 1
Points [70, 0]
}
Line {
SrcBlock "MATLAB Fcn1"
SrcPort 1
DstBlock "Sum1"
DstPort 1
}
Line {
SrcBlock "Sum1"
SrcPort 1
DstBlock "nrm_f"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
Points [30, 0]
DstBlock "Sum1"
DstPort 2
}
Line {
SrcBlock "From\nWorkspace"
SrcPort 1
DstBlock "Demux"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "gyro"
DstPort 1
}
Line {
SrcBlock "Demux2"
SrcPort 7
Points [155, 0]
}
Line {
SrcBlock "Gain3"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Pitch Est1"
DstPort 1
}
Branch {
Points [0, -135]
DstBlock "Bus\nCreator"
DstPort 1