AIDA
/
AIDASafety
mirror of http://172.16.200.102/AIDA/AIDASafety.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity
AIDA is a study case for model based system engineering, made by MOISE project. This project contains the safety models and analyses of AIDA
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1 Commit
1 Branch
10 Tags
14 MiB
Tree: 4700a00e0c
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from '4700a00e0c'
${ noResults }
AIDASafety/AIDASystem-AltaRicaDataFlow...

1432 lines
60 KiB
Raw Normal View History Unescape

Initial release.
6 years ago
/* Date : 8 oct. 2018 */
/* DataFlow format */
domain Functions_BasicFunctions_BasicFunctionStatus = {ERRONEOUS, LOST, OK};
domain Functions_BasicFunctions_ModeSelection = {AUTO, MANUAL};
domain Functions_BasicFunctions_Presence = {ABSENT, PRESENT};
domain Functions_BasicFunctions_ModeSelection_ErroneousLost = {AUTO, ERRONEOUS, LOST, MANUAL};
node Functions_BasicFunctions_InOutFunction
flow
icone:[1,3]:private;
input:Functions_BasicFunctions_BasicFunctionStatus:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
state
status:Functions_BasicFunctions_BasicFunctionStatus;
event
fail_loss,
fail_error;
trans
(status = OK) |- fail_loss -> status := LOST;
(status = OK) |- fail_error -> status := ERRONEOUS;
assert
icone = case {
(status = OK) : 1,
(status = LOST) : 2,
else 3
},
output = case {
(status = OK) : input,
else status
};
init
status := OK;
extern
law <event fail_loss> = constant(1.0E-4);
law <event fail_error> = constant(1.0E-5);
edon
node Functions_BasicFunctions_InOutModeFunction
flow
icone:[1,2]:private;
outputMode:Functions_BasicFunctions_ModeSelection:out;
inputMode:Functions_BasicFunctions_ModeSelection:in;
state
status:{OK, STUCK_AUTO, STUCK_MAN};
event
stuck_auto,
stuck_man;
trans
(status = OK) |- stuck_man -> status := STUCK_MAN;
(status = OK) |- stuck_auto -> status := STUCK_AUTO;
assert
outputMode = case {
(status = STUCK_AUTO) : AUTO,
(status = STUCK_MAN) : MANUAL,
else inputMode
},
icone = (if (outputMode = AUTO) then 1 else 2);
init
status := OK;
extern
law <event stuck_auto> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_auto>) = 9.877E8;
law <event stuck_man> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_man>) = 9.877E8;
edon
node Functions_BasicFunctions_SourceFunction
flow
icone:[1,3]:private;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
state
status:Functions_BasicFunctions_BasicFunctionStatus;
event
fail_loss,
fail_error;
trans
(status = OK) |- fail_loss -> status := LOST;
(status = OK) |- fail_error -> status := ERRONEOUS;
assert
icone = case {
(status = OK) : 1,
(status = LOST) : 2,
else 3
},
output = status;
init
status := OK;
extern
law <event fail_loss> = constant(1.0E-4);
law <event fail_error> = constant(1.0E-5);
edon
node AIDASystem_Functions_Detection_v44
flow
inputFlightPlan:Functions_BasicFunctions_BasicFunctionStatus:in;
inputPosition:Functions_BasicFunctions_BasicFunctionStatus:in;
inputSpeed:Functions_BasicFunctions_BasicFunctionStatus:in;
inputControlPosition:Functions_BasicFunctions_BasicFunctionStatus:in;
inputLostHelixesControl:bool:in;
inputIndicatedMode:Functions_BasicFunctions_ModeSelection:in;
PilotSelectedMode:Functions_BasicFunctions_ModeSelection:out;
ManualPayloadControl:Functions_BasicFunctions_Presence:out;
PilotInconsistentControl:bool:out;
PilotOrders:Functions_BasicFunctions_Presence:out;
state
mode:Functions_BasicFunctions_ModeSelection;
event
GoToManualMode;
trans
(mode = AUTO) |- GoToManualMode -> mode := MANUAL;
assert
PilotSelectedMode = (if (mode = AUTO) then AUTO else MANUAL),
ManualPayloadControl = (if (mode = AUTO) then ABSENT else PRESENT),
PilotInconsistentControl = ((mode = AUTO) and ((((((inputFlightPlan = ERRONEOUS) or (inputPosition # OK)) or (inputSpeed # OK)) or (inputControlPosition # OK)) or inputLostHelixesControl) or (inputIndicatedMode = MANUAL))),
PilotOrders = (if (mode = AUTO) then ABSENT else PRESENT);
init
mode := AUTO;
extern
law <event GoToManualMode> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event GoToManualMode>) = 9.877E8;
edon
node Functions_BasicOperators_AND
flow
output:Functions_BasicFunctions_BasicFunctionStatus:out;
input_1:Functions_BasicFunctions_BasicFunctionStatus:in;
input_2:Functions_BasicFunctions_BasicFunctionStatus:in;
assert
output = (if ((input_1 = OK) and (input_2 = OK)) then OK else (if ((input_1 = LOST) or (input_2 = LOST)) then LOST else ERRONEOUS));
edon
node Functions_BasicOperators_ErrConditionalSelector_2
flow
icone:[1,2]:private;
inputAUTO:Functions_BasicFunctions_BasicFunctionStatus:in;
inputMANUAL:Functions_BasicFunctions_BasicFunctionStatus:in;
condition:Functions_BasicFunctions_ModeSelection:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
assert
icone = (if (condition = AUTO) then 1 else 2),
output = (if (condition = AUTO) then inputAUTO else inputMANUAL);
edon
node Functions_BasicOperators_ANDBoolErrLost
flow
icone:[1,2]:private;
input:bool:in;
output:bool:out;
failurePropagation:Functions_BasicFunctions_BasicFunctionStatus:in;
assert
icone = (if (failurePropagation = OK) then 1 else 2),
output = case {
(failurePropagation = LOST) : false,
(failurePropagation = ERRONEOUS) : true,
else input
};
edon
node Boolean_Boolean_or4
flow
icone:[1,2]:private;
O:bool:out;
I1:bool:in;
I2:bool:in;
I3:bool:in;
I4:bool:in;
assert
icone = case {
(((I1 or I2) or I3) or I4) : 1,
else 2
},
O = (((I1 or I2) or I3) or I4);
edon
node Functions_BasicOperators_Comparator
flow
input1:Functions_BasicFunctions_BasicFunctionStatus:in;
input2:Functions_BasicFunctions_BasicFunctionStatus:in;
output:bool:out;
assert
output = case {
(input1 = LOST) : true,
(input2 = LOST) : true,
(input1 = input2) : false,
else true
};
edon
node Quadcopter_Observers_PilotRequiresManualMode
flow
icone:[1,2]:private;
output:bool:out;
input:Functions_BasicFunctions_ModeSelection:in;
assert
output = (input = MANUAL),
icone = (if output then 2 else 1);
edon
node Boolean_Boolean_filter
flow
filterCriterion:bool:in;
input:bool:in;
output:bool:out;
assert
output = (if filterCriterion then false else input);
edon
node Quadcopter_Observers_StuckModeMAN_v03
flow
icone:[1,2]:private;
output:bool:out;
PilotAPEngagementOrder:Functions_BasicFunctions_ModeSelection:in;
AppliedAPEngagement:Functions_BasicFunctions_ModeSelection:in;
assert
output = ((AppliedAPEngagement = MANUAL) and (PilotAPEngagementOrder = AUTO)),
icone = (if output then 2 else 1);
edon
node Boolean_Boolean_or2
flow
icone:[1,2]:private;
O:bool:out;
I1:bool:in;
I2:bool:in;
assert
icone = case {
(I1 or I2) : 1,
else 2
},
O = (I1 or I2);
edon
node Quadcopter_Observers_StuckMode_v03
flow
icone:[1,2]:private;
output:bool:out;
input:Functions_BasicFunctions_ModeSelection:in;
assert
output = (input = AUTO),
icone = (if output then 2 else 1);
edon
node Boolean_Boolean_intermediate
flow
icone:[1,2]:private;
O:bool:out;
I:bool:in;
assert
icone = case {
I : 1,
else 2
},
O = I;
edon
node Boolean_Boolean_and2
flow
O:bool:out;
I1:bool:in;
I2:bool:in;
assert
O = (I1 and I2);
edon
node Quadcopter_Observers_ErroneousControlOfOneHelix
flow
icone:[1,2]:private;
in1:Functions_BasicFunctions_BasicFunctionStatus:in;
in2:Functions_BasicFunctions_BasicFunctionStatus:in;
in3:Functions_BasicFunctions_BasicFunctionStatus:in;
in4:Functions_BasicFunctions_BasicFunctionStatus:in;
output:bool:out;
assert
output = ((((in1 = ERRONEOUS) or (in2 = ERRONEOUS)) or (in3 = ERRONEOUS)) or (in4 = ERRONEOUS)),
icone = (if output then 2 else 1);
edon
node Quadcopter_Observers_TotalLossOfHelixesControl
flow
icone:[1,2]:private;
in1:Functions_BasicFunctions_BasicFunctionStatus:in;
in2:Functions_BasicFunctions_BasicFunctionStatus:in;
in3:Functions_BasicFunctions_BasicFunctionStatus:in;
in4:Functions_BasicFunctions_BasicFunctionStatus:in;
output:bool:out;
assert
output = ((((in1 = LOST) and (in2 = LOST)) and (in3 = LOST)) and (in4 = LOST)),
icone = (if output then 2 else 1);
edon
node Quadcopter_Observers_LossOfAtMost3HelixesControl
flow
icone:[1,2]:private;
in1:Functions_BasicFunctions_BasicFunctionStatus:in;
in2:Functions_BasicFunctions_BasicFunctionStatus:in;
in3:Functions_BasicFunctions_BasicFunctionStatus:in;
in4:Functions_BasicFunctions_BasicFunctionStatus:in;
output:bool:out;
assert
output = ((((((((in1 = LOST) and (in2 # ERRONEOUS)) and (in3 # ERRONEOUS)) and (in4 # ERRONEOUS)) or ((((in2 = LOST) and (in1 # ERRONEOUS)) and (in3 # ERRONEOUS)) and (in4 # ERRONEOUS))) or ((((in3 = LOST) and (in2 # ERRONEOUS)) and (in1 # ERRONEOUS)) and (in4 # ERRONEOUS))) or ((((in4 = LOST) and (in2 # ERRONEOUS)) and (in3 # ERRONEOUS)) and (in1 # ERRONEOUS))) and (not ((((in1 = LOST) and (in2 = LOST)) and (in3 = LOST)) and (in4 = LOST)))),
icone = (if output then 2 else 1);
edon
node Functions_BasicOperators_PerfectPresenceSelectorOK
flow
icone:[1,2]:private;
input:Functions_BasicFunctions_BasicFunctionStatus:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
condition:Functions_BasicFunctions_Presence:in;
assert
icone = (if (condition = PRESENT) then 2 else 1),
output = (if (condition = PRESENT) then OK else input);
edon
node Functions_BasicFunctions_AbsentPresentFunction
flow
icone:[1,2]:private;
input:Functions_BasicFunctions_Presence:in;
output:Functions_BasicFunctions_Presence:out;
state
status:{LOST, OK};
event
fail_loss;
trans
(status = OK) |- fail_loss -> status := LOST;
assert
icone = case {
(status = OK) : 1,
else 2
},
output = case {
(status = OK) : input,
else ABSENT
};
init
status := OK;
extern
law <event fail_loss> = exponential(1.0E-6);
edon
node Functions_BasicOperators_PerfectPresenceSelectorLOSS
flow
icone:[1,2]:private;
input:Functions_BasicFunctions_BasicFunctionStatus:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
condition:Functions_BasicFunctions_Presence:in;
assert
icone = (if (condition = ABSENT) then 1 else 2),
output = (if (condition = PRESENT) then LOST else input);
edon
node Functions_BasicFunctions_SourcePresenceFunction
flow
icone:[1,2]:private;
output:Functions_BasicFunctions_Presence:out;
state
status:Functions_BasicFunctions_Presence;
event
fail_inadv;
trans
(status = ABSENT) |- fail_inadv -> status := PRESENT;
assert
icone = case {
(status = ABSENT) : 1,
else 2
},
output = status;
init
status := ABSENT;
extern
law <event fail_inadv> = constant(1.0E-5);
edon
node Functions_BasicOperators_Choice
flow
icone:[1,2]:private;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
input_1:Functions_BasicFunctions_BasicFunctionStatus:in;
input_2:Functions_BasicFunctions_BasicFunctionStatus:in;
assert
icone = (if (input_2 = ERRONEOUS) then 2 else 1),
output = (if (input_2 = ERRONEOUS) then ERRONEOUS else input_1);
edon
node Functions_BasicOperators_transtypageMode
flow
icone:[1,2]:private;
O:Functions_BasicFunctions_ModeSelection_ErroneousLost:out;
I:Functions_BasicFunctions_ModeSelection:in;
assert
icone = case {
(I = AUTO) : 1,
else 2
},
O = (if (I = AUTO) then AUTO else MANUAL);
edon
node Functions_BasicFunctions_ErroneousLostModeSelector
flow
icone:[1,2]:private;
outputMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:out;
inputMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:in;
state
status:{LOSS, OK, STUCK_AUTO, STUCK_MAN, UNDEF};
event
stuck_auto,
stuck_manual,
OscillatoryModeSelection,
fail_loss;
trans
(status = OK) |- stuck_auto -> status := STUCK_AUTO;
(status = OK) |- stuck_manual -> status := STUCK_MAN;
(status = OK) |- OscillatoryModeSelection -> status := UNDEF;
(status = OK) |- fail_loss -> status := LOSS;
assert
outputMode = case {
((status = OK) and (inputMode = AUTO)) : AUTO,
((status = OK) and (inputMode = MANUAL)) : MANUAL,
((status = OK) and (inputMode = ERRONEOUS)) : ERRONEOUS,
(status = LOSS) : LOST,
(status = STUCK_AUTO) : AUTO,
(status = UNDEF) : ERRONEOUS,
else MANUAL
},
icone = case {
(outputMode = AUTO) : 1,
else 2
};
init
status := OK;
extern
law <event stuck_auto> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_auto>) = 9.877E8;
law <event stuck_manual> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_manual>) = 9.877E8;
law <event OscillatoryModeSelection> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event OscillatoryModeSelection>) = 9.877E8;
attribute DassaultSpecialCtrlPeriod(<event fail_loss>) = 9.877E8;
edon
node Functions_BasicFunctions_ErroneousLostPresentModeSelector
flow
icone:[1,2]:private;
outputMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:out;
inputMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:in;
ManualConsigns:Functions_BasicFunctions_BasicFunctionStatus:in;
MissionCompleted:Functions_BasicFunctions_Presence:in;
state
status:{LOSS, OK, STUCK_AUTO, STUCK_MAN, UNDEF};
event
stuck_auto,
stuck_manual,
OscillatoryModeSelection,
fail_loss;
trans
(status = OK) |- stuck_auto -> status := STUCK_AUTO;
(status = OK) |- stuck_manual -> status := STUCK_MAN;
(status = OK) |- OscillatoryModeSelection -> status := UNDEF;
(status = OK) |- fail_loss -> status := LOSS;
assert
outputMode = case {
((status = OK) and ((ManualConsigns # LOST) or (MissionCompleted = PRESENT))) : MANUAL,
((status = OK) and (inputMode = AUTO)) : AUTO,
((status = OK) and (inputMode = MANUAL)) : MANUAL,
((status = OK) and (inputMode = ERRONEOUS)) : ERRONEOUS,
((status = OK) and (inputMode = LOST)) : MANUAL,
(status = STUCK_AUTO) : AUTO,
(status = STUCK_MAN) : MANUAL,
(status = UNDEF) : ERRONEOUS,
else LOST
},
icone = case {
(outputMode = AUTO) : 1,
else 2
};
init
status := OK;
extern
law <event stuck_auto> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_auto>) = 9.877E8;
law <event stuck_manual> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event stuck_manual>) = 9.877E8;
law <event OscillatoryModeSelection> = exponential(0.001);
attribute DassaultSpecialCtrlPeriod(<event OscillatoryModeSelection>) = 9.877E8;
attribute DassaultSpecialCtrlPeriod(<event fail_loss>) = 9.877E8;
edon
node Functions_BasicFunctions_FaultyManualModeSelector_LossType
flow
icone:[1,2]:private;
outputMode:Functions_BasicFunctions_ModeSelection:out;
inputMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:in;
FlightPlanInterruption:Functions_BasicFunctions_Presence:out;
state
status:{OK, STUCK_AUTO, STUCK_MANUAL};
event
stuck_auto,
stuck_manual;
trans
(status = OK) |- stuck_auto -> status := STUCK_AUTO;
(status = OK) |- stuck_manual -> status := STUCK_MANUAL;
assert
outputMode = case {
((status = OK) and ((inputMode = ERRONEOUS) or (inputMode = LOST))) : MANUAL,
((status = OK) and (inputMode = AUTO)) : AUTO,
((status = OK) and (inputMode = MANUAL)) : MANUAL,
(status = STUCK_AUTO) : AUTO,
else MANUAL
},
icone = case {
(outputMode = AUTO) : 1,
else 2
},
FlightPlanInterruption = case {
((status = OK) and ((inputMode = ERRONEOUS) or (inputMode = LOST))) : PRESENT,
((status = OK) and (inputMode = AUTO)) : ABSENT,
((status = OK) and (inputMode = MANUAL)) : PRESENT,
(status = STUCK_AUTO) : ABSENT,
else PRESENT
};
init
status := OK;
extern
attribute DassaultSpecialCtrlPeriod(<event stuck_auto>) = 9.877E8;
attribute DassaultSpecialCtrlPeriod(<event stuck_manual>) = 9.877E8;
edon
node Functions_BasicOperators_PerfectConditionalSelectorLOST
flow
icone:[1,2]:private;
input:Functions_BasicFunctions_BasicFunctionStatus:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
condition:bool:in;
assert
icone = (if condition then 2 else 1),
output = (if condition then LOST else input);
edon
node Boolean_Boolean_BooleanInOutFunction
flow
icone:[1,3]:private;
input:bool:in;
output:bool:out;
state
status:{OK, STUCK_FALSE, STUCK_TRUE};
event
stuck_true,
stuck_false;
trans
(status = OK) |- stuck_true -> status := STUCK_TRUE;
(status = OK) |- stuck_false -> status := STUCK_FALSE;
assert
icone = case {
(status = OK) : 1,
(status = STUCK_FALSE) : 3,
else 2
},
output = case {
(status = OK) : input,
(status = STUCK_FALSE) : false,
else true
};
init
status := OK;
extern
attribute DassaultSpecialCtrlPeriod(<event stuck_true>) = 9.877E8;
attribute DassaultSpecialCtrlPeriod(<event stuck_false>) = 9.877E8;
edon
node Functions_BasicFunctions_InOutPresentFunction
flow
icone:[1,3]:private;
input:Functions_BasicFunctions_Presence:in;
output:Functions_BasicFunctions_BasicFunctionStatus:out;
state
status:Functions_BasicFunctions_BasicFunctionStatus;
event
fail_loss,
fail_error;
trans
(status = OK) |- fail_loss -> status := LOST;
(status = OK) |- fail_error -> status := ERRONEOUS;
assert
icone = case {
(status = OK) : 1,
(status = LOST) : 2,
else 3
},
output = case {
(status = OK) : (if (input = PRESENT) then OK else LOST),
else status
};
init
status := OK;
extern
law <event fail_loss> = constant(1.0E-4);
law <event fail_error> = constant(1.0E-5);
edon
node eq_AIDASystem_Functions_SF232_5_ControlAttitude
flow
icone:[1,3]:private;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
AttitudeAPConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
PitchRollConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
YawConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
P:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
AND3:Functions_BasicOperators_AND;
ControlAttitudeState:Functions_BasicFunctions_InOutFunction;
SF232_SelectAttitudeConsign:Functions_BasicOperators_ErrConditionalSelector_2;
AND2:Functions_BasicOperators_AND;
AND1:Functions_BasicOperators_AND;
assert
icone = (if (ControlAttitudeState.status = OK) then 1 else (if (ControlAttitudeState.status = LOST) then 3 else 2)),
P = ControlAttitudeState.output,
AND3.input_1 = PitchRollConsign,
AND3.input_2 = YawConsign,
ControlAttitudeState.input = SF232_SelectAttitudeConsign.output,
SF232_SelectAttitudeConsign.inputAUTO = AND2.output,
SF232_SelectAttitudeConsign.inputMANUAL = AND1.output,
SF232_SelectAttitudeConsign.condition = APEngagement,
AND2.input_1 = AttitudeAPConsign,
AND2.input_2 = Attitude,
AND1.input_1 = AND3.output,
AND1.input_2 = Attitude;
edon
node eq_AIDASystem_Functions_SF242_3_ControlAltitude
flow
icone:[1,3]:private;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
AltitudeConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
T_AP:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
T:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
ControlAltitudeState:Functions_BasicFunctions_InOutFunction;
SF243_SelectTotalThrustConsign:Functions_BasicOperators_ErrConditionalSelector_2;
AND2:Functions_BasicOperators_AND;
AND1:Functions_BasicOperators_AND;
assert
icone = (if (ControlAltitudeState.status = OK) then 1 else (if (ControlAltitudeState.status = LOST) then 3 else 2)),
T = ControlAltitudeState.output,
ControlAltitudeState.input = SF243_SelectTotalThrustConsign.output,
SF243_SelectTotalThrustConsign.inputAUTO = T_AP,
SF243_SelectTotalThrustConsign.inputMANUAL = AND2.output,
SF243_SelectTotalThrustConsign.condition = APEngagement,
AND2.input_1 = AltitudeConsign,
AND2.input_2 = AND1.output,
AND1.input_1 = Altitude,
AND1.input_2 = Attitude;
edon
node eq_AIDASystem_Functions_SF75_DisableDroneMotor
flow
icone:[1,2]:private;
Motor1Runaway:bool:in;
Motor2Runaway:bool:in;
Motor3Runaway:bool:in;
Motor4Runaway:bool:in;
AttitudeFailureDetected:bool:in;
AltitudeFailureDetected:bool:in;
MotorConsignFailureDetected:bool:in;
MotorDisabled^Motor1:bool:out;
MotorDisabled^Motor2:bool:out;
MotorDisabled^Motor3:bool:out;
MotorDisabled^Motor4:bool:out;
sub
FMPropagation4:Functions_BasicOperators_ANDBoolErrLost;
OR4:Boolean_Boolean_or4;
OR3:Boolean_Boolean_or4;
FMPropagation3:Functions_BasicOperators_ANDBoolErrLost;
FMPropagation2:Functions_BasicOperators_ANDBoolErrLost;
OR2:Boolean_Boolean_or4;
OR1:Boolean_Boolean_or4;
FailureModesOfSF74:Functions_BasicFunctions_SourceFunction;
FMPropagation1:Functions_BasicOperators_ANDBoolErrLost;
assert
icone = case {
(FailureModesOfSF74.status = OK) : 1,
else 2
},
MotorDisabled^Motor1 = FMPropagation1.output,
MotorDisabled^Motor2 = FMPropagation2.output,
MotorDisabled^Motor3 = FMPropagation3.output,
MotorDisabled^Motor4 = FMPropagation4.output,
FMPropagation4.input = OR4.O,
FMPropagation4.failurePropagation = FailureModesOfSF74.output,
OR4.I1 = Motor4Runaway,
OR4.I2 = AltitudeFailureDetected,
OR4.I3 = AttitudeFailureDetected,
OR4.I4 = MotorConsignFailureDetected,
OR3.I1 = MotorConsignFailureDetected,
OR3.I2 = AttitudeFailureDetected,
OR3.I3 = AltitudeFailureDetected,
OR3.I4 = Motor3Runaway,
FMPropagation3.input = OR3.O,
FMPropagation3.failurePropagation = FailureModesOfSF74.output,
FMPropagation2.input = OR2.O,
FMPropagation2.failurePropagation = FailureModesOfSF74.output,
OR2.I1 = MotorConsignFailureDetected,
OR2.I2 = AttitudeFailureDetected,
OR2.I3 = AltitudeFailureDetected,
OR2.I4 = Motor2Runaway,
OR1.I1 = MotorConsignFailureDetected,
OR1.I2 = AttitudeFailureDetected,
OR1.I3 = AltitudeFailureDetected,
OR1.I4 = Motor1Runaway,
FMPropagation1.input = OR1.O,
FMPropagation1.failurePropagation = FailureModesOfSF74.output;
edon
node eq_AIDASystem_Functions_SF7_MonitorDroneControl
flow
MotorRatesMeasured^MotorRate1:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate2:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate3:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate4:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:in;
Motor1Runaway:bool:out;
Motor2Runaway:bool:out;
Motor3Runaway:bool:out;
Motor4Runaway:bool:out;
sub
MonitorMotorRate4:Functions_BasicOperators_Comparator;
MonitorMotorRate3:Functions_BasicOperators_Comparator;
MonitorMotorRate2:Functions_BasicOperators_Comparator;
MonitorMotorRate1:Functions_BasicOperators_Comparator;
assert
Motor1Runaway = MonitorMotorRate1.output,
Motor2Runaway = MonitorMotorRate2.output,
Motor3Runaway = MonitorMotorRate3.output,
Motor4Runaway = MonitorMotorRate4.output,
MonitorMotorRate4.input1 = MotorRatesMeasured^MotorRate4,
MonitorMotorRate4.input2 = MotorRate,
MonitorMotorRate3.input1 = MotorRatesMeasured^MotorRate3,
MonitorMotorRate3.input2 = MotorRate,
MonitorMotorRate2.input1 = MotorRatesMeasured^MotorRate2,
MonitorMotorRate2.input2 = MotorRate,
MonitorMotorRate1.input1 = MotorRatesMeasured^MotorRate1,
MonitorMotorRate1.input2 = MotorRate;
edon
node eq_AIDASystem_Functions_SF421_RunFlightPlan
flow
Time:Functions_BasicFunctions_BasicFunctionStatus:in;
Position:Functions_BasicFunctions_BasicFunctionStatus:in;
FlightPlan:Functions_BasicFunctions_BasicFunctionStatus:in;
Progress:Functions_BasicFunctions_BasicFunctionStatus:out;
MissionCompleted:Functions_BasicFunctions_Presence:out;
FlightPlanInterruption:Functions_BasicFunctions_Presence:in;
sub
SF421_FlightPlanInterruption:Functions_BasicOperators_PerfectPresenceSelectorLOSS;
SF421_MissionCompleted:Functions_BasicFunctions_SourcePresenceFunction;
SF421_Compute:Functions_BasicFunctions_InOutFunction;
SF421_Choice:Functions_BasicOperators_Choice;
SF421_AND1:Functions_BasicOperators_AND;
assert
Progress = SF421_FlightPlanInterruption.output,
MissionCompleted = SF421_MissionCompleted.output,
SF421_FlightPlanInterruption.input = SF421_Compute.output,
SF421_FlightPlanInterruption.condition = FlightPlanInterruption,
SF421_Compute.input = SF421_Choice.output,
SF421_Choice.input_1 = SF421_AND1.output,
SF421_Choice.input_2 = FlightPlan,
SF421_AND1.input_1 = Time,
SF421_AND1.input_2 = Position;
edon
node eq_AIDASystem_Functions_SF64_DisplayDroneFollowUpData
flow
input_ControlMode:Functions_BasicFunctions_ModeSelection:in;
input_FlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:in;
output_ControlMode:Functions_BasicFunctions_ModeSelection:out;
output_FlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF64_FlightPlanProgress:Functions_BasicFunctions_InOutFunction;
SF64_ControlMode:Functions_BasicFunctions_InOutModeFunction;
assert
output_ControlMode = SF64_ControlMode.outputMode,
output_FlightPlanProgress = SF64_FlightPlanProgress.output,
SF64_FlightPlanProgress.input = input_FlightPlanProgress,
SF64_ControlMode.inputMode = input_ControlMode;
edon
node eq_AIDASystem_Functions_SF73_ControlAttitudeAndAltitudeMON
flow
icone:[1,2]:private;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
YawConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
PitchRollConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
AltitudeConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
AttitudeAPConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
AltitudeAPConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF733_6_ControlAttitudeMON:eq_AIDASystem_Functions_SF232_5_ControlAttitude;
SF731_2_ControlAltitudeMON:eq_AIDASystem_Functions_SF242_3_ControlAltitude;
SF737_AllNeeded:Functions_BasicOperators_AND;
SF737_8_ControlThrust:Functions_BasicFunctions_InOutFunction;
assert
icone = case {
(((SF737_8_ControlThrust.status = OK) and (SF731_2_ControlAltitudeMON.ControlAltitudeState.status = OK)) and (SF733_6_ControlAttitudeMON.ControlAttitudeState.status = OK)) : 1,
else 2
},
MotorRate = SF737_8_ControlThrust.output,
SF733_6_ControlAttitudeMON.Attitude = Attitude,
SF733_6_ControlAttitudeMON.AttitudeAPConsign = AttitudeAPConsign,
SF733_6_ControlAttitudeMON.PitchRollConsign = PitchRollConsign,
SF733_6_ControlAttitudeMON.YawConsign = YawConsign,
SF733_6_ControlAttitudeMON.APEngagement = APEngagement,
SF731_2_ControlAltitudeMON.Altitude = Altitude,
SF731_2_ControlAltitudeMON.Attitude = Attitude,
SF731_2_ControlAltitudeMON.AltitudeConsign = AltitudeConsign,
SF731_2_ControlAltitudeMON.T_AP = AltitudeAPConsign,
SF731_2_ControlAltitudeMON.APEngagement = APEngagement,
SF737_AllNeeded.input_1 = SF731_2_ControlAltitudeMON.T,
SF737_AllNeeded.input_2 = SF733_6_ControlAttitudeMON.P,
SF737_8_ControlThrust.input = SF737_AllNeeded.output;
edon
node eq_AIDASystem_Functions_SF74_MonitorParameters
flow
icone:[1,2]:private;
MotorRateMON:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:in;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
AltitudeMON:Functions_BasicFunctions_BasicFunctionStatus:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
AttitudeMON:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRateMeasured^MotorRate1:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRateMeasured^MotorRate2:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRateMeasured^MotorRate3:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRateMeasured^MotorRate4:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorsDisabled^Motor1:bool:out;
MotorsDisabled^Motor2:bool:out;
MotorsDisabled^Motor3:bool:out;
MotorsDisabled^Motor4:bool:out;
sub
SF745_DisableDroneMotor:eq_AIDASystem_Functions_SF75_DisableDroneMotor;
SF744_MonitorMotorRate:eq_AIDASystem_Functions_SF7_MonitorDroneControl;
SF743_MonitorMotorConsign:Functions_BasicOperators_Comparator;
SF742_MonitorAltitude:Functions_BasicOperators_Comparator;
SF741_MonitorAttitude:Functions_BasicOperators_Comparator;
assert
icone = case {
(SF745_DisableDroneMotor.FailureModesOfSF74.status = OK) : 1,
else 2
},
MotorsDisabled^Motor1 = SF745_DisableDroneMotor.MotorDisabled^Motor1,
MotorsDisabled^Motor2 = SF745_DisableDroneMotor.MotorDisabled^Motor2,
MotorsDisabled^Motor3 = SF745_DisableDroneMotor.MotorDisabled^Motor3,
MotorsDisabled^Motor4 = SF745_DisableDroneMotor.MotorDisabled^Motor4,
SF745_DisableDroneMotor.Motor1Runaway = SF744_MonitorMotorRate.Motor1Runaway,
SF745_DisableDroneMotor.Motor2Runaway = SF744_MonitorMotorRate.Motor2Runaway,
SF745_DisableDroneMotor.Motor3Runaway = SF744_MonitorMotorRate.Motor3Runaway,
SF745_DisableDroneMotor.Motor4Runaway = SF744_MonitorMotorRate.Motor4Runaway,
SF745_DisableDroneMotor.AttitudeFailureDetected = SF741_MonitorAttitude.output,
SF745_DisableDroneMotor.AltitudeFailureDetected = SF742_MonitorAltitude.output,
SF745_DisableDroneMotor.MotorConsignFailureDetected = SF743_MonitorMotorConsign.output,
SF744_MonitorMotorRate.MotorRatesMeasured^MotorRate1 = MotorRateMeasured^MotorRate1,
SF744_MonitorMotorRate.MotorRatesMeasured^MotorRate2 = MotorRateMeasured^MotorRate2,
SF744_MonitorMotorRate.MotorRatesMeasured^MotorRate3 = MotorRateMeasured^MotorRate3,
SF744_MonitorMotorRate.MotorRatesMeasured^MotorRate4 = MotorRateMeasured^MotorRate4,
SF744_MonitorMotorRate.MotorRate = MotorRate,
SF743_MonitorMotorConsign.input1 = MotorRate,
SF743_MonitorMotorConsign.input2 = MotorRateMON,
SF742_MonitorAltitude.input1 = Altitude,
SF742_MonitorAltitude.input2 = AltitudeMON,
SF741_MonitorAttitude.input1 = Attitude,
SF741_MonitorAttitude.input2 = AttitudeMON;
edon
node eq_AIDASystem_Functions_SF42_RunAutomaticControl
flow
FlightPlan:Functions_BasicFunctions_BasicFunctionStatus:in;
Position:Functions_BasicFunctions_BasicFunctionStatus:in;
FlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:out;
AutomaticPayloadControl:Functions_BasicFunctions_BasicFunctionStatus:out;
SpeedConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
PositionConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
PilotControlConsigns:Functions_BasicFunctions_BasicFunctionStatus:in;
Time:Functions_BasicFunctions_BasicFunctionStatus:in;
FlightPlanInterruption:Functions_BasicFunctions_Presence:in;
MissionCompleted:Functions_BasicFunctions_Presence:out;
sub
SF423_SelectAutomaticPayloadControl:Functions_BasicOperators_AND;
SF422_RunSpeedControl:Functions_BasicFunctions_InOutFunction;
SF421_RunFlightPlan:eq_AIDASystem_Functions_SF421_RunFlightPlan;
assert
FlightPlanProgress = SF421_RunFlightPlan.Progress,
AutomaticPayloadControl = SF423_SelectAutomaticPayloadControl.output,
SpeedConsign = SF422_RunSpeedControl.output,
PositionConsign = SF421_RunFlightPlan.Progress,
MissionCompleted = SF421_RunFlightPlan.MissionCompleted,
SF423_SelectAutomaticPayloadControl.input_1 = SF421_RunFlightPlan.Progress,
SF423_SelectAutomaticPayloadControl.input_2 = SF422_RunSpeedControl.output,
SF422_RunSpeedControl.input = PilotControlConsigns,
SF421_RunFlightPlan.Time = Time,
SF421_RunFlightPlan.Position = Position,
SF421_RunFlightPlan.FlightPlan = FlightPlan,
SF421_RunFlightPlan.FlightPlanInterruption = FlightPlanInterruption;
edon
node eq_AIDASystem_Functions_SF44_AcquirePilotControlConsignAndMode
flow
AcquiredPilotControlConsigns:Functions_BasicFunctions_BasicFunctionStatus:out;
AcquiredPilotControlMode:Functions_BasicFunctions_ModeSelection_ErroneousLost:out;
PilotControlMode:Functions_BasicFunctions_ModeSelection:in;
sub
AcquireControlConsigns:Functions_BasicFunctions_SourceFunction;
transtypage:Functions_BasicOperators_transtypageMode;
AcquireControlMode:Functions_BasicFunctions_ErroneousLostModeSelector;
assert
AcquiredPilotControlConsigns = AcquireControlConsigns.output,
AcquiredPilotControlMode = AcquireControlMode.outputMode,
transtypage.I = PilotControlMode,
AcquireControlMode.inputMode = transtypage.O;
edon
node eq_AIDASystem_Functions_SF43_SelectControlMode
flow
icone:[1,2]:private;
PilotManualControl:Functions_BasicFunctions_ModeSelection_ErroneousLost:in;
IndicatedMode:Functions_BasicFunctions_ModeSelection:out;
APEngagement:Functions_BasicFunctions_ModeSelection:out;
ManualConsigns:Functions_BasicFunctions_BasicFunctionStatus:in;
MissionCompleted:Functions_BasicFunctions_Presence:in;
FlightPlanInterruption:Functions_BasicFunctions_Presence:out;
sub
SF431_SelectControlMode:Functions_BasicFunctions_ErroneousLostPresentModeSelector;
SF433_IndicateControlMode:Functions_BasicFunctions_InOutModeFunction;
SF432_PassivateEngagementOscillation:Functions_BasicFunctions_FaultyManualModeSelector_LossType;
assert
APEngagement = SF432_PassivateEngagementOscillation.outputMode,
icone = case {
(APEngagement = AUTO) : 1,
else 2
},
IndicatedMode = SF433_IndicateControlMode.outputMode,
FlightPlanInterruption = SF432_PassivateEngagementOscillation.FlightPlanInterruption,
SF431_SelectControlMode.inputMode = PilotManualControl,
SF431_SelectControlMode.ManualConsigns = ManualConsigns,
SF431_SelectControlMode.MissionCompleted = MissionCompleted,
SF433_IndicateControlMode.inputMode = SF432_PassivateEngagementOscillation.outputMode,
SF432_PassivateEngagementOscillation.inputMode = SF431_SelectControlMode.outputMode;
edon
node eq_AIDASystem_Functions_SF1i_ControlHelix_2
flow
MotorDisabled:bool:in;
MotorRateMeasured:Functions_BasicFunctions_BasicFunctionStatus:out;
ThrustAndTorque:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:in;
sub
SF1i1_5_PerfectSelectorLOST:Functions_BasicOperators_PerfectConditionalSelectorLOST;
SF1i1_5_CreateMotionAndMeasure:Functions_BasicFunctions_InOutFunction;
SF1i6_DepowerMotor:Boolean_Boolean_BooleanInOutFunction;
SF1i3_CreateThrustAndTorque:Functions_BasicFunctions_InOutFunction;
assert
MotorRateMeasured = SF1i1_5_CreateMotionAndMeasure.output,
ThrustAndTorque = SF1i3_CreateThrustAndTorque.output,
SF1i1_5_PerfectSelectorLOST.input = SF1i1_5_CreateMotionAndMeasure.output,
SF1i1_5_PerfectSelectorLOST.condition = SF1i6_DepowerMotor.output,
SF1i1_5_CreateMotionAndMeasure.input = MotorRate,
SF1i6_DepowerMotor.input = MotorDisabled,
SF1i3_CreateThrustAndTorque.input = SF1i1_5_PerfectSelectorLOST.output;
edon
node eq_AIDASystem_Functions_SF21_ControlPosition
flow
icone:[1,3]:private;
Position:Functions_BasicFunctions_BasicFunctionStatus:in;
Speed:Functions_BasicFunctions_BasicFunctionStatus:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
PositionConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
SpeedConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
AttitudeThrustAPConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF212_SelectSpeedConsign:Functions_BasicOperators_AND;
ControlPositionState:Functions_BasicFunctions_InOutFunction;
AND2:Functions_BasicOperators_AND;
AND1:Functions_BasicOperators_AND;
AND3:Functions_BasicOperators_AND;
AND4:Functions_BasicOperators_AND;
assert
icone = (if (ControlPositionState.status = OK) then 1 else (if (ControlPositionState.status = LOST) then 3 else 2)),
AttitudeThrustAPConsign = ControlPositionState.output,
SF212_SelectSpeedConsign.input_1 = AND4.output,
SF212_SelectSpeedConsign.input_2 = AND3.output,
ControlPositionState.input = SF212_SelectSpeedConsign.output,
AND2.input_1 = Position,
AND2.input_2 = AND1.output,
AND1.input_1 = Speed,
AND1.input_2 = Attitude,
AND3.input_1 = PositionConsign,
AND3.input_2 = AND2.output,
AND4.input_1 = SpeedConsign,
AND4.input_2 = AND1.output;
edon
node eq_AIDASystem_Functions_SF33_ComputeDroneSpeed
flow
icone:[1,2]:private;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Speed:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF331_FilmGround:Functions_BasicFunctions_SourceFunction;
SF332_AllNeeded:Functions_BasicOperators_AND;
SF332_ComputeSpeed:Functions_BasicFunctions_InOutFunction;
assert
icone = case {
((SF331_FilmGround.status = OK) and (SF332_ComputeSpeed.status = OK)) : 1,
else 2
},
Speed = SF332_ComputeSpeed.output,
SF332_AllNeeded.input_1 = SF331_FilmGround.output,
SF332_AllNeeded.input_2 = Altitude,
SF332_ComputeSpeed.input = SF332_AllNeeded.output;
edon
node eq_AIDASystem_Functions_SF6_ManageMission
flow
icone:[1,2]:private;
oFlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:out;
iFlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:in;
iFlightPlan:Functions_BasicFunctions_BasicFunctionStatus:in;
oFlightPlan:Functions_BasicFunctions_BasicFunctionStatus:out;
iDroneControlMode:Functions_BasicFunctions_ModeSelection:in;
oDroneControlMode:Functions_BasicFunctions_ModeSelection:out;
sub
SF61_ComputeFlightPlanAndZone:Functions_BasicFunctions_InOutFunction;
SF64_DisplayDroneFollowUpData:eq_AIDASystem_Functions_SF64_DisplayDroneFollowUpData;
assert
icone = case {
(((SF61_ComputeFlightPlanAndZone.status = OK) and (SF64_DisplayDroneFollowUpData.SF64_ControlMode.status = OK)) and (SF64_DisplayDroneFollowUpData.SF64_FlightPlanProgress.status = OK)) : 1,
else 2
},
oFlightPlanProgress = SF64_DisplayDroneFollowUpData.output_FlightPlanProgress,
oFlightPlan = SF61_ComputeFlightPlanAndZone.output,
oDroneControlMode = SF64_DisplayDroneFollowUpData.output_ControlMode,
SF61_ComputeFlightPlanAndZone.input = iFlightPlan,
SF64_DisplayDroneFollowUpData.input_ControlMode = iDroneControlMode,
SF64_DisplayDroneFollowUpData.input_FlightPlanProgress = iFlightPlanProgress;
edon
node eq_AIDASystem_Functions_SF7_MonitorDroneControl_v042
flow
icone:[1,2]:private;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate1:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate2:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate3:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorRatesMeasured^MotorRate4:Functions_BasicFunctions_BasicFunctionStatus:in;
MotorDisabled^Motor1:bool:out;
MotorDisabled^Motor2:bool:out;
MotorDisabled^Motor3:bool:out;
MotorDisabled^Motor4:bool:out;
Consigns^AltitudeManualConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
Consigns^YawManualConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
Consigns^PitchRollManualConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
Consigns^AltitudeAndAttitudeAPConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
sub
SF73_ControlAttitudeAndAltitudeMON:eq_AIDASystem_Functions_SF73_ControlAttitudeAndAltitudeMON;
SF71_ComputeAttitudeMON:Functions_BasicFunctions_SourceFunction;
SF72_ComputeAltitudeMON:Functions_BasicFunctions_InOutFunction;
SF74_MonitorParameters:eq_AIDASystem_Functions_SF74_MonitorParameters;
assert
icone = case {
((((((SF74_MonitorParameters.SF745_DisableDroneMotor.FailureModesOfSF74.status = OK) and (SF71_ComputeAttitudeMON.status = OK)) and (SF72_ComputeAltitudeMON.status = OK)) and (SF73_ControlAttitudeAndAltitudeMON.SF737_8_ControlThrust.status = OK)) and (SF73_ControlAttitudeAndAltitudeMON.SF731_2_ControlAltitudeMON.ControlAltitudeState.status = OK)) and (SF73_ControlAttitudeAndAltitudeMON.SF733_6_ControlAttitudeMON.ControlAttitudeState.status = OK)) : 1,
else 2
},
MotorDisabled^Motor1 = SF74_MonitorParameters.MotorsDisabled^Motor1,
MotorDisabled^Motor2 = SF74_MonitorParameters.MotorsDisabled^Motor2,
MotorDisabled^Motor3 = SF74_MonitorParameters.MotorsDisabled^Motor3,
MotorDisabled^Motor4 = SF74_MonitorParameters.MotorsDisabled^Motor4,
SF73_ControlAttitudeAndAltitudeMON.Altitude = Altitude,
SF73_ControlAttitudeAndAltitudeMON.Attitude = Attitude,
SF73_ControlAttitudeAndAltitudeMON.YawConsign = Consigns^YawManualConsign,
SF73_ControlAttitudeAndAltitudeMON.PitchRollConsign = Consigns^PitchRollManualConsign,
SF73_ControlAttitudeAndAltitudeMON.AltitudeConsign = Consigns^AltitudeManualConsign,
SF73_ControlAttitudeAndAltitudeMON.AttitudeAPConsign = Consigns^AltitudeAndAttitudeAPConsign,
SF73_ControlAttitudeAndAltitudeMON.AltitudeAPConsign = Consigns^AltitudeAndAttitudeAPConsign,
SF73_ControlAttitudeAndAltitudeMON.APEngagement = APEngagement,
SF72_ComputeAltitudeMON.input = SF71_ComputeAttitudeMON.output,
SF74_MonitorParameters.MotorRateMON = SF73_ControlAttitudeAndAltitudeMON.MotorRate,
SF74_MonitorParameters.MotorRate = MotorRate,
SF74_MonitorParameters.Altitude = Altitude,
SF74_MonitorParameters.AltitudeMON = SF72_ComputeAltitudeMON.output,
SF74_MonitorParameters.Attitude = Attitude,
SF74_MonitorParameters.AttitudeMON = SF71_ComputeAttitudeMON.output,
SF74_MonitorParameters.MotorRateMeasured^MotorRate1 = MotorRatesMeasured^MotorRate1,
SF74_MonitorParameters.MotorRateMeasured^MotorRate2 = MotorRatesMeasured^MotorRate2,
SF74_MonitorParameters.MotorRateMeasured^MotorRate3 = MotorRatesMeasured^MotorRate3,
SF74_MonitorParameters.MotorRateMeasured^MotorRate4 = MotorRatesMeasured^MotorRate4;
edon
node eq_AIDASystem_Observers_Observer_v44
flow
Thrust1:Functions_BasicFunctions_BasicFunctionStatus:in;
Thrust2:Functions_BasicFunctions_BasicFunctionStatus:in;
Thrust3:Functions_BasicFunctions_BasicFunctionStatus:in;
Thrust4:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
PilotInconsistentControl:bool:in;
PilotManualControl:Functions_BasicFunctions_ModeSelection:in;
LostHelixesControl:bool:out;
sub
PilotRequiresManualMode:Quadcopter_Observers_PilotRequiresManualMode;
LossOfSelectedManualModeFiltered:Boolean_Boolean_filter;
filter4:Boolean_Boolean_filter;
filter3:Boolean_Boolean_filter;
filter2:Boolean_Boolean_filter;
StuckModeManual:Quadcopter_Observers_StuckModeMAN_v03;
ControlledCrash:Boolean_Boolean_or2;
StuckModeAutoOrErr:Quadcopter_Observers_StuckMode_v03;
FC03_MAJ:Boolean_Boolean_intermediate;
TotalLossOfControl:Boolean_Boolean_and2;
UncontrolledCrashInAuthorizedArea:Boolean_Boolean_or2;
LossOfSelectedManualMode:Boolean_Boolean_and2;
UncontrolledCrashInNonAuthorizedArea:Boolean_Boolean_or2;
FC02_HAZ:Boolean_Boolean_intermediate;
FC01_CAT:Boolean_Boolean_intermediate;
ErroneousControlOfOneHelix:Quadcopter_Observers_ErroneousControlOfOneHelix;
TotalLossOfHelixesControl:Quadcopter_Observers_TotalLossOfHelixesControl;
LossOfAtMost3HelixesControl:Quadcopter_Observers_LossOfAtMost3HelixesControl;
assert
LostHelixesControl = LossOfAtMost3HelixesControl.output,
PilotRequiresManualMode.input = PilotManualControl,
LossOfSelectedManualModeFiltered.filterCriterion = PilotInconsistentControl,
LossOfSelectedManualModeFiltered.input = LossOfSelectedManualMode.O,
filter4.filterCriterion = PilotInconsistentControl,
filter4.input = ControlledCrash.O,
filter3.filterCriterion = PilotInconsistentControl,
filter3.input = UncontrolledCrashInAuthorizedArea.O,
filter2.filterCriterion = PilotInconsistentControl,
filter2.input = UncontrolledCrashInNonAuthorizedArea.O,
StuckModeManual.PilotAPEngagementOrder = PilotManualControl,
StuckModeManual.AppliedAPEngagement = APEngagement,
ControlledCrash.I1 = PilotRequiresManualMode.output,
ControlledCrash.I2 = StuckModeManual.output,
StuckModeAutoOrErr.input = APEngagement,
FC03_MAJ.I = filter4.output,
TotalLossOfControl.I1 = LossOfAtMost3HelixesControl.output,
TotalLossOfControl.I2 = LossOfSelectedManualMode.O,
UncontrolledCrashInAuthorizedArea.I1 = TotalLossOfHelixesControl.output,
UncontrolledCrashInAuthorizedArea.I2 = LossOfAtMost3HelixesControl.output,
LossOfSelectedManualMode.I1 = StuckModeAutoOrErr.output,
LossOfSelectedManualMode.I2 = PilotRequiresManualMode.output,
UncontrolledCrashInNonAuthorizedArea.I1 = ErroneousControlOfOneHelix.output,
UncontrolledCrashInNonAuthorizedArea.I2 = TotalLossOfControl.O,
FC02_HAZ.I = filter3.output,
FC01_CAT.I = filter2.output,
ErroneousControlOfOneHelix.in1 = Thrust1,
ErroneousControlOfOneHelix.in2 = Thrust2,
ErroneousControlOfOneHelix.in3 = Thrust4,
ErroneousControlOfOneHelix.in4 = Thrust3,
TotalLossOfHelixesControl.in1 = Thrust1,
TotalLossOfHelixesControl.in2 = Thrust2,
TotalLossOfHelixesControl.in3 = Thrust4,
TotalLossOfHelixesControl.in4 = Thrust3,
LossOfAtMost3HelixesControl.in1 = Thrust1,
LossOfAtMost3HelixesControl.in2 = Thrust2,
LossOfAtMost3HelixesControl.in3 = Thrust4,
LossOfAtMost3HelixesControl.in4 = Thrust3;
edon
node eq_AIDASystem_Functions_SF5_MakeAndRecordVideo
flow
icone:[1,2]:private;
ManualPayloadControl:Functions_BasicFunctions_Presence:in;
AutomaticPayloadControl:Functions_BasicFunctions_BasicFunctionStatus:in;
VideoFlux:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF51_SelectCameraControl:Functions_BasicOperators_PerfectPresenceSelectorOK;
SF55_AcquireManualPayloadControl:Functions_BasicFunctions_AbsentPresentFunction;
SF52_4_MakePhotosAndVideos:Functions_BasicFunctions_InOutFunction;
assert
icone = case {
((SF55_AcquireManualPayloadControl.status = OK) and (SF52_4_MakePhotosAndVideos.status = OK)) : 1,
else 2
},
VideoFlux = SF52_4_MakePhotosAndVideos.output,
SF51_SelectCameraControl.input = AutomaticPayloadControl,
SF51_SelectCameraControl.condition = SF55_AcquireManualPayloadControl.output,
SF55_AcquireManualPayloadControl.input = ManualPayloadControl,
SF52_4_MakePhotosAndVideos.input = SF51_SelectCameraControl.output;
edon
node eq_AIDASystem_Functions_SF4_ControlDroneNavigation
flow
Position:Functions_BasicFunctions_BasicFunctionStatus:in;
Time:Functions_BasicFunctions_BasicFunctionStatus:in;
PositionConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
SpeedConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
FlightPlan:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:out;
IndicatedMode:Functions_BasicFunctions_ModeSelection:out;
PilotManualControl:Functions_BasicFunctions_ModeSelection:in;
FlightPlanProgress:Functions_BasicFunctions_BasicFunctionStatus:out;
AutomaticPayloadControl:Functions_BasicFunctions_BasicFunctionStatus:out;
ManualConsigns:Functions_BasicFunctions_BasicFunctionStatus:in;
sub
SF42_RunAutomaticControl:eq_AIDASystem_Functions_SF42_RunAutomaticControl;
SF44_AcquirePilotControlConsignAndMode:eq_AIDASystem_Functions_SF44_AcquirePilotControlConsignAndMode;
SF43_SelectControlMode:eq_AIDASystem_Functions_SF43_SelectControlMode;
SF41_AcquireAndStoreFlightPlan:Functions_BasicFunctions_InOutFunction;
assert
PositionConsign = SF42_RunAutomaticControl.PositionConsign,
SpeedConsign = SF42_RunAutomaticControl.SpeedConsign,
APEngagement = SF43_SelectControlMode.APEngagement,
IndicatedMode = SF43_SelectControlMode.IndicatedMode,
FlightPlanProgress = SF42_RunAutomaticControl.FlightPlanProgress,
AutomaticPayloadControl = SF42_RunAutomaticControl.AutomaticPayloadControl,
SF42_RunAutomaticControl.FlightPlan = SF41_AcquireAndStoreFlightPlan.output,
SF42_RunAutomaticControl.Position = Position,
SF42_RunAutomaticControl.PilotControlConsigns = SF44_AcquirePilotControlConsignAndMode.AcquiredPilotControlConsigns,
SF42_RunAutomaticControl.Time = Time,
SF42_RunAutomaticControl.FlightPlanInterruption = SF43_SelectControlMode.FlightPlanInterruption,
SF44_AcquirePilotControlConsignAndMode.PilotControlMode = PilotManualControl,
SF43_SelectControlMode.PilotManualControl = SF44_AcquirePilotControlConsignAndMode.AcquiredPilotControlMode,
SF43_SelectControlMode.ManualConsigns = ManualConsigns,
SF43_SelectControlMode.MissionCompleted = SF42_RunAutomaticControl.MissionCompleted,
SF41_AcquireAndStoreFlightPlan.input = FlightPlan;
edon
node eq_AIDASystem_Functions_SF1_ControlDroneHelixes_2
flow
MotorRatesMeasured^MotorRate1:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorRatesMeasured^MotorRate2:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorRatesMeasured^MotorRate3:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorRatesMeasured^MotorRate4:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:in;
ThrustAndTorque1:Functions_BasicFunctions_BasicFunctionStatus:out;
ThrustAndTorque2:Functions_BasicFunctions_BasicFunctionStatus:out;
ThrustAndTorque3:Functions_BasicFunctions_BasicFunctionStatus:out;
ThrustAndTorque4:Functions_BasicFunctions_BasicFunctionStatus:out;
MotorDisabled^Motor1:bool:in;
MotorDisabled^Motor2:bool:in;
MotorDisabled^Motor3:bool:in;
MotorDisabled^Motor4:bool:in;
sub
SF14_ControlHelix4:eq_AIDASystem_Functions_SF1i_ControlHelix_2;
SF13_ControlHelix3:eq_AIDASystem_Functions_SF1i_ControlHelix_2;
SF12_ControlHelix2:eq_AIDASystem_Functions_SF1i_ControlHelix_2;
SF11_ControlHelix1:eq_AIDASystem_Functions_SF1i_ControlHelix_2;
assert
MotorRatesMeasured^MotorRate1 = SF11_ControlHelix1.MotorRateMeasured,
MotorRatesMeasured^MotorRate2 = SF12_ControlHelix2.MotorRateMeasured,
MotorRatesMeasured^MotorRate3 = SF13_ControlHelix3.MotorRateMeasured,
MotorRatesMeasured^MotorRate4 = SF14_ControlHelix4.MotorRateMeasured,
ThrustAndTorque1 = SF11_ControlHelix1.ThrustAndTorque,
ThrustAndTorque2 = SF12_ControlHelix2.ThrustAndTorque,
ThrustAndTorque3 = SF13_ControlHelix3.ThrustAndTorque,
ThrustAndTorque4 = SF14_ControlHelix4.ThrustAndTorque,
SF14_ControlHelix4.MotorDisabled = MotorDisabled^Motor4,
SF14_ControlHelix4.MotorRate = MotorRate,
SF13_ControlHelix3.MotorDisabled = MotorDisabled^Motor3,
SF13_ControlHelix3.MotorRate = MotorRate,
SF12_ControlHelix2.MotorDisabled = MotorDisabled^Motor2,
SF12_ControlHelix2.MotorRate = MotorRate,
SF11_ControlHelix1.MotorDisabled = MotorDisabled^Motor1,
SF11_ControlHelix1.MotorRate = MotorRate;
edon
node eq_AIDASystem_Functions_SF2_ControlDroneAttitudeAndPosition
flow
icone:[1,3]:private;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:in;
Position:Functions_BasicFunctions_BasicFunctionStatus:in;
Speed:Functions_BasicFunctions_BasicFunctionStatus:in;
PositionConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
SpeedConsign:Functions_BasicFunctions_BasicFunctionStatus:in;
APEngagement:Functions_BasicFunctions_ModeSelection:in;
MotorRate:Functions_BasicFunctions_BasicFunctionStatus:out;
DetectControlDronePosition:Functions_BasicFunctions_BasicFunctionStatus:out;
Consigns^AltitudeManualConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
Consigns^YawManualConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
Consigns^PitchRollManualConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
Consigns^AltitudeAndAttitudeAPConsign:Functions_BasicFunctions_BasicFunctionStatus:out;
PilotOrders:Functions_BasicFunctions_Presence:in;
ManualConsigns:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF22_AcquirePilotOrders:Functions_BasicFunctions_InOutPresentFunction;
SF231_ComputeYawConsign:Functions_BasicFunctions_InOutFunction;
SF241_ComputeAltitudeConsign:Functions_BasicFunctions_InOutFunction;
SF21_ControlPosition:eq_AIDASystem_Functions_SF21_ControlPosition;
SF232_5_ControlAttitude:eq_AIDASystem_Functions_SF232_5_ControlAttitude;
SF242_3_ControlAltitude:eq_AIDASystem_Functions_SF242_3_ControlAltitude;
SF25_AllNeeded:Functions_BasicOperators_AND;
SF25_ControlThrust:Functions_BasicFunctions_InOutFunction;
assert
MotorRate = SF25_ControlThrust.output,
icone = (if (MotorRate = OK) then 1 else (if (MotorRate = LOST) then 3 else 2)),
DetectControlDronePosition = SF21_ControlPosition.AttitudeThrustAPConsign,
Consigns^AltitudeManualConsign = SF241_ComputeAltitudeConsign.output,
Consigns^YawManualConsign = SF231_ComputeYawConsign.output,
Consigns^PitchRollManualConsign = SF22_AcquirePilotOrders.output,
Consigns^AltitudeAndAttitudeAPConsign = SF21_ControlPosition.AttitudeThrustAPConsign,
ManualConsigns = SF22_AcquirePilotOrders.output,
SF22_AcquirePilotOrders.input = PilotOrders,
SF231_ComputeYawConsign.input = SF22_AcquirePilotOrders.output,
SF241_ComputeAltitudeConsign.input = SF22_AcquirePilotOrders.output,
SF21_ControlPosition.Position = Position,
SF21_ControlPosition.Speed = Speed,
SF21_ControlPosition.Attitude = Attitude,
SF21_ControlPosition.PositionConsign = PositionConsign,
SF21_ControlPosition.SpeedConsign = SpeedConsign,
SF232_5_ControlAttitude.Attitude = Attitude,
SF232_5_ControlAttitude.AttitudeAPConsign = SF21_ControlPosition.AttitudeThrustAPConsign,
SF232_5_ControlAttitude.PitchRollConsign = SF22_AcquirePilotOrders.output,
SF232_5_ControlAttitude.YawConsign = SF231_ComputeYawConsign.output,
SF232_5_ControlAttitude.APEngagement = APEngagement,
SF242_3_ControlAltitude.Altitude = Altitude,
SF242_3_ControlAltitude.Attitude = Attitude,
SF242_3_ControlAltitude.AltitudeConsign = SF241_ComputeAltitudeConsign.output,
SF242_3_ControlAltitude.T_AP = SF21_ControlPosition.AttitudeThrustAPConsign,
SF242_3_ControlAltitude.APEngagement = APEngagement,
SF25_AllNeeded.input_1 = SF242_3_ControlAltitude.T,
SF25_AllNeeded.input_2 = SF232_5_ControlAttitude.P,
SF25_ControlThrust.input = SF25_AllNeeded.output;
edon
node eq_AIDASystem_Functions_SF3_ComputeDronePositionAndSpeed
flow
icone:[1,2]:private;
Altitude:Functions_BasicFunctions_BasicFunctionStatus:out;
Attitude:Functions_BasicFunctions_BasicFunctionStatus:out;
Position:Functions_BasicFunctions_BasicFunctionStatus:out;
Speed:Functions_BasicFunctions_BasicFunctionStatus:out;
Time:Functions_BasicFunctions_BasicFunctionStatus:out;
sub
SF34_ComputePositionAndTime:Functions_BasicFunctions_SourceFunction;
SF31_ComputeAttitude:Functions_BasicFunctions_SourceFunction;
SF33_ComputeDroneSpeed:eq_AIDASystem_Functions_SF33_ComputeDroneSpeed;
SF32_ComputeAltitude:Functions_BasicFunctions_InOutFunction;
assert
icone = case {
(((((SF31_ComputeAttitude.status = OK) and (SF32_ComputeAltitude.status = OK)) and (SF34_ComputePositionAndTime.status = OK)) and (SF33_ComputeDroneSpeed.SF331_FilmGround.status = OK)) and (SF33_ComputeDroneSpeed.SF332_ComputeSpeed.status = OK)) : 1,
else 2
},
Altitude = SF32_ComputeAltitude.output,
Attitude = SF31_ComputeAttitude.output,
Position = SF34_ComputePositionAndTime.output,
Speed = SF33_ComputeDroneSpeed.Speed,
Time = SF34_ComputePositionAndTime.output,
SF33_ComputeDroneSpeed.Altitude = SF32_ComputeAltitude.output,
SF32_ComputeAltitude.input = SF31_ComputeAttitude.output;
edon
node main
sub
SF6:eq_AIDASystem_Functions_SF6_ManageMission;
EXT_Database_UploadPredefinedFlightZoneBoarders:Functions_BasicFunctions_SourceFunction;
EXT_PilotDetection:AIDASystem_Functions_Detection_v44;
SF7:eq_AIDASystem_Functions_SF7_MonitorDroneControl_v042;
FailureConditions:eq_AIDASystem_Observers_Observer_v44;
SF5:eq_AIDASystem_Functions_SF5_MakeAndRecordVideo;
SF4:eq_AIDASystem_Functions_SF4_ControlDroneNavigation;
SF1:eq_AIDASystem_Functions_SF1_ControlDroneHelixes_2;
SF2:eq_AIDASystem_Functions_SF2_ControlDroneAttitudeAndPosition;
SF3:eq_AIDASystem_Functions_SF3_ComputeDronePositionAndSpeed;
assert
SF6.iFlightPlanProgress = SF4.FlightPlanProgress,
SF6.iFlightPlan = EXT_Database_UploadPredefinedFlightZoneBoarders.output,
SF6.iDroneControlMode = SF4.IndicatedMode,
EXT_PilotDetection.inputFlightPlan = SF6.oFlightPlanProgress,
EXT_PilotDetection.inputPosition = SF3.Position,
EXT_PilotDetection.inputSpeed = SF3.Speed,
EXT_PilotDetection.inputControlPosition = SF2.DetectControlDronePosition,
EXT_PilotDetection.inputLostHelixesControl = FailureConditions.LostHelixesControl,
EXT_PilotDetection.inputIndicatedMode = SF6.oDroneControlMode,
SF7.APEngagement = SF4.APEngagement,
SF7.Attitude = SF3.Attitude,
SF7.Altitude = SF3.Altitude,
SF7.MotorRate = SF2.MotorRate,
SF7.MotorRatesMeasured^MotorRate1 = SF1.MotorRatesMeasured^MotorRate1,
SF7.MotorRatesMeasured^MotorRate2 = SF1.MotorRatesMeasured^MotorRate2,
SF7.MotorRatesMeasured^MotorRate3 = SF1.MotorRatesMeasured^MotorRate3,
SF7.MotorRatesMeasured^MotorRate4 = SF1.MotorRatesMeasured^MotorRate4,
SF7.Consigns^AltitudeManualConsign = SF2.Consigns^AltitudeManualConsign,
SF7.Consigns^YawManualConsign = SF2.Consigns^YawManualConsign,
SF7.Consigns^PitchRollManualConsign = SF2.Consigns^PitchRollManualConsign,
SF7.Consigns^AltitudeAndAttitudeAPConsign = SF2.Consigns^AltitudeAndAttitudeAPConsign,
FailureConditions.Thrust1 = SF1.ThrustAndTorque1,
FailureConditions.Thrust2 = SF1.ThrustAndTorque2,
FailureConditions.Thrust3 = SF1.ThrustAndTorque3,
FailureConditions.Thrust4 = SF1.ThrustAndTorque4,
FailureConditions.APEngagement = SF4.APEngagement,
FailureConditions.PilotInconsistentControl = EXT_PilotDetection.PilotInconsistentControl,
FailureConditions.PilotManualControl = EXT_PilotDetection.PilotSelectedMode,
SF5.ManualPayloadControl = EXT_PilotDetection.ManualPayloadControl,
SF5.AutomaticPayloadControl = SF4.AutomaticPayloadControl,
SF4.Position = SF3.Position,
SF4.Time = SF3.Time,
SF4.FlightPlan = SF6.oFlightPlan,
SF4.PilotManualControl = EXT_PilotDetection.PilotSelectedMode,
SF4.ManualConsigns = SF2.ManualConsigns,
SF1.MotorRate = SF2.MotorRate,
SF1.MotorDisabled^Motor1 = SF7.MotorDisabled^Motor1,
SF1.MotorDisabled^Motor2 = SF7.MotorDisabled^Motor2,
SF1.MotorDisabled^Motor3 = SF7.MotorDisabled^Motor3,
SF1.MotorDisabled^Motor4 = SF7.MotorDisabled^Motor4,
SF2.Altitude = SF3.Altitude,
SF2.Attitude = SF3.Attitude,
SF2.Position = SF3.Position,
SF2.Speed = SF3.Speed,
SF2.PositionConsign = SF4.PositionConsign,
SF2.SpeedConsign = SF4.SpeedConsign,
SF2.APEngagement = SF4.APEngagement,
SF2.PilotOrders = EXT_PilotDetection.PilotOrders;
extern
nodeproperty <global projectName> = "AIDASystem/AIDASystem/AIDA0_4_4";
nodeproperty <global projectVersion> = "1";
nodeproperty <global projectConfig> = "default";
nodeproperty <global currentDate> = "2018-10-08 08:54:11";
edon