1/*
2 * Academic License - for use in teaching, academic research, and meeting
3 * course requirements at degree granting institutions only. Not for
4 * government, commercial, or other organizational use.
5 *
6 * File: AHRSControl.h
7 *
8 * Code generated for Simulink model 'AHRSControl'.
9 *
10 * Model version : 1.115
11 * Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
12 * C/C++ source code generated on : Fri Jul 10 14:44:58 2020
13 *
14 * Target selection: ert.tlc
15 * Embedded hardware selection: Intel->x86-32 (Windows32)
16 * Code generation objectives:
17 * 1. Execution efficiency
18 * 2. RAM efficiency
19 * Validation result: Not run
20 */
21
22#ifndef RTW_HEADER_AHRSControl_h_
23#define RTW_HEADER_AHRSControl_h_
24#include <math.h>
25#include "AHRS_Bus.h"
26#ifndef AHRSControl_COMMON_INCLUDES_
27# define AHRSControl_COMMON_INCLUDES_
28#include "rtwtypes.h"
29#endif /* AHRSControl_COMMON_INCLUDES_ */
30
31/* Child system includes */
32#ifndef AHRSControl_MDLREF_HIDE_CHILD_
33#include "AHRSControl_AHRS_Control.h"
34#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
35
36#ifndef AHRSControl_MDLREF_HIDE_CHILD_
37#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
38
39#ifndef AHRSControl_MDLREF_HIDE_CHILD_
40#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
41
42#ifndef AHRSControl_MDLREF_HIDE_CHILD_
43#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
44
45#ifndef AHRSControl_MDLREF_HIDE_CHILD_
46#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
47
48#ifndef AHRSControl_MDLREF_HIDE_CHILD_
49#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
50
51#ifndef AHRSControl_MDLREF_HIDE_CHILD_
52#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
53
54#ifndef AHRSControl_MDLREF_HIDE_CHILD_
55#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
56
57#ifndef AHRSControl_MDLREF_HIDE_CHILD_
58#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
59
60#ifndef AHRSControl_MDLREF_HIDE_CHILD_
61#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
62
63#ifndef AHRSControl_MDLREF_HIDE_CHILD_
64#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
65
66#ifndef AHRSControl_MDLREF_HIDE_CHILD_
67#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
68
69#ifndef AHRSControl_MDLREF_HIDE_CHILD_
70#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
71
72#ifndef AHRSControl_MDLREF_HIDE_CHILD_
73#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
74
75#ifndef AHRSControl_MDLREF_HIDE_CHILD_
76#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
77
78/* Model Code Variants */
79
80/* Block signals and states (default storage) for model 'AHRSControl' */
81#ifndef AHRSControl_MDLREF_HIDE_CHILD_
82
83typedef struct {
84 real_T Integrator2; /* '<S14>/Integrator2' */
85 real_T Integrator1; /* '<S13>/Integrator1' */
86 real_T Integrator; /* '<S12>/Integrator' */
87 real_T Integrator2_DSTATE; /* '<S14>/Integrator2' */
88 real_T Integrator1_DSTATE; /* '<S13>/Integrator1' */
89 real_T Integrator_DSTATE; /* '<S12>/Integrator' */
90 real_T UnitDelay_DSTATE; /* '<S10>/Unit Delay' */
91 real_T UnitDelay_DSTATE_f; /* '<S9>/Unit Delay' */
92 real_T UnitDelay_DSTATE_j; /* '<S8>/Unit Delay' */
93} DW_AHRSControl_f_T;
94
95#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
96
97/* Constant parameters (default storage) */
98typedef struct {
99 /* Expression: [2.395,-0.3609,-0.002145,0.808700,-0.0205;;]
100 * Referenced by: '<S8>/Gain'
101 */
102 real_T Gain_Gain[5];
103
104 /* Expression: [;-0.1427,-1.115,0.04573,-0.04318,-0.1007;]
105 * Referenced by: '<S9>/Gain'
106 */
107 real_T Gain_Gain_d[5];
108
109 /* Expression: [;;-0.02792,-0.02229,-2.25,-0.06152,0.03151]
110 * Referenced by: '<S10>/Gain'
111 */
112 real_T Gain_Gain_b[5];
113} ConstP_AHRSControl_T;
114
115#ifndef AHRSControl_MDLREF_HIDE_CHILD_
116
117/* Constant parameters (default storage) */
118extern const ConstP_AHRSControl_T AHRSControl_ConstP;
119
120#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
121
122extern void AHRSControl_Disable(void);
123extern void AHRSControl_AHRS_Control(const int16_T rtu_Pilot_theta_cmd, const
124 int16_T rtu_Pilot_phi_cmd, const int16_T rtu_Pilot_r_cmd, const AHRS_Bus
125 *rtu_AHRS1, const AHRS_Bus *rtu_AHRS2, const AHRS_Bus *rtu_AHRS3, real_T
126 rty_actuator_commands[3]);
127
128#ifndef AHRSControl_MDLREF_HIDE_CHILD_
129
130/* Block states (default storage) */
131extern DW_AHRSControl_f_T AHRSControl_DW;
132
133#endif /*AHRSControl_MDLREF_HIDE_CHILD_*/
134
135/*-
136 * The generated code includes comments that allow you to trace directly
137 * back to the appropriate location in the model. The basic format
138 * is <system>/block_name, where system is the system number (uniquely
139 * assigned by Simulink) and block_name is the name of the block.
140 *
141 * Use the MATLAB hilite_system command to trace the generated code back
142 * to the model. For example,
143 *
144 * hilite_system('<S3>') - opens system 3
145 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
146 *
147 * Here is the system hierarchy for this model
148 *
149 * '<Root>' : 'AHRSControl'
150 * '<S1>' : 'AHRSControl/AHRS_Control'
151 * '<S2>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl'
152 * '<S3>' : 'AHRSControl/AHRS_Control/AHRS_voter'
153 * '<S4>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop'
154 * '<S5>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_outer_loop'
155 * '<S6>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop/Filter'
156 * '<S7>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop/ModelInfo'
157 * '<S8>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop/pitch_feedback'
158 * '<S9>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop/roll_feedback'
159 * '<S10>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_inner_loop/yaw_feedback'
160 * '<S11>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_outer_loop/ModelInfo'
161 * '<S12>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_outer_loop/PitchLoop'
162 * '<S13>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_outer_loop/RollLoop'
163 * '<S14>' : 'AHRSControl/AHRS_Control/AHRSLoopCtrl/Heli_outer_loop/YawLoop'
164 * '<S15>' : 'AHRSControl/AHRS_Control/AHRS_voter/Avg_Value'
165 * '<S16>' : 'AHRSControl/AHRS_Control/AHRS_voter/Mid_Value'
166 * '<S17>' : 'AHRSControl/AHRS_Control/AHRS_voter/ModelInfo'
167 * '<S18>' : 'AHRSControl/AHRS_Control/AHRS_voter/Single_Value'
168 */
169
170/*-
171 * Requirements for '<Root>': AHRSControl
172 */
173#endif /* RTW_HEADER_AHRSControl_h_ */
174
175/*
176 * File trailer for generated code.
177 *
178 * [EOF]
179 */
180