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{"sheet":"SynchroTatiana","index":0,"n_rows":93,"n_cols":11,"rows_kept":93,"cut":false,"hidden":false,"merged":[]}
["Ref","Functional architecture"]
[null,"lvl1","lvl2","lvl3","In safety model","Comments",null,"Failure injection","System Hypothesis / safety requirement (?)","Safety model validation by system","Actions"]
[1,"Control drone helixes",null,null,"Yes"]
["1.1",null,"Control helix 1",null,"Yes","Groupement des signaux thrust and torque en un seul signal","I/O","Yes",null,"Validated"]
["1.1.1",null,null,"Control motor 1","No"]
["1.1.2",null,null,"Create motion 1","No"]
["1.1.3",null,null,"Create thrust and torque at helix 1","No"]
["1.1.4",null,null,"Measure motor 1 position","No"]
["1.1.5",null,null,"Compute motor 1 rate","No"]
["1.2",null,"Control helix 2",null,"Yes","Groupement des signaux thrust and torque en un seul signal","I/O","Yes",null,"Validated"]
["1.2.1",null,null,"Control motor 2","No"]
["1.2.2",null,null,"Create motion 2","No"]
["1.2.3",null,null,"Create thrust and torque at helix 2","No"]
["1.2.4",null,null,"Measure motor 2 position","No"]
["1.2.5",null,null,"Compute motor 2 rate","No"]
["1.3",null,"Control helix 3",null,"Yes","Groupement des signaux thrust and torque en un seul signal","I/O","Yes",null,"Validated"]
["1.3.1",null,null,"Control motor 3","No"]
["1.3.2",null,null,"Create motion 3","No"]
["1.3.3",null,null,"Create thrust and torque at helix 3","No"]
["1.3.4",null,null,"Measure motor 3 position","No"]
["1.3.5",null,null,"Compute motor 3 rate","No"]
["1.4",null,"Control helix 4",null,"Yes","Groupement des signaux thrust and torque en un seul signal","I/O","Yes",null,"Validated"]
["1.4.1",null,null,"Control motor 4","No"]
["1.4.2",null,null,"Create motion 4","No"]
["1.4.3",null,null,"Create thrust and torque at helix 4","No"]
["1.4.4",null,null,"Measure motor 4 position","No"]
["1.4.5",null,null,"Compute motor 4 rate","No"]
[2,"Control drone attitude and position",null,null,"Yes"]
["2.1",null,"Control drone position",null,"Yes","Ajout de portes logiques pour représenter la dépendance et création d'une sous fonction permettant l'injection de défaillance.\nFusion des deux sorties","I/O","Yes","Spécifier le comportement en cas de perte combinée à un erroné. A nuancer selon l'état engagé pour certains signaux.","Validated"]
["2.1.1",null,null,"Control position","No","Seule la dépendance est modélisée"]
["2.1.2",null,null,"Select speed consign","Yes","Comportement similaire. I/O conforme.",null,"No",null,"Validated"]
["2.1.3",null,null,"Control speed","No","Seule la dépendance est modélisée"]
["2.1.4",null,null,"Compute thrust and attitude consign","No","Seule la dépendance est modélisée"]
["2.2",null,"Acquire pilot orders",null,"Yes","Suppression pilot input / Groupement des deux signaux de sortie","I/O","Yes",null,"Validated"]
["2.2.1",null,null,"Acquire pitch order","No"]
["2.2.2",null,null,"Acquire roll order","No"]
["2.2.3",null,null,"Acquire yaw order","No"]
["2.2.4",null,null,"Acquire altitude order","No"]
["2.3",null,"Control attitude",null,"Yes","Ajout de portes logiques pour représenter la dépendance et création d'une sous fonction permettant l'injection de défaillance.\nFusion des deux sorties","I/O","Yes","Spécifier le comportement en cas de perte combinée à un erroné. A nuancer selon l'état engagé pour certains signaux.\nPour justifier la suppression du signal rebouclé, ajouter une hypothèse. A savoir que en cas de basculement de PA vers manuel (et réciproquement), les consignes redeviennent valides et tous les états mémorisés et potentiellement contaminés par les anciennes valeurs erronées sont initialisés.","Validated"]
["2.3.1",null,null,"Compute yaw consign","No"]
["2.3.2",null,null,"Select attitude consign","Yes","Comportement similaire. I/O conforme.",null,"No",null,"Validated"]
["2.3.3",null,null,"Control pitch angle","No"]
["2.3.4",null,null,"Control roll angle","No"]
["2.3.5",null,null,"Control yaw angle","No"]
["2.4",null,"Control altitude",null,"Yes","Ajout de portes logiques pour représenter la dépendance dans le cas des ordres en mode manuel et création d'une sous fonction permettant l'injection de défaillance.\nFusion des deux sorties",null,"Yes","Spécifier le comportement en cas de perte combinée à un erroné. A nuancer selon l'état engagé pour certains signaux.","Validated"]
["2.4.1",null,null,"Compute altitude consign","No","Seulement les portes logiques"]
["2.4.2",null,null,"Compute total thrust","No","Seulement les portes logiques"]
["2.4.3",null,null,"Select total thrust consign","Yes","Comportement similaire. I/O conforme.",null,"No",null,"Validated"]
["2.5",null,"Control thrust",null,"Yes","La fonction système est représentée par deux objets : un symbole logique ET, ainsi qu'une fonction permettant l'injection de panne",null,"Yes","Spécifier le comportement en cas de perte combinée à un erroné.","Validated"]
["2.5.1",null,null,"Compute thrust","No"]
["2.5.2",null,null,"Compute motor rate","No"]
[3,"Compute drone position and speed",null,null,"Yes"]
["3.1",null,"Compute drone attitude",null,"Yes","Il manque 2 entrées. Une provenant de l'environnement (phénomène physique mesuré) et une de la fonction SF.2","I/O","Yes","Voir analyse dédiée de la modélisation des boucles","Validated"]
["3.1.1",null,null,"Measure drone acceleration","No"]
["3.1.2",null,null,"Measure drone rate","No"]
["3.1.3",null,null,"Measure magnetic north direction","No"]
["3.1.4",null,null,"Estimate X and Y rates","No"]
["3.1.5",null,null,"Estimate Z rates","No"]
["3.1.6",null,null,"Compute pitch, roll, yaw rate and angle","No"]
["3.2",null,"Compute drone altitude",null,"Yes","Il manque une provenant de l'environnement (phénomène physique mesuré)","I/O","Yes",null,"Validated"]
["3.2.1",null,null,"Measure ambiant pressure","No"]
["3.2.2",null,null,"Compute barometric altitude","No"]
["3.2.3",null,null,"Measure telemetric signal","No"]
["3.2.4",null,null,"Compute ground altitude","No"]
["3.2.5",null,null,"Compute altitude and vertical speed","No"]
["3.3",null,"Compute drone speed",null,"Yes","La fonction système est représentée par deux objets : un symbole logique ET, ainsi qu'une fonction permettant l'injection de panne",null,"Yes","Spécifier le comportement en cas de perte combinée à un erroné.","Validated"]
["3.4",null,"Compute drone position and time",null,"Yes","Il manque une provenant de l'environnement (phénomène physique mesuré)","I/O","Yes",null,"Validated"]
["3.4.1",null,null,"Acquire positioning signal","No"]
["3.4.2",null,null,"Compute position and time","No"]
[4,"Control drone navigation",null,null,"Yes"]
["4.1",null,"Acquire and store flight plan",null,"Yes","Simplification des I/O : une seule entrée et une seule sortie.","I/O","Yes",null,"Validated"]
["4.2",null,"Run flight plan",null,"Yes","A noter : en cas de perte du plan de vol, il n'y aucun effet propagé. En effet, la détection a lieu avant le début du vol. Impact sur la disponibilité mais pas sur la safety.\nLes défaillances de SF 4.3 induisant des états bloqués (PA ou manuel) font commuter les switch des sous fonctions de SF2. Donc il n'est pas nécessaire de propager ces états à SF4.2.\n(la transmission de la défaillance est effectuée par un autre chemin)","I/O","Yes","La défaillance de SF4.2 produit un disfonctionnement du PA. Le pilote réagit en reprenant la main. Il faut donc que l'entrée pilote de la fonction SF4.3 soit toujours prioritaire devant celle de la fonction SF4.2","Validated","PV: rédiger l'exigence"]
["4.3",null,"Select control mode",null,"Yes","Suppression de l'impact de la fonction SF4.2.\nLa fonction ne permet pas l'engagement en mode pilote automatique avec consigne de vitesse définie par le pilote du drone. Ce n'est pas un problème car aucune procédure d'utilisation de ce mode n'est défini et aucun objectif opérationnel et de sureté n'est défini.\nA noter : cette subtilité ne pouvait pas être devinée par l'ingénieur safety avec les information initialement fournies.","I/O","Yes","Idem SF 4.2","Validated","Actions for further version of the model.\nPV: provide a clear functional mode definition view point\nTP: function to be improved\nin order to unable the use of Auto pilot with speed consigns.\nNote that this model upgrade requires functional mode definition by the system team."]
[5,"Make and record video",null,null,"Yes","Simplication car l'essentiel de la fonction ne peut contribuer qu'à des évènements mineurs. Seuls le flux vidéo et les flux de controle sont modélisés. Cela permet d'injecter des erreurs éventuelles dans la fonction SF3 (via le flux video) et de modéliser la dépendance à la fonction de controle de la navigation (SF4).\nNon modélisation du lien vers la fonction SF6, car impact mineur.","I/O","Yes",null,"Validated"]
["5.1",null,"Select camera control",null,"Yes",null,null,"No",null,"Validated"]
["5.2",null,"Control camera orientation",null,"No"]
["5.3",null,"Make photos and videos",null,"Yes","Pas de modélisation des I/O vers les fonctions SF5.2 et SF5.4 non modélisées. Il est possible d'injecter des défaillances dans cette fonction. Elles modélisent les défaillances de la fonction SF5.","I/O","Yes",null,"Validated"]
["5.4",null,"Numerize photos and videos",null,"No"]
[6,"Manage mission",null,null,"Yes"]
["6.1",null,"Compute flight plan and flight zone",null,"Yes","Pas d'interaction avec le pilote. Seules sorties vers la fonction 4 sont modélisées sous forme d'un unique signal plan de vol et zone de vol","I/O","Yes",null,"Validated"]
["6.1.1",null,null,"Set flight zone borders","No"]
["6.1.2",null,null,"Map the flight zone","No"]
["6.1.3",null,null,"Detect aircraft position","No"]
["6.1.4",null,null,"Detect obstacles","No"]
["6.1.5",null,null,"Compute the flight plan","No"]
["6.2",null,"Store data",null,"No","Aucun impact sur le vol. Cette fonction est utile uniquement au sol et ne contribue pas à des évènements critiques (maj,haz,cat)."]
["6.3",null,"Analyse drone measurement",null,"No","Aucun impact sur le vol. Cette fonction est utile uniquement au sol et ne contribue pas à des évènements critiques (maj,haz,cat)."]
["6.3.1",null,null,"Analyse measurement manually","No"]
["6.3.2",null,null,"Analyse mission automatically","No"]
["6.3.3",null,null,"Generate mission report","No"]
[{"$nulls":4},{"$f":"E92+E93","v":88}]
[null,null,null,"Number of Yes",{"$f":"COUNTIF($E$3:$E$90,\"Yes\")","v":28},{"$f":"E92/$E$91","v":0.318181818181818}]
[null,null,null,"Number of No",{"$f":"COUNTIF($E$3:$E$90,\"No\")","v":60},{"$f":"E93/$E$91","v":0.681818181818182}]

{"sheet":"Légende de couleur des points d","index":1,"n_rows":7,"n_cols":6,"rows_kept":7,"cut":false,"hidden":false,"merged":[]}
[{"$nulls":5},"1-to-1 synchronisation point"]
[{"$nulls":5},"No symetric object"]
[{"$nulls":5},"1-to-n synchronisation point"]
[{"$nulls":5},"Another 1-to-n"]
[{"$nulls":5},"N-to-n synchronisation point"]
[{"$nulls":5},"internal (flows between functions that below to the same function synchronisation point)"]
[{"$nulls":5},"folder"]

{"sheet":"Structure review","index":2,"n_rows":543,"n_cols":19,"rows_kept":543,"cut":false,"hidden":false,"merged":[[0,0,0,4],[0,5,0,8],[0,9,0,11],[0,13,0,14],[0,15,0,17]]}
["Functional architecture",{"$nulls":4},"Function synchro point",null,null,null,"Port synchro point",null,null,"Structure review","Behavior synchro",null,"Functional architecture & external systems"]
["REC/RPL","External/internal","Function","Parent function","Ports (deduced from flows) (inputs and outputs)","ID","Dependent SP (filtering)","Link between model component and synchro point","Remark","ID","Cardinality type","Remark",null,"Safety preparation","System review","Ports (inputs and outputs)","Function name","REC/RPL"]
[null,"EXT",null,null,null,1,1,"*-to-0","Safety modeling artefact. Must be reviewed by system designer",{"$nulls":4},"?",null,null,"FailureConditions"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F4)),F4,G3)","v":1},"folded model component",{"$nulls":8},"FC01_CAT"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F5)),F5,G4)","v":1},"folded model component",{"$nulls":8},"FC02_HAZ"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F6)),F6,G5)","v":1},"folded model component",{"$nulls":8},"FC03_MAJ"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F7)),F7,G6)","v":1},"folded model component",{"$nulls":8},"filter2"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F8)),F8,G7)","v":1},"folded model component",{"$nulls":8},"filter3"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F9)),F9,G8)","v":1},"folded model component",{"$nulls":8},"filter4"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F10)),F10,G9)","v":1},"folded model component",{"$nulls":8},"UncontrolledCrashInNonAuthorizedArea"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F11)),F11,G10)","v":1},"folded model component",{"$nulls":8},"Uncontrolled CrashInAuthorizedArea"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F12)),F12,G11)","v":1},"folded model component",{"$nulls":8},"LossOfSelectedManualModeFiltered"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F13)),F13,G12)","v":1},"folded model component",{"$nulls":8},"TotalLossOfControl"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F14)),F14,G13)","v":1},"folded model component",{"$nulls":8},"ControlledCrash"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F15)),F15,G14)","v":1},"folded model component",{"$nulls":8},"LossOfSelectedManualMode"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F16)),F16,G15)","v":1},"folded model component",{"$nulls":8},"ErroneousControlOfOneHelix"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F17)),F17,G16)","v":1},"folded model component",{"$nulls":8},"TotalLossOfHelixesControl"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F18)),F18,G17)","v":1},"folded model component",{"$nulls":8},"LossOfAtMost3HelixesControl"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F19)),F19,G18)","v":1},"folded model component",{"$nulls":8},"StruckModeAutoOrErr"]
[null,"EXT",null,null,null,1,null,"folded model component",{"$nulls":8},"PilotRequiresManualMode"]
[null,"EXT",null,null,null,1,{"$f":"IF(NOT(ISBLANK(F21)),F21,G19)","v":1},"folded model component",{"$nulls":8},"StuckModeManual"]
[null,"SF","[SF1] Control drone helixes","Root Physical Function",null,2,{"$f":"IF(NOT(ISBLANK(F22)),F22,G21)","v":2},"1-to-1",null,null," ",null,"ok",null,null,null,"SF1"]
["REC ControlHelix","SF","[SF1.1] Control helix 1","[SF1] Control drone helixes",null,3,{"$f":"IF(NOT(ISBLANK(F23)),F23,#REF!)","v":3},"1-to-1","This synchro point is a REC in both system and safety.",null,null,null,"ok",null,null,null," SF11_ControlHelix1","REC SF1i_ControlHelix_2"]
[null,"SF","[SF1.1.1] Control motor 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(F24)),F24,#REF!)","v":47},"N-to-n","Gathering of 4 subfunctions because 1) they do not have safety impact in isolation, 2) they constitute a loop that is undesirable in safety modeling. Choice of 2 safety bricks because there is one dysfunctional behavior (first brick) and the reconfiguration behavior of shutting down (not dependent from the dysfunctional behavior)",null,null,null,"ok",null,null,null,"SF1i1_5_CreateMotionAndMeasure"]
[null,"SF",null,null,null,47,{"$f":"IF(NOT(ISBLANK(F25)),F25,G24)","v":47},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,"SF",null,null,"in: Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F26)),F26,G25)","v":47},null,null,"47.1","1-to-1",null,"ok",null,null,"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"SF","[SF1.1.2] Create motion 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(F27)),F27,G26)","v":47},"N-to-n"]
[null,"SF",null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F28)),F28,G27)","v":47},null,null,"47.2","1-to-1",null,"ok",null,null,"SF1i1_5_PerfectSelectorLOST.condition"]
[null,"SF",null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F29)),F29,G28)","v":47},null,null,"47.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","SF1i1_5_PerfectSelectorLOST.output"]
[null,"SF","[SF1.1.4] Measure motor 1 position","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(F30)),F30,G29)","v":47},"N-to-n"]
[null,"SF","[SF1.1.5] Compute motor 1 rate","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(F31)),F31,G30)","v":47},"N-to-n"]
[null,"SF",null,null,"out: Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(F32)),F32,G31)","v":47},null,null,"47.4","1-to-1",null,"ok","Cone = MotorRate. Standard failure and combination of input and failure","ok","SF1i1_5_CreateMotionAndMeasure.output",null," "]
[null,"SF","[SF1.1.6] Depower motor 1","[SF1.1] Control helix 1",null,48,{"$f":"IF(NOT(ISBLANK(F33)),F33,G32)","v":48},"1-to-1",{"$nulls":4},"ok","Boolean equivalent of InOutFunction",null,null,"SF1i6_DepowerMotor"]
[null,"SF",null,null,"in: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(F34)),F34,G32)","v":47},null,null,"48.2","1-to-1",null,"ok",null,null,"input"]
[null,"SF",null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F35)),F35,G34)","v":47},null,null,"48.1","1-to-1",null,"ok",null,null,"output"]
[null,"SF","[SF1.1.3] Create thrust and torque at helix 1","[SF1.1] Control helix 1",null,49,{"$f":"IF(NOT(ISBLANK(F36)),F36,#REF!)","v":49},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF1i3_CreateThrustAndTorque"]
[null,"SF",null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F37)),F37,G36)","v":49},null,null,"49.1","1-to-1",null,"ok",null,null,"input"]
[null,"SF",null,null,"out: Helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(F38)),F38,G37)","v":49},null,null,"49.2","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out: Helix 1 torque",null,{"$f":"IF(NOT(ISBLANK(F39)),F39,G38)","v":49},null,null,"49.2","1-to-n"]
["RPL ControlHelix","SF-RPL","[SF1.2] Control helix 2","[SF1] Control drone helixes",null,4,{"$f":"IF(NOT(ISBLANK(F40)),F40,G39)","v":4},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF12_ControlHelix2","RPL SF1i_ControlHelix₂"]
[null,"SF",null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(F41)),F41,G40)","v":4},null,null,"4.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,"SF",null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F42)),F42,G41)","v":4},null,null,"4.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,"SF",null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(F43)),F43,G42)","v":4},null,null,"4.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,"SF",null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(F44)),F44,G43)","v":4},null,null,"4.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,"SF",null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(F45)),F45,G44)","v":4},null,null,"4.4","1-to-n"]
[null,"SF-RPL","[SF1.2.1] Control motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F46)),F46,G45)","v":"4 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[null,"SF-RPL",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F47)),F47,G46)","v":"4 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,"SF-RPL",null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(F48)),F48,G47)","v":"4 by RPL"},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"SF-RPL","[SF1.2.2] Create motion 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F49)),F49,G48)","v":"4 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F50)),F50,G49)","v":"4 by RPL"},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,"SF-RPL",null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F51)),F51,G50)","v":"4 by RPL"},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"SF-RPL","[SF1.2.4] Measure motor 2 position","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F52)),F52,G51)","v":"4 by RPL"},"N-to-n"]
[null,"SF-RPL","[SF1.2.5] Compute motor 2 rate","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F53)),F53,G52)","v":"4 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"out: Motor 2 rate measured",null,{"$f":"IF(NOT(ISBLANK(F54)),F54,G53)","v":"4 by RPL"},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"SF-RPL","[SF1.2.6] Depower motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F55)),F55,G54)","v":"4 by RPL"},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,"SF-RPL",null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F56)),F56,G55)","v":"4 by RPL"},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,"SF-RPL",null,null,"in: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(F57)),F57,G56)","v":"4 by RPL"},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"SF-RPL","[SF1.2.3] Create thrust and torque at helix 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(F58)),F58,G57)","v":"4 by RPL"},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,"SF-RPL",null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F59)),F59,G58)","v":"4 by RPL"},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,"SF-RPL",null,null,"out: Helix 2 thrust",null,{"$f":"IF(NOT(ISBLANK(F60)),F60,G59)","v":"4 by RPL"},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,"SF-RPL",null,null,"out: Helix 2 torque",null,{"$f":"IF(NOT(ISBLANK(F61)),F61,G60)","v":"4 by RPL"},null,null,"49.2","1-to-n"]
["RPL ControlHelix","SF-RPL","[SF1.3] Control helix 3","[SF1] Control drone helixes",null,5,{"$f":"IF(NOT(ISBLANK(F62)),F62,G61)","v":5},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF13_ControlHelix3","RPL ControlHelix"]
[null,"SF-RPL",null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(F63)),F63,G62)","v":5},null,null,"5.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,"SF-RPL",null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F64)),F64,G63)","v":5},null,null,"5.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,"SF-RPL",null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(F65)),F65,G64)","v":5},null,null,"5.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,"SF-RPL",null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(F66)),F66,G65)","v":5},null,null,"5.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,"SF-RPL",null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(F67)),F67,G66)","v":5},null,null,"5.4","1-to-n"]
[null,"SF-RPL","[SF1.3.1] Control motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F68)),F68,G67)","v":"5 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[null,"SF-RPL",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F69)),F69,G68)","v":"5 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,"SF-RPL",null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(F70)),F70,G69)","v":"5 by RPL"},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"SF-RPL","[SF1.3.2] Create motion 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F71)),F71,G70)","v":"5 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F72)),F72,G71)","v":"5 by RPL"},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,"SF-RPL",null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F73)),F73,G72)","v":"5 by RPL"},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"SF-RPL","[SF1.3.4] Measure motor 3 position","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F74)),F74,G73)","v":"5 by RPL"},"N-to-n"]
[null,"SF-RPL","[SF1.3.5] Compute motor 3 rate","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F75)),F75,G74)","v":"5 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"out: Motor 3 rate measured",null,{"$f":"IF(NOT(ISBLANK(F76)),F76,G75)","v":"5 by RPL"},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"SF-RPL","[SF1.3.6] Depower motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F77)),F77,G76)","v":"5 by RPL"},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,"SF-RPL",null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F78)),F78,G77)","v":"5 by RPL"},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,"SF-RPL",null,null,"in: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(F79)),F79,G78)","v":"5 by RPL"},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"SF-RPL","[SF1.3.3] Create thrust and torque at helix 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(F80)),F80,G79)","v":"5 by RPL"},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,"SF-RPL",null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F81)),F81,G80)","v":"5 by RPL"},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,"SF-RPL",null,null,"out: Helix 3 thrust",null,{"$f":"IF(NOT(ISBLANK(F82)),F82,G81)","v":"5 by RPL"},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,"SF-RPL",null,null,"out: Helix 3 torque",null,{"$f":"IF(NOT(ISBLANK(F83)),F83,G82)","v":"5 by RPL"},null,null,"49.2","1-to-n"]
["RPL ControlHelix","SF-RPL","[SF1.4] Control helix 4","[SF1] Control drone helixes",null,6,{"$f":"IF(NOT(ISBLANK(F84)),F84,G83)","v":6},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF14_ControlHelix4","RPL ControlHelix"]
[null,"SF-RPL",null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(F85)),F85,G84)","v":6},null,null,"6.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,"SF-RPL",null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F86)),F86,G85)","v":6},null,null,"6.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,"SF-RPL",null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(F87)),F87,G86)","v":6},null,null,"6.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,"SF-RPL",null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(F88)),F88,G87)","v":6},null,null,"6.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,"SF-RPL",null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(F89)),F89,G88)","v":6},null,null,"6.4","1-to-n"]
[null,"SF-RPL","[SF1.4.1] Control motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F90)),F90,G89)","v":"6 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[null,"SF-RPL",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F91)),F91,G90)","v":"6 by RPL"},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,"SF-RPL",null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(F92)),F92,G91)","v":"6 by RPL"},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"SF-RPL","[SF1.4.2] Create motion 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F93)),F93,G92)","v":"6 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F94)),F94,G93)","v":"6 by RPL"},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,"SF-RPL",null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F95)),F95,G94)","v":"6 by RPL"},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"SF-RPL","[SF1.4.4] Measure motor 4 position","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F96)),F96,G95)","v":"6 by RPL"},"N-to-n"]
[null,"SF-RPL","[SF1.4.5] Compute motor 4 rate","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F97)),F97,G96)","v":"6 by RPL"},"N-to-n"]
[null,"SF-RPL",null,null,"out: Motor 4 rate measured",null,{"$f":"IF(NOT(ISBLANK(F98)),F98,G97)","v":"6 by RPL"},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"SF-RPL","[SF1.4.6] Depower motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F99)),F99,G98)","v":"6 by RPL"},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,"SF-RPL",null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(F100)),F100,G99)","v":"6 by RPL"},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,"SF-RPL",null,null,"in: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(F101)),F101,G100)","v":"6 by RPL"},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"SF-RPL","[SF1.4.3] Create thrust and torque at helix 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(F102)),F102,G101)","v":"6 by RPL"},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque",null,"SF23"]
[null,"SF-RPL",null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(F103)),F103,G102)","v":"6 by RPL"},null,null,"49.1","1-to-1",{"$nulls":4},"input",null,null,"SF731"]
[null,"SF-RPL",null,null,"out: Helix 4 thrust",null,{"$f":"IF(NOT(ISBLANK(F104)),F104,G103)","v":"6 by RPL"},null,null,"49.2","1-to-n",{"$nulls":4},"output",null,null,"SF733"]
[null,"SF-RPL",null,null,"out: Helix 4 torque",null,{"$f":"IF(NOT(ISBLANK(F105)),F105,G104)","v":"6 by RPL"},null,null,"49.2","1-to-n"]
[null,"SF","[SF2] Control drone attitude and position","Root Physical Function",null,7,{"$f":"IF(NOT(ISBLANK(F106)),F106,G105)","v":7},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF2"]
[null,"SF","[SF2.1] Automatically control drone position","[SF2] Control drone attitude and position",null,8,{"$f":"IF(NOT(ISBLANK(F107)),F107,#REF!)","v":8},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF21_ControlPosition"," "]
[null,"SF",null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(F108)),F108,G107)","v":8},null,null,"8.1","1-to-1",null,"ok",null,null,"in : Position"]
[null,"SF",null,null,"in : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(F109)),F109,G108)","v":8},null,null,"8.2","1-to-n","Ground speed is computed based on vertical speed so it has always a worst case dysfunctional status","ok",null,null,"in : Speed "]
[null,"SF",null,null,"in : Ground speed",null,{"$f":"IF(NOT(ISBLANK(F110)),F110,G109)","v":8},null,null,"8.2","1-to-n"]
[null,"SF",null,null,"in: Drone pitch",{"$nulls":4},"8.3","1-to-n",null,"ok (reroutage)",null,null,"in : Attitude"]
[null,"SF",null,null,"in: Drone roll",{"$nulls":4},"8.3","1-to-n"]
[null,"SF",null,null,"in : Drone yaw",null,{"$f":"IF(NOT(ISBLANK(F113)),F113,G110)","v":8},null,null,"8.3","1-to-n"]
[null,"SF",null,null,"in : Drone position consign",null,{"$f":"IF(NOT(ISBLANK(F114)),F114,G113)","v":8},null,null,"8.4","1-to-1",null,"ok",null,null,"In : PositionConsign"]
[null,"SF",null,null,"in : Drone speed consign",null,{"$f":"IF(NOT(ISBLANK(F115)),F115,G114)","v":8},null,null,"8.5","1-to-1",null,"ok",null,null,"in : SpeedConsign"]
[null,"SF",null,null,"in : Selected AP mode",null,{"$f":"IF(NOT(ISBLANK(F116)),F116,G115)","v":8},null,null,"8.6","*-to-0","See Safety Hypothesis T80","ok (renommage)"]
[null,"SF",null,null,"out : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(F117)),F117,G116)","v":8},null,null,"8.7","1-to-n","Same dysfunctional status. For behavior, see Safety hypothesis T80","ok","[STD] Whole cone, standard failure modes, standard combination","ok","out : AttitudeThrustAPConsign",null," "]
[null,"SF",null,null,"out : T AP",null,{"$f":"IF(NOT(ISBLANK(F118)),F118,G117)","v":8},null,null,"8.7","1-to-n",{"$nulls":6}," "]
[null,"SF","[SF2.1.1] Control position","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(F119)),F119,G118)","v":8},"folded model component"]
[null,"SF","[SF2.1.2] Select speed consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(F120)),F120,G119)","v":8},"folded model component"]
[null,"SF","[SF2.1.3] Control speed","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(F121)),F121,G120)","v":8},"folded model component"]
[null,"SF","[SF2.1.4] Compute thrust and attitude consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(F122)),F122,G121)","v":8},"folded model component"]
[null,"SF",null,null,null,8,{"$f":"IF(NOT(ISBLANK(F123)),F123,G122)","v":8},"folded model component",{"$nulls":8},"SF212_SelectSpeedConsign"]
[null,"SF",null,null,null,8,{"$f":"IF(NOT(ISBLANK(F124)),F124,G123)","v":8},"folded model component",{"$nulls":8},"AND1"]
[null,"SF",null,null,null,8,{"$f":"IF(NOT(ISBLANK(F125)),F125,G124)","v":8},"folded model component",{"$nulls":8},"AND2"]
[null,"SF",null,null,null,8,{"$f":"IF(NOT(ISBLANK(F126)),F126,G125)","v":8},"folded model component",{"$nulls":8},"AND3"]
[null,"SF",null,null,null,8,{"$f":"IF(NOT(ISBLANK(F127)),F127,G126)","v":8},"folded model component",{"$nulls":8},"AND4"]
[null,"SF","[SF2.2] Acquire pilot orders","[SF2] Control drone attitude and position",null,9,{"$f":"IF(NOT(ISBLANK(F128)),F128,G127)","v":9},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF22_AcquirePilotOrders"]
[null,"SF",null,null,"in : Pitch order",null,{"$f":"IF(NOT(ISBLANK(F129)),F129,G128)","v":9},null,null,"9.1","1-to-n","No dysfunctional status. Modeled as absent/present","to be reviewed",null,null,"input",null," "]
[null,"SF",null,null,"in: Roll order",{"$nulls":4},"9.1","1-to-n"]
[null,"SF",null,null,"in: Yaw rate order",{"$nulls":4},"9.1","1-to-n"]
[null,"SF",null,null,"in: Vertical speed order",{"$nulls":4},"9.1","1-to-n"]
[null,"SF",null,null,"out : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(F133)),F133,G129)","v":9},null,null,"9 .2","1-to-n","Same dysfunctional status","to be reviewed","Whole cone, see behavior review file",null,"output"]
[null,"SF",null,null,"out : Roll consign",null,{"$f":"IF(NOT(ISBLANK(F134)),F134,G133)","v":9},null,null,"9 .2","1-to-n"]
[null,"SF",null,null,"out : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(F135)),F135,G134)","v":9},null,null,"9 .2","1-to-n"]
[null,"SF",null,null,"out : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(F136)),F136,G135)","v":9},null,null,"9 .2","1-to-n"]
[null,"SF","[SF2.2.1] Acquire pitch order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(F137)),F137,G136)","v":9},"folded model component"]
[null,"SF","[SF2.2.2] Acquire roll order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(F138)),F138,G137)","v":9},"folded model component"]
[null,"SF","[SF2.2.3] Acquire yaw order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(F139)),F139,G138)","v":9},"folded model component"]
[null,"SF","[SF2.2.4] Acquire altitude order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(F140)),F140,G139)","v":9},"folded model component"]
[null,"SF","[SF2.3] Control attitude","[SF2] Control drone attitude and position",null,10,{"$f":"IF(NOT(ISBLANK(F141)),F141,G140)","v":10},"folder","corresponds to SF231 +  SF232_ 5",null," "]
[null,"SF","[SF2.3.1] Compute yaw consign","[SF2.3] Control attitude",null,56,{"$f":"IF(NOT(ISBLANK(F142)),F142,#REF!)","v":56},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF231_ComputeYawConsign"]
[null,"SF",null,null,"in : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(F143)),F143,#REF!)","v":{"$error":"#REF!"}},null,null,"56.1","1-to-1",{"$nulls":4},"input"]
[null,"SF",null,null,"out : Yaw consign",null,{"$f":"IF(NOT(ISBLANK(F144)),F144,#REF!)","v":{"$error":"#REF!"}},null,null,"56.2","1-to-1",null,null,"[STD] Whole cone, standard failure modes, standard combination","ok","output"]
["REC Select attitude consign","SF","[SF2.3.2] Select attitude consign","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(F145)),F145,#REF!)","v":57},"1-to-n","In Safety model, we gather selection of attitude consign and control of attitude. As selection is not done based on dysfunctional status, this difference is only a modeling sugar and has no behaviour impact ",null," ",null,"ok",null,null,null,"SF232_5_ControlAttitude","REC SF232"]
["REC Control pitch angle","SF","[SF2.3.3] Control pitch angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(F146)),F146,G145)","v":57},"1-to-n"]
["REC Control roll angle","SF","[SF2.3.4] Control roll angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(F147)),F147,G146)","v":57},"1-to-n"]
["REC Control yaw angle","SF","[SF2.3.5] Control yaw angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(F148)),F148,G147)","v":57},"1-to-n"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F149)),F149,G148)","v":57},"folded model component",{"$nulls":8},"AND1"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F150)),F150,G149)","v":57},"folded model component",{"$nulls":8},"AND2"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F151)),F151,G150)","v":57},"folded model component",{"$nulls":8},"SF232_SelectAttitudeConsign"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F152)),F152,G151)","v":57},"folded model component",{"$nulls":8},"ControlAttitudeState"]
[null,"SF",null,null,"in: 232.Pitch consign",null,{"$f":"IF(NOT(ISBLANK(F153)),F153,G152)","v":57},null,null,"57.2","1-to-n","Same dysfunctional status","ok (reroutage)",null,null,"in : PitchRollConsign"]
[null,"SF",null,null,"in: 232.Roll consign",{"$nulls":4},"57.2","1-to-n"]
[null,"SF",null,null,"in: 232.Yaw consign",{"$nulls":4},57.8,"1-to-1",null,"ok (reroutage)",null,null,"in: YawConsign"]
[null,"SF",null,null,"in: 233. Drone pitch ",{"$nulls":4},"57.1","1-to-n","Same dysfonctional status","ok (reroutage)",null,null,"in: Attitude"]
[null,"SF",null,null,"in: 233.Drone pitch rate",{"$nulls":4},"57.1","1-to-n"]
[null,"SF",null,null,"in: 234.Drone roll",{"$nulls":4},"57.1","1-to-n"]
[null,"SF",null,null,"in: 234.Drone roll rate",{"$nulls":4},"57.1","1-to-n"]
[null,"SF",null,null,"in: 235.Drone yaw",{"$nulls":4},"57.1","1-to-n"]
[null,"SF",null,null,"in: 235.Drone yaw rate",{"$nulls":4},"57.1","1-to-n"]
[null,"SF",null,null,"in : 232.Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(F162)),F162,#REF!)","v":{"$error":"#REF!"}},null,null,"57.3","1-to-1",null,"ok",null,null,"in : AttitudeAPConsign"]
[null,"SF",null,null,"in : 232.AP engagement",null,{"$f":"IF(NOT(ISBLANK(F163)),F163,G162)","v":{"$error":"#REF!"}},null,null,"57.4","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,"SF",null,null,"out : Pphi",null,{"$f":"IF(NOT(ISBLANK(F164)),F164,G163)","v":{"$error":"#REF!"}},null,null,"57.5","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file","ok (reroutage)","out : P"]
[null,"SF",null,null,"out : Ppsi",null,{"$f":"IF(NOT(ISBLANK(F165)),F165,G164)","v":{"$error":"#REF!"}},null,null,"57.5","1-to-n"]
[null,"SF",null,null,"out : Ptheta",null,{"$f":"IF(NOT(ISBLANK(F166)),F166,G165)","v":{"$error":"#REF!"}},null,null,"57.5","1-to-n"]
[null,"SF",null,null,"out: 232.Pitch consign",{"$nulls":4},"57.7","*-to-0","See Requirement T92","ok (reroutage)"]
[null,"SF",null,null,"out : 232.Roll consign",null,{"$f":"IF(NOT(ISBLANK(F168)),F168,G166)","v":{"$error":"#REF!"}},null,null,"57.7","*-to-0"]
[null,"SF","[SF2.4] Control altitude","[SF2] Control drone attitude and position",null,11,{"$f":"IF(NOT(ISBLANK(F169)),F169,#REF!)","v":11},"folder","corresponds to SF241 + SF242_ 5",null,null,null,"ok"]
[null,"SF","[SF2.4.1] Compute altitude consign","[SF2.4] Control altitude",null,54,{"$f":"IF(NOT(ISBLANK(F170)),F170,G169)","v":54},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF241_ComputeAltitudeConsign"]
[null,"SF",null,null,"in : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(F171)),F171,G170)","v":54},null,null,"54.1","1-to-1",{"$nulls":4},"input"]
[null,"SF",null,null,"out : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(F172)),F172,G171)","v":54},null,null,"54.2","1-to-1",null,"ok",null,null,"output"]
["REC Compute total thrust MON","SF","[SF2.4.2] Compute total thrust","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(F173)),F173,G172)","v":55},"1-to-n",{"$nulls":4},"ok but to be renamed in compute total thrust",null,null,null,"SF242_3_ControlAltitude","REC SF242"]
["REC Select total thrust consign MON","SF","[SF2.4.3] Select total thrust consign","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(F174)),F174,G173)","v":55},"1-to-n"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F175)),F175,G174)","v":55},"folded model component",{"$nulls":8},"ControlAltitudeState"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F176)),F176,G175)","v":55},"folded model component",{"$nulls":8},"SF243_SelectTotalThrustConsign"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F177)),F177,G176)","v":55},"folded model component",{"$nulls":8},"AND1"]
[null,"SF",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F178)),F178,G177)","v":55},"folded model component",{"$nulls":8},"AND2"]
[null,"SF",null,null,"in : Altitude",null,{"$f":"IF(NOT(ISBLANK(F179)),F179,G178)","v":55},null,null,"55.1","1-to-1",null,"ok",null,null,"in : Altitude"]
[null,"SF",null,null,"in: Drone roll",{"$nulls":4},"55.3","1-to-n",null,"ok( reroutage)",null,null,"in : Attitude"]
[null,"SF",null,null,"in: Drone pitch",{"$nulls":4},"55.3","1-to-n"]
[null,"SF",null,null,"in : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(F182)),F182,G179)","v":55},null,null,"55.6","1-to-1",null,"ok",null,null,"in : AltitudeConsign"]
[null,"SF",null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(F183)),F183,G182)","v":55},null,null,"55.2","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,"SF",null,null,"in : T AP",null,{"$f":"IF(NOT(ISBLANK(F184)),F184,#REF!)","v":{"$error":"#REF!"}},null,null,"55.4","1-to-1",null,"ok",null,null,"in : T_AP"]
[null,"SF",null,null,"out : T",null,{"$f":"IF(NOT(ISBLANK(F185)),F185,G184)","v":{"$error":"#REF!"}},null,null,"55.5","1-to-1",null,"ok","Whole cone, see behavior review file","ok","out : T"]
[null,"SF","[SF2.5] Control thrust","[SF2] Control drone attitude and position",null,12,{"$f":"IF(NOT(ISBLANK(F186)),F186,G174)","v":12},"1-to-n","contains REC",null,null,null,"ok",null,null,null,"SF25_AllNeeded","REC ComputeThrustAndRate AllNeeded+InOutFunction"]
[null,"SF",null,null,null,12,{"$f":"IF(NOT(ISBLANK(F187)),F187,G186)","v":12},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF25_ControlThrust"]
[null,"SF",null,null,"in : Ptheta",null,{"$f":"IF(NOT(ISBLANK(F188)),F188,G187)","v":12},null,null,"12.1","1-to-n","Same dysfunctional status","ok",null,null,"SF25_AllNeeded.input1"]
[null,"SF",null,null,"in : Pphi",null,{"$f":"IF(NOT(ISBLANK(F189)),F189,G188)","v":12},null,null,"12.1","1-to-n"]
[null,"SF",null,null,"in : Ppsi",null,{"$f":"IF(NOT(ISBLANK(F190)),F190,G189)","v":12},null,null,"12.1","1-to-n"]
[null,"SF",null,null,"in : T",null,{"$f":"IF(NOT(ISBLANK(F191)),F191,G190)","v":12},null,null,"12.2","1-to-1",null,"ok",null,null,"SF25_AllNeeded.input2"]
[null,"SF",null,null,"out : Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F192)),F192,G191)","v":12},null,null,"12.3","1-to-n","In system, the flow contains the 4 rates from the 4 motors. As the four rates have the same dysfunctional status (and the same cone), it is possible to model them by only one  port in safety","ok","[STD] Whole cone, standard failure modes, standard combination","ok","SF25_ControlThrust.output"," "]
[null,"SF",null,null,"out: Motor 2 rate",{"$nulls":4},"12.3","1-to-n"]
[null,"SF",null,null,"out: Motor 3 rate",{"$nulls":4},"12.3","1-to-n"]
[null,"SF",null,null,"out: Motor 4 rate",{"$nulls":4},"12.3","1-to-n"]
["REC Compute thrust","SF","[SF2.5.1] Compute thrust","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(F196)),F196,G192)","v":12},"folded model component"]
["REC Compute motor rate","SF","[SF2.5.2] Compute motor rate","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(F197)),F197,G196)","v":12},"folded model component"]
[null,"SF","[SF3] Compute drone position and speed","Root Physical Function",null,13,{"$f":"IF(NOT(ISBLANK(F198)),F198,G197)","v":13},"1-to-1",{"$nulls":8},"SF3"]
["REC Compute drone attitude","SF","[SF3.1] Compute drone attitude","[SF3] Compute drone position and speed",null,14,{"$f":"IF(NOT(ISBLANK(F199)),F199,#REF!)","v":14},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF31_ComputeAttitude","REC SourceFunction for compute drone attitude"]
[null,"SF",null,null,"in : Acceleration",null,{"$f":"IF(NOT(ISBLANK(F200)),F200,G199)","v":14},null,null,"14.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"in : North direction",null,{"$f":"IF(NOT(ISBLANK(F201)),F201,G200)","v":14},null,null,"14.1","*-to-0"]
[null,"SF",null,null,"in : Rate",null,{"$f":"IF(NOT(ISBLANK(F202)),F202,G201)","v":14},null,null,"14.1","*-to-0"]
[null,"SF",null,null,"in : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(F203)),F203,G202)","v":14},null,null,"14.2","*-to-0","See Requirement T92","ok (reroutage)"]
[null,"SF",null,null,"in: Roll consign",{"$nulls":4},"14.2","*-to-0"]
[null,"SF",null,null,"out : Drone pitch",null,{"$f":"IF(NOT(ISBLANK(F205)),F205,G203)","v":14},null,null,"14.3","1-to-n","Angular rates and attitude are merged in safety model. Same dysfunctional dependence","ok (reroutage)","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out: Drone roll",{"$nulls":4},"14.3","1-to-n"]
[null,"SF",null,null,"out: Drone yaw",{"$nulls":4},"14.3","1-to-n"]
[null,"SF",null,null,"out : Drone pitch rate",null,{"$f":"IF(NOT(ISBLANK(F208)),F208,G205)","v":14},null,null,"14.3","1-to-n"]
[null,"SF",null,null,"out: Drone roll rate",{"$nulls":4},"14.3","1-to-n"]
[null,"SF",null,null,"out: Drone yaw rate",{"$nulls":4},"14.3","1-to-n"]
[null,"SF","[SF3.1.1] Measure drone acceleration","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F211)),F211,G208)","v":14},"folded model component"]
[null,"SF","[SF3.1.2] Measure drone rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F212)),F212,G211)","v":14},"folded model component"]
[null,"SF","[SF3.1.3] Measure magnetic north direction","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F213)),F213,G212)","v":14},"folded model component"]
[null,"SF","[SF3.1.4] Estimate X and Y rates","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F214)),F214,G213)","v":14},"folded model component"]
[null,"SF","[SF3.1.5] Estimate Z rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F215)),F215,G214)","v":14},"folded model component"]
[null,"SF","[SF3.1.6] Compute pitch, roll, yaw rates and angles","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(F216)),F216,G215)","v":14},"folded model component"]
["REC Compute drone altitude","SF","[SF3.2] Compute drone altitude","[SF3] Compute drone position and speed",null,15,{"$f":"IF(NOT(ISBLANK(F217)),F217,G216)","v":15},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF32_ComputeAltitude","REC InOutFunction/Compute altitude"]
[null,"SF",null,null,"in:Drone pitch",null,{"$f":"IF(NOT(ISBLANK(F218)),F218,G217)","v":15},null,null,"15.1","1-to-n","Attitude gathering","ok",null,null,"input"]
[null,"SF",null,null,"in: Drone roll",{"$nulls":4},"15.1","1-to-n"]
[null,"SF",null,null,"in: Drone yaw",{"$nulls":4},"15.1","1-to-n"]
[null,"SF",null,null,"in : Ground distance",null,{"$f":"IF(NOT(ISBLANK(F221)),F221,G218)","v":15},null,null,"15.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"in : Pressure",null,{"$f":"IF(NOT(ISBLANK(F222)),F222,G221)","v":15},null,null,"15.2","*-to-0"]
[null,"SF",null,null,"out : Altitude",null,{"$f":"IF(NOT(ISBLANK(F223)),F223,G222)","v":15},null,null,"15.4","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out : Ground altitude",null,{"$f":"IF(NOT(ISBLANK(F224)),F224,G223)","v":15},null,null,"15.4","1-to-n"]
[null,"SF",null,null,"out : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(F225)),F225,G224)","v":15},null,null,"15.4","1-to-n"]
[null,"SF","[SF3.2.1] Measure ambient pressure","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(F226)),F226,G225)","v":15},"folded model component"]
[null,"SF","[SF3.2.2] Compute barometric altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(F227)),F227,G226)","v":15},"folded model component"]
[null,"SF","[SF3.2.3] Measure telemetric signal","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(F228)),F228,G227)","v":15},"folded model component"]
[null,"SF","[SF3.2.4] Compute ground altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(F229)),F229,G228)","v":15},"folded model component"]
[null,"SF","[SF3.2.5] Compute altitude and vertical speed","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(F230)),F230,G229)","v":15},"folded model component"]
[null,"SF","[SF3.3] Compute drone speed","[SF3] Compute drone position and speed",null,16,{"$f":"IF(NOT(ISBLANK(F231)),F231,G230)","v":16},"1-to-1",null,null," ",null,"ok",null,null,null,"SF33_ComputeDroneSpeed"]
[null,"SF","[SF3.3.1] Film ground","[SF3.3] Compute drone speed",null,17,{"$f":"IF(NOT(ISBLANK(F232)),F232,#REF!)","v":17},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF331_FilmGround"]
[null,"SF",null,null,"in: Vertical sight",null,{"$f":"IF(NOT(ISBLANK(F233)),F233,G231)","v":16},null,null,"17.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"out: Video flux",null,{"$f":"IF(NOT(ISBLANK(F234)),F234,G233)","v":16},null,null,"17.1","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF","[SF3.3.2] Compute ground speed","[SF3.3] Compute drone speed",null,18,{"$f":"IF(NOT(ISBLANK(F235)),F235,#REF!)","v":18},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_ComputeSpeed"]
[null,"SF",null,null,null,18,{"$f":"IF(NOT(ISBLANK(F236)),F236,G235)","v":18},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_AllNeeded"]
[null,"SF",null,null,"in: Video flux",null,{"$f":"IF(NOT(ISBLANK(F237)),F237,G236)","v":18},null,null,"18.1","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input1"]
[null,"SF",null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(F238)),F238,G237)","v":18},null,null,"18.2","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input2"]
[null,"SF",null,null,"out: Ground speed",null,{"$f":"IF(NOT(ISBLANK(F239)),F239,G238)","v":18},null,null,"18.3","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","SF332_ComputeSpeed.output"]
[null,"SF","[SF3.4] Compute drone position and time","[SF3] Compute drone position and speed",null,19,{"$f":"IF(NOT(ISBLANK(F240)),F240,G239)","v":19},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF34_ComputePositionAndTime"]
[null,"SF",null,null,"in : Positionning signal",null,{"$f":"IF(NOT(ISBLANK(F241)),F241,G240)","v":19},null,null,"19.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"out : Drone position",null,{"$f":"IF(NOT(ISBLANK(F242)),F242,G241)","v":19},null,null,"19.2","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out : Time",null,{"$f":"IF(NOT(ISBLANK(F243)),F243,G242)","v":19},null,null,"19.2","1-to-n"]
[null,"SF","[SF3.4.1] Acquire positioning signal","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(F244)),F244,G243)","v":19},"folded model component"]
[null,"SF","[SF3.4.2] Compute position and time","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(F245)),F245,G244)","v":19},"folded model component"]
[null,"SF","[SF4] Control drone navigation","Root Physical Function",null,20,{"$f":"IF(NOT(ISBLANK(F246)),F246,#REF!)","v":20},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF4"]
[null,"SF","[SF4.1] Acquire and store flight plan","[SF4] Control drone navigation",null,21,{"$f":"IF(NOT(ISBLANK(F247)),F247,#REF!)","v":21},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF41_AcquireAndStoreFlightPlan"]
[null,"SF",null,null,"in: Flight plan",null,{"$f":"IF(NOT(ISBLANK(F248)),F248,G247)","v":21},null,null,"21.2","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"input"]
[null,"SF",null,null,"in: Flight zone",null,{"$f":"IF(NOT(ISBLANK(F249)),F249,G248)","v":21},null,null,"21.2","1-to-n"]
[null,"SF",null,null,"out: Flight plan",null,{"$f":"IF(NOT(ISBLANK(F250)),F250,G247)","v":21},null,null,"21.1","1-to-n","Gathering of flight plan and flight zone","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out: Flight zone",null,{"$f":"IF(NOT(ISBLANK(F251)),F251,G250)","v":21},null,null,"21.1","1-to-n"]
[null,"SF","[SF4.2] Run automatic control",null,null,22,null,"1-to-1",{"$nulls":8},"SF42_RunAutomaticControl"]
[null,"SF","[SF4.2.1] Run flight plan",null,null,58,null,"1-to-1",{"$nulls":8},"SF421_RunFlightPlan"]
[null,"SF",null,null,"in: Drone position",{"$nulls":4},"58.1","1-to-1",null,"ok",null,null,"Position"]
[null,"SF",null,null,"in: Time",{"$nulls":4},"58.2","1-to-1",null,"ok",null,null,"Time"]
[null,"SF",null,null,"in: Flight plan",{"$nulls":4},"58.3","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"FlightPlan"]
[null,"SF",null,null,"in: Flight zone",{"$nulls":4},"58.3","1-to-n"]
[null,"SF",null,null,"in: Automatic control start",{"$nulls":4},"58.4","*-to-0","See Hypothesis T90","to be reviewed"]
[null,"SF",null,null,"in: Flight plan interruption",{"$nulls":4},"58.5","1-to-1","See Requirement T89","to be reviewed",null,null,"FlightPlanInterruption"]
[null,"SF",null,null,"out: Flight plan payload control",{"$nulls":4},"58.6","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file.","to be reviewed","Progress"]
[null,"SF",null,null,"out: Drone position consign",{"$nulls":4},"58.6","1-to-n"]
[null,"SF",null,null,"out: Flight plan progress",{"$nulls":4},"58.6","1-to-n"]
[null,"SF",null,null,"out: Mission completed",{"$nulls":4},"58.7","1-to-1","See Requirement T89","to be reviewed","Cone=Ø, inadvertent failure mode. See behavior review file","to be reviewed","Mission completed"]
[null,"SF",{"$nulls":5},"folded model component",{"$nulls":8},"SF421_Choice"]
[null,"SF",{"$nulls":5},"folded model component",{"$nulls":8},"SF421_Compute"]
[null,"SF",{"$nulls":5},"folded model component",{"$nulls":8},"SF421_AND1"]
[null,"SF",{"$nulls":5},"folded model component",{"$nulls":8},"SF421_FlightPlanInterruption"]
[null,"SF",{"$nulls":5},"folded model component",{"$nulls":8},"SF421_MissionCompleted"]
[null,"SF","[SF4.2.2] Run speed control",null,null,59,null,"1-to-1",{"$nulls":8},"SF422_RunSpeedControl"]
[null,"SF",null,null,"in: Automatic control start",{"$nulls":4},"59.1","*-to-0","See Hypothesis T90","to be reviewed"]
[null,"SF",null,null,"in: Pilot control consigns",{"$nulls":4},"59.2","1-to-1",null,"ok",null,null,"SF422_RunSpeedControl.input/PilotControlConsigns"]
[null,"SF",null,null,"out: Progammed payload control",{"$nulls":4},"59.3","1-to-n","generates change request T83","ok","[STD] Whole cone, standard failure modes, standard combination","ok","SF422_RunSpeedControl.output"]
[null,"SF",null,null,"out: Drone speed consign",{"$nulls":4},"59.3","1-to-n"]
[null,"SF","[SF4.2.3] Select automatic payload control",null,null,60,null,"1-to-1",{"$nulls":8},"SF423_SelectAutomaticPayloadControl"]
[null,"SF",null,null,"in: Selected AP mode",{"$nulls":4},"60.1","*-to-0","See Safety Hypothesis T80","ok"]
[null,"SF",null,null,"in: Flight plan payload control",{"$nulls":4},"60.2","1-to-1",null,"ok",null,null,"SF423_SelectAutomaticPayloadControl.input_1"]
[null,"SF",null,null,"in: Progammed payload control",{"$nulls":4},"60.3","1-to-1",null,"ok",null,null,"SF423_SelectAutomaticPayloadControl.input_2"]
[null,"SF",null,null,"out: Automatic payload control",{"$nulls":4},"60.4","1-to-1","For behavior, see Safety Hypothesis T80","ok","Whole cone, standard combination, NO FAILURE MODE","ok","SF423_SelectAutomaticPayloadControl.output"]
[null,"SF","[SF4.3] Select control mode","[SF4] Control drone navigation",null,23,{"$f":"IF(NOT(ISBLANK(F279)),F279,#REF!)","v":23},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF43_SelectControlMode"]
[null,"SF","[SF4.3.1] Select drone control mode","[SF4.3] Select control mode",null,24,{"$f":"IF(NOT(ISBLANK(F280)),F280,#REF!)","v":24},"1-to-1",{"$nulls":4},"ok",null,"Ok @system : result of behavior review: if no mode is received from pilot, select manual mode",null,"SF431_SelectControlMode"]
[null,"SF",null,null,"in: Mission completed",null,{"$f":"IF(NOT(ISBLANK(F281)),F281,G280)","v":24},null,null,"24.1","1-to-1","See Requirement T89","to be reviewed",null,null,"MissionCompleted"]
[null,"SF",null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(F282)),F282,G281)","v":24},null,null,"24.2","1-to-1",null,"ok",null,null,"inputMode"]
[null,"SF",null,null,"in: Pitch consign",{"$nulls":4},"24.4","1-to-n","Same dysfunctional status","to be reviewed",null,null,"in: ManualConsigns"]
[null,"SF",null,null,"in: Roll consign",{"$nulls":4},"24.4","1-to-n",null,"to be reviewed"]
[null,"SF",null,null,"in: Vertical speed consign",{"$nulls":4},"24.4","1-to-n",null,"to be reviewed"]
[null,"SF",null,null,"in: Yaw rate consign",{"$nulls":4},"24.4","1-to-n",null,"to be reviewed"]
[null,"SF",null,null,"out: Selected control mode",null,{"$f":"IF(NOT(ISBLANK(F287)),F287,G280)","v":24},null,null,"24.3","1-to-1",null,"ok","Whole cone, see behavior review file","to be reviewed","outputMode"]
[null,"SF",null,null,"out: Selected AP mode",{"$nulls":5},"*-to-0","See Safety Hypothesis T80","ok"]
[null,"SF","[SF4.3.2] Passivate engagement oscillation","[SF4.3] Select control mode",null,25,{"$f":"IF(NOT(ISBLANK(F289)),F289,#REF!)","v":25},"1-to-1",{"$nulls":6},"generates Requirement T88",null,"SF432_PassivateEngagementOscillation"]
[null,"SF",null,null,"in: Selected control mode",null,{"$f":"IF(NOT(ISBLANK(F290)),F290,G289)","v":25},null,null,"25.1","1-to-1",null,"ok",null,null,"inputMode"]
[null,"SF",null,null,"out: Flight plan interruption",{"$nulls":4},"25.2","1-to-1","See Requirement T89","to be reviewed","Whole cone, see behavior review file","to be reviewed","FlightPlanInterruption"]
[null,"SF",null,null,"out: AP engagement",null,{"$f":"IF(NOT(ISBLANK(F292)),F292,#REF!)","v":{"$error":"#REF!"}},null,null,"25.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","outputMode"]
[null,"SF","[SF4.3.3] Indicate control mode","[SF4.3] Select control mode",null,26,{"$f":"IF(NOT(ISBLANK(F293)),F293,G292)","v":26},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF433_IndicateControlMode"]
[null,"SF",null,null,"in: Selected AP Mode",null,{"$f":"IF(NOT(ISBLANK(F294)),F294,G293)","v":26},null,null,"26.1","*-to-0","See Safety Hypothesis T80","ok"]
[null,"SF",null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(F295)),F295,G294)","v":26},null,null,"26.2","1-to-1",null,"ok",null,null,"inputMode"]
[null,"SF",null,null,"out: Control mode",null,{"$f":"IF(NOT(ISBLANK(F296)),F296,G295)","v":26},null,null,"26.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","outputMode",null," "]
[null,"SF","[SF4.4] Acquire pilot control consigns and mode","[SF4] Control drone navigation",null,45,{"$f":"IF(NOT(ISBLANK(F297)),F297,G296)","v":45},"1-to-1",null,null,null,"transtypage is a pure safety modeling artefact",null,"In this brick, there is two distinct and different sets of failure modes : 1 affecting the mode acquisition, the other affecting the consign acquisition.",null,null,"SF44_AcquirePilotControlConsignsAndMode"]
[null,"SF",null,null,null,45,null,"folded model component",{"$nulls":8},"transtypage"]
[null,"SF",null,null,null,45,null,"folded model component",{"$nulls":8},"AcquireControlMode"]
[null,"SF",null,null,null,45,null,"folded model component",{"$nulls":8},"AcquireControlConsigns"]
[null,"SF",null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(F301)),F301,G300)","v":0},null,null,"45.3","1-to-1","Not a dysfunctional status, functional control flow. Must be modeled even if there is no dysfunctional status","ok",null,null,"PilotControlMode"]
[null,"SF",null,null,"in: Pilot control consigns",null,{"$f":"IF(NOT(ISBLANK(F302)),F302,G301)","v":0},null,null,"45.4","*-to-0","From perfect pilot, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"in: Automatic control start",{"$nulls":4},"45.5","*-to-0","See Hypothesis T90","to be reviewed"]
[null,"SF",null,null,"out: Automatic control start",{"$nulls":4},"45.6","*-to-0","See Hypothesis T90","to be reviewed"]
[null,"SF",null,null,"out: Pilot control consigns",{"$nulls":4},"45.1","1-to-1",null,"ok","Cone=Ø, standard failure modes, standard combination","ok","AcquiredPilotConsigns"]
[null,"SF",null,null,"out: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(F306)),F306,G298)","v":0},null,null,"45.2","1-to-1",null,"ok","Cone= {input control mode}, see behavior review file","ok","AcquiredPilotControlMode"]
[null,"SF","[SF5] Make and record video","Root Physical Function",null,27,{"$f":"IF(NOT(ISBLANK(F307)),F307,#REF!)","v":27},"1-to-1",{"$nulls":4},"ok",null,"ok",null,"SF5"]
[null,"SF","[SF5.1] Select camera control","[SF5] Make and record video",null,28,{"$f":"IF(NOT(ISBLANK(F308)),F308,G307)","v":28},"1-to-1",{"$nulls":4},"ok",null,"ok",null,"SF51_SelectCameraControl"]
[null,"SF",null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(F309)),F309,G308)","v":28},null,null,"28.5","1-to-1",null,"ok",null,null,"condition"]
[null,"SF",null,null,"in: Automatic payload control",null,{"$f":"IF(NOT(ISBLANK(F310)),F310,G309)","v":28},null,null,"28.4","1-to-1",null,"ok",null,null,"input"]
[null,"SF",null,null,"out: Camera position consign",null,{"$f":"IF(NOT(ISBLANK(F311)),F311,G308)","v":28},null,null,"28.1","*-to-0","no safety impact","ok"]
[null,"SF",null,null,"out: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(F312)),F312,G311)","v":28},null,null,"28.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,"SF",null,null,"out: File storage format",null,{"$f":"IF(NOT(ISBLANK(F313)),F313,G312)","v":28},null,null,"28.3","*-to-0","no safety impact","ok"]
[null,"SF","[SF5.2] Control camera orientation","[SF5] Make and record video",null,29,{"$f":"IF(NOT(ISBLANK(F314)),F314,#REF!)","v":29},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF52_4_MakePhotosAndVideos"]
[null,"SF","[SF5.3] Make photos and videos","[SF5] Make and record video",null,29,{"$f":"IF(NOT(ISBLANK(F315)),F315,G314)","v":29},"1-to-n"]
[null,"SF","[SF5.4] Digitise photos and videos",null,null,29,null,"1-to-n"]
[null,"SF",null,null,"in: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(F317)),F317,G315)","v":29},null,null,"29.1","1-to-n","Same dysfunctional status","ok",null,null,"input"]
[null,"SF",null,null,"in: Camera position consign",null,{"$f":"IF(NOT(ISBLANK(F318)),F318,G317)","v":29},null,null,"29.1","1-to-n"]
[null,"SF",null,null,"in : File storage format",{"$nulls":4},"29.1","1-to-n"]
[null,"SF",null,null,"in: Aircraft sight",null,{"$f":"IF(NOT(ISBLANK(F320)),F320,G319)","v":0},null,null,"29.4","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"out: PhotosAndVideosFiles",null,{"$f":"IF(NOT(ISBLANK(F321)),F321,G318)","v":29},null,null,"29.3","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF","[SF5.5] Acquire manual payload control","[SF5] Make and record video",null,46,{"$f":"IF(NOT(ISBLANK(F322)),F322,#REF!)","v":46},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF55_AcquireManualPayloadControl"]
[null,"SF",null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(F323)),F323,#REF!)","v":{"$error":"#REF!"}},null,null,"46.1","1-to-1",null,"ok",null,null,"input"]
[null,"SF",null,null,"out: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(F324)),F324,G323)","v":{"$error":"#REF!"}},null,null,"46.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,"SF","[SF6] Manage mission","Root Physical Function",null,58,{"$f":"IF(NOT(ISBLANK(F325)),F325,G324)","v":58},"1-to-1","generates change request T86",null,null,null,"ok",null,null,null,"SF6"]
[null,"SF","[SF6.1] Compute flight plan and flight zone","[SF6] Manage mission",null,31,{"$f":"IF(NOT(ISBLANK(F326)),F326,#REF!)","v":31},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF61_ComputeFlightPlanAndZone"]
[null,"SF",null,null,"in : Aircraft position validation",null,{"$f":"IF(NOT(ISBLANK(F327)),F327,G326)","v":31},null,null,"31.1","*-to-0","From perfect pilot, cannot have dysfunctional status","ok"]
[null,"SF",null,null,"in : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(F328)),F328,G327)","v":31},null,null,"31.1","*-to-0","Mission information validated by pilot before launch","justification to review"]
[null,"SF",null,null,"in : Exclusion zones",null,{"$f":"IF(NOT(ISBLANK(F329)),F329,G328)","v":31},null,null,"31.1","*-to-0"]
[null,"SF",null,null,"in : Flight domain",null,{"$f":"IF(NOT(ISBLANK(F330)),F330,G329)","v":31},null,null,"31.1","*-to-0"]
[null,"SF",null,null,"in : Flight plan validation",null,{"$f":"IF(NOT(ISBLANK(F331)),F331,G330)","v":31},null,null,"31.1","*-to-0"]
[null,"SF",null,null,"in : Mapping data",{"$nulls":4},"31.1","*-to-0"]
[null,"SF",null,null,"in: Mission flight data",{"$nulls":4},"31.1","*-to-0"]
[null,"SF",null,null,"in : Predefined flight zone borders",null,{"$f":"IF(NOT(ISBLANK(F334)),F334,G333)","v":0},null,null,"31.2","1-to-1",null,"ok",null,null,"input"]
[null,"SF",null,null,"out : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(F335)),F335,G334)","v":0},null,null,"31.3","*-to-0","Reviewed by pilot during flight plan validation before mission launch","ok"]
[null,"SF",null,null,"out : Flight zone",null,{"$f":"IF(NOT(ISBLANK(F336)),F336,G335)","v":0},null,null,"31.4","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"SF",null,null,"out : Flight plan",null,{"$f":"IF(NOT(ISBLANK(F337)),F337,G336)","v":0},null,null,"31.4","1-to-n"]
[null,"SF",null,null,"out : Flight aerial view",null,{"$f":"IF(NOT(ISBLANK(F338)),F338,G337)","v":0},null,null,"31.5","*-to-0","Only used for validation of flight plan by pilot before mission launch. Not modeled.","ok"]
[null,"SF","[SF6.1.1] Set flight zone borders","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(F339)),F339,G338)","v":31},"folded model component"]
[null,"SF","[SF6.1.2] Map the flight zone","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(F340)),F340,G339)","v":31},"folded model component"]
[null,"SF","[SF6.1.3] Detect aircraft position","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(F341)),F341,G340)","v":31},"folded model component"]
[null,"SF","[SF6.1.4] Detect obstacles","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(F342)),F342,G341)","v":31},"folded model component"]
[null,"SF","[SF6.1.5] Compute the flight plan","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(F343)),F343,G342)","v":31},"folded model component"]
[null,"SF","[SF6.2] Store data","[SF6] Manage mission",null,65,{"$f":"IF(NOT(ISBLANK(F344)),F344,G343)","v":65},"*-to-0",{"$nulls":4},"to be reviewed"]
[null,"SF","[SF6.3] Analyse drone measurement","[SF6] Manage mission",null,32,{"$f":"IF(NOT(ISBLANK(F345)),F345,G344)","v":32},"*-to-0","Only activated after drone landing",null,null,null,"ok"]
[null,"SF","[SF6.3.1] Analyse measurement manually","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(F346)),F346,G345)","v":32},"folded model component"]
[null,"SF","[SF6.3.2] Analyse mission automatically","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(F347)),F347,G346)","v":32},"folded model component"]
[null,"SF","[SF6.3.3] Generate mission report","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(F348)),F348,G347)","v":32},"folded model component"]
[null,"SF","[SF6.4] Display drone follow-up data",null,null,64,null,"1-to-1",{"$nulls":4},"to-be-reviewed","IMPORTANT: the two outputs have different failure modes because of their type (no segragation required)",null,null,"SF64_DisplayDroneFollowUpData"]
[null,"SF",null,null,"in: Control mode",{"$nulls":4},"64.1","1-to-1",null,"ok",null,null,"input_ControlMode"]
[null,"SF",null,null,"in: Flight plan progress",{"$nulls":4},"64.2","1-to-1",null,"ok",null,null,"input_FlightPlanProgress"]
[null,"SF",null,null,"out: Control mode",{"$nulls":4},"64.3","1-to-1",null,"ok","Cone = Control mode. See behavior review file","ok","output_ControlMode"]
[null,"SF",null,null,"out: Flight plan progress",{"$nulls":4},"64.4","1-to-1",null,"ok","[STD] Cone = Flight plan progress, standard failure modes, standard combination","ok","output_FlightPlanProgress"]
[null,"SF",null,null,null,64,null,"folded model component",{"$nulls":8},"SF64_ControlMode"]
[null,"SF",null,null,null,64,null,"folded model component",{"$nulls":8},"SF64_FlightPlanProgress"]
[null,"SF","[SF7] Monitor drone control","Root Physical Function",null,33,{"$f":"IF(NOT(ISBLANK(F356)),F356,G348)","v":33},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF7"]
["RPL Compute drone attitude","SF-RPL","[SF7.1] Compute drone attitude MON","[SF7] Monitor drone control",null,34,{"$f":"IF(NOT(ISBLANK(F357)),F357,#REF!)","v":34},"1-to-1","Consistent REC/RPL",null,null,null,"Ok RPL validate by system",null,null,null,"SF71_ComputeAttitudeMON","RPL SourceFunction/Compute drone"]
[null,"SF-RPL",null,null,"In : AccelerationMON",null,{"$f":"IF(NOT(ISBLANK(F358)),F358,G357)","v":34},null,null,"34.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF-RPL",null,null,"in : North direction MON",null,{"$f":"IF(NOT(ISBLANK(F359)),F359,G358)","v":34},null,null,"34.1","*-to-0"]
[null,"SF-RPL",null,null,"in : Rate MON",null,{"$f":"IF(NOT(ISBLANK(F360)),F360,G359)","v":34},null,null,"34.1","*-to-0"]
[null,"SF-RPL",null,null,"in : Pitch consign MON",null,{"$f":"IF(NOT(ISBLANK(F361)),F361,G360)","v":34},null,null,"34.2","*-to-0","See Requirement T92","ok (reroutage)"]
[null,"SF-RPL",null,null,"in: Roll consign MON",{"$nulls":4},"34.2","*-to-0"]
[null,"SF-RPL",null,null,"out : Drone pitch rate MON",null,{"$f":"IF(NOT(ISBLANK(F363)),F363,G361)","v":34},null,null,"34.3","1-to-n","Gathering attitude and attitude rate","ok (reroutage)","by RPL (standard)","ok","output"]
[null,"SF-RPL",null,null,"out: Drone roll rate MON",{"$nulls":4},"34.3","1-to-n"]
[null,"SF-RPL",null,null,"out: Drone yaw rate MON",{"$nulls":4},"34.3","1-to-n"]
[null,"SF-RPL",null,null,"out: Drone pitch MON",{"$nulls":4},"34.3","1-to-n"]
[null,"SF-RPL",null,null,"out: Drone roll MON",{"$nulls":4},"34.3","1-to-n"]
[null,"SF-RPL",null,null,"out : Drone yaw MON",null,{"$f":"IF(NOT(ISBLANK(F368)),F368,G363)","v":34},null,null,"34.3","1-to-n"]
[null,"SF-RPL","[SF7.1.1] Measure drone acceleration MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F369)),F369,G368)","v":34},"folded model component"]
[null,"SF-RPL","[SF7.1.2] Measure drone rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F370)),F370,G369)","v":34},"folded model component"]
[null,"SF-RPL","[SF7.1.3] Measure magnetic north direction MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F371)),F371,G370)","v":34},"folded model component"]
[null,"SF-RPL","[SF7.1.4] Estimate X and Y rates MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F372)),F372,G371)","v":34},"folded model component"]
[null,"SF-RPL","[SF7.1.5] Estimate Z rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F373)),F373,G372)","v":34},"folded model component"]
[null,"SF-RPL","[SF7.1.6] Compute pitch, roll, yaw rates and angles MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(F374)),F374,G373)","v":34},"folded model component"]
["RPL Compute drone altitude","SF-RPL","[SF7.2] Compute drone altitude MON","[SF7] Monitor drone control",null,35,{"$f":"IF(NOT(ISBLANK(F375)),F375,G374)","v":35},"1-to-n","REC/RPL cohérent, donc tous les ports sont auto. Avec sous-fonctions masquées",null,null,null,"ok",null,null,null,"SF72_ComputeAltitudeMON","RPL InOutFunction/Compute altitude"]
[null,"SF-RPL",null,null,"in : Drone pitch MON",null,{"$f":"IF(NOT(ISBLANK(F376)),F376,G375)","v":35},null,null,"35.1","1-to-n",null,"ok (reroutage)",null,null,"input"]
[null,"SF-RPL",null,null,"in: Drone roll MON",{"$nulls":4},"35.1","1-to-n"]
[null,"SF-RPL",null,null,"in: Drone yaw MON",{"$nulls":4},"35.1","1-to-n"]
[null,"SF-RPL",null,null,"in : Ground distance MON",null,{"$f":"IF(NOT(ISBLANK(F379)),F379,G376)","v":35},null,null,"35.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,"SF-RPL",null,null,"in : Pressure MON",null,{"$f":"IF(NOT(ISBLANK(F380)),F380,G379)","v":35},null,null,"35.3","*-to-0"]
[null,"SF-RPL",null,null,"out : Altitude MON",null,{"$f":"IF(NOT(ISBLANK(F381)),F381,G380)","v":35},null,null,"35.4","1-to-n","Same dysfunctional status","ok","by RPL (standard)","ok","output"]
[null,"SF-RPL",null,null,"out : Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(F382)),F382,G381)","v":35},null,null,"35.4","1-to-n"]
[null,"SF-RPL",null,null,"out : Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(F383)),F383,G382)","v":35},null,null,"35.5","1-to-n"]
[null,"SF-RPL","[SF7.2.1] Measure ambient pressure MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(F384)),F384,G383)","v":35},"folded model component"]
[null,"SF-RPL","[SF7.2.2] Compute barometric altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(F385)),F385,G384)","v":35},"folded model component"]
[null,"SF-RPL","[SF7.2.3] Measure telemetric signal MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(F386)),F386,G385)","v":35},"folded model component"]
[null,"SF-RPL","[SF7.2.4] Compute ground altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(F387)),F387,G386)","v":35},"folded model component"]
[null,"SF-RPL","[SF7.2.5] Compute altitude and vertical speed MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(F388)),F388,G387)","v":35},"folded model component"]
[null,"SF","[SF7.3] Control attitude and altitude MON","[SF7] Monitor drone control",null,36,{"$f":"IF(NOT(ISBLANK(F389)),F389,G388)","v":36},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF73_ControlAttitudeAndAltitudeMON"]
["RPL Compute total thrust","SF-RPL","[SF7.3.1] Compute total thrust MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(F390)),F390,#REF!)","v":37},"1-to-n","La réplique n’est pas identique à la classe donc pas utilisable en synchro (cependant les rec/rpl système/safety sont cohérent au niveau du périmètre). Les flux compléter car copier/coller du tableau de synhcro des REC et avec l’aide du shéma safety pour remonter d’un niveau",null,null,null,"ok by REC/RPL to be renamed see rec","by RPL","ok",null,"SF731_2_ControlAltitudeMON","RPL SF242"]
[null,"SF-RPL",null,null,"in: Drone roll",null,{"$f":"IF(NOT(ISBLANK(F391)),F391,G390)","v":37},null,null,"37.1","1-to-n",null,"ok",null,null,"in : Attitude"]
[null,"SF-RPL",null,null,"in: Drone pitch",null,{"$f":"IF(NOT(ISBLANK(F392)),F392,G391)","v":37},null,null,"37.1","1-to-n"]
[null,"SF-RPL",null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(F393)),F393,G392)","v":37},null,null,"37.2","1-to-1",null,"ok",null,null,"in : Altitude"]
[null,"SF-RPL",null,null,"in: Altitude consign",null,{"$f":"IF(NOT(ISBLANK(F394)),F394,G393)","v":37},null,null,"37.3","1-to-1",null,"ok",null,null,"in : AltitudeConsign",null," "]
["RPL Select total thrust consign","SF-RPL","[SF7.3.2] Select total thrust consign MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(F395)),F395,G394)","v":37},"1-to-n"]
[null,"SF-RPL",null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(F396)),F396,G395)","v":37},null,null,"37.8","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,"SF-RPL",null,null,"in: T AP",null,{"$f":"IF(NOT(ISBLANK(F397)),F397,G396)","v":37},null,null,"37.9","1-to-1",null,"ok",null,null,"in T_AP"]
[null,"SF-RPL",null,null,"out: T MON",null,{"$f":"IF(NOT(ISBLANK(F398)),F398,G395)","v":37},null,null,"37.4","1-to-1","name diff","ok","by RPL","ok","out : T"]
["RPL Select attitude consign","SF-RPL","[SF7.3.3] Select attitude consign MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(F399)),F399,G398)","v":38},"1-to-n","REC/RPL consistent",{"$nulls":4},"by RPL","ok",null,"SF733_6_ControlAttitudeMON","RPL SF232"]
[null,"SF-RPL",null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(F400)),F400,G399)","v":38},null,null,"38.1","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,"SF-RPL",null,null,"in: Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(F401)),F401,G400)","v":38},null,null,"38.3","1-to-1",null,"ok",null,null,"in : AttitudeAPConsign"]
[null,"SF-RPL",null,null,"in: Yaw consign",null,{"$f":"IF(NOT(ISBLANK(F402)),F402,G401)","v":38},null,null,"38.4","1-to-1",null,"ok",null,null,"in : YawConsign"]
[null,"SF-RPL",null,null,"in: Pitch consign",{"$nulls":4},"38.5","1-to-n",null,"ok",null,null,"in: PitchRollConsign"]
[null,"SF-RPL",null,null,"in: Roll consign",{"$nulls":4},"38.5","1-to-n",null,"ok"]
[null,"SF-RPL",null,null,"in: Drone pitch",{"$nulls":4},"38.6","1-to-n",{"$nulls":4},"in: Attitude"]
[null,"SF-RPL",null,null,"in: Drone pitch rate",{"$nulls":4},"38.6","1-to-n"]
[null,"SF-RPL",null,null,"in: Drone roll",{"$nulls":4},"38.6","1-to-n"]
[null,"SF-RPL",null,null,"in: Drone roll rate",{"$nulls":4},"38.6","1-to-n"]
[null,"SF-RPL",null,null,"in: Drone yaw",{"$nulls":4},"38.6","1-to-n"]
[null,"SF-RPL",null,null,"in: Drone yaw rate",{"$nulls":4},"38.6","1-to-n"]
[null,"SF-RPL",null,null,"out: Roll consign MON",null,{"$f":"IF(NOT(ISBLANK(F411)),F411,G400)","v":38},null,null,"38.2","*-to-0","See Requirement T92","ok",{"$nulls":4}," "]
[null,"SF-RPL",null,null,"out: Pitch consign MON",null,{"$f":"IF(NOT(ISBLANK(F412)),F412,G411)","v":38},null,null,"38.2","*-to-0"]
["RPL Control pitch angle","SF-RPL","[SF7.3.4] Control pitch angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(F413)),F413,G412)","v":38},"1-to-n"]
[null,"SF-RPL",null,null,"out: Ptheta",null,{"$f":"IF(NOT(ISBLANK(F414)),F414,G413)","v":38},null,null,"38.5","1-to-n","Same dysfunctional status","ok","by RPL (safety)","ok","out : P"]
["RPL Control roll angle","SF-RPL","[SF7.3.5] Control roll angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(F415)),F415,G414)","v":38},"1-to-n"]
[null,"SF-RPL",null,null,"out: Pphi",null,{"$f":"IF(NOT(ISBLANK(F416)),F416,G415)","v":38},null,null,"38.5","1-to-n"]
["RPL Control yaw angle","SF-RPL","[SF7.3.6] Control yaw angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(F417)),F417,G416)","v":38},"1-to-n"]
[null,"SF-RPL",null,null,"out: Ppsi",null,{"$f":"IF(NOT(ISBLANK(F418)),F418,G417)","v":38},null,null,"38.5","1-to-n"]
["RPL Compute thrust","SF-RPL","[SF7.3.7] Compute thrust MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(F419)),F419,G418)","v":39},"N-to-n",{"$nulls":6},"ok",null,"SF737_All_Needed","RPL ComputeThrustAndRate AllNeeded+InOutFunction"]
[null,"SF-RPL",null,null,null,39,{"$f":"IF(NOT(ISBLANK(F420)),F420,G419)","v":39},"N-to-n",{"$nulls":8},"SF737_8_ControlThrust"]
[null,"SF-RPL",null,null,"in: Ptheta",null,{"$f":"IF(NOT(ISBLANK(F421)),F421,G420)","v":39},null,null,"39.1","1-to-n","Gather 3 torque consigns projected by axis","ok",null,null,"SF737_All_Needed.input1"]
[null,"SF-RPL",null,null,"in: Pphi",null,{"$f":"IF(NOT(ISBLANK(F422)),F422,G421)","v":39},null,null,"39.1","1-to-n"]
[null,"SF-RPL",null,null,"in: Ppsi",null,{"$f":"IF(NOT(ISBLANK(F423)),F423,G422)","v":39},null,null,"39.1","1-to-n"]
[null,"SF-RPL",null,null,"in: T MON",null,{"$f":"IF(NOT(ISBLANK(F424)),F424,G423)","v":39},null,null,"39.1","1-to-1",null,"ok",null,null,"SF737_All_Needed.input2"]
["RPL Compute motor rate","SF-RPL","[SF7.3.8] Compute motor rate MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(F425)),F425,G424)","v":39},"N-to-n"]
[null,"SF-RPL",null,null,"out: Motor 1 rate MON",null,{"$f":"IF(NOT(ISBLANK(F426)),F426,G425)","v":39},null,null,"39.2","1-to-n","Same dysfunctional status","ok","by safety RPL (standard)","ok","SF737_8_ControlThrust.output"]
[null,"SF-RPL",null,null,"out: Motor 2 rate MON",null,{"$f":"IF(NOT(ISBLANK(F427)),F427,G426)","v":39},null,null,"39.2","1-to-n"]
[null,"SF-RPL",null,null,"out: Motor 3 rate MON",null,{"$f":"IF(NOT(ISBLANK(F428)),F428,G427)","v":39},null,null,"39.2","1-to-n"]
[null,"SF-RPL",null,null,"out: Motor 4 rate MON",null,{"$f":"IF(NOT(ISBLANK(F429)),F429,G428)","v":39},null,null,"39.2","1-to-n"]
[null,"SF","[SF7.4] Monitor drone parameters","[SF7] Monitor drone control",null,40,{"$f":"IF(NOT(ISBLANK(F430)),F430,G429)","v":40},"1-to-1",{"$nulls":8},"SF74_MonitorParameters"]
[null,"SF","[SF7.4.1] Compare drone attitude","[SF7.4] Monitor drone parameters",null,41,{"$f":"IF(NOT(ISBLANK(F431)),F431,G430)","v":41},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.","ok",null,"SF741_MonitorAttitude","REC Comparator"]
[null,"SF",null,null,"in: Drone pitch MON",null,{"$f":"IF(NOT(ISBLANK(F432)),F432,G431)","v":41},null,null,"41.1","1-to-n","Gather attitute and attitude rate","ok (reroutage)",null,null,"input1"]
[null,"SF",null,null,"in: Drone roll MON",{"$nulls":4},"41.1","1-to-n"]
[null,"SF",null,null,"in: Drone yaw MON",{"$nulls":4},"41.1","1-to-n"]
[null,"SF",null,null,"in: Drone pitch rate MON",null,{"$f":"IF(NOT(ISBLANK(F435)),F435,G432)","v":41},null,null,"41.1","1-to-n"]
[null,"SF",null,null,"in: Drone roll rate MON",{"$nulls":4},"41.1","1-to-n"]
[null,"SF",null,null,"in: Drone yaw rate MON",{"$nulls":4},"41.1","1-to-n"]
[null,"SF",null,null,"in: Drone pitch",null,{"$f":"IF(NOT(ISBLANK(F438)),F438,G435)","v":41},null,null,"41.2","1-to-n","Gather attitute and attitude rate","ok (reroutage)",null,null,"input2"]
[null,"SF",null,null,"in: Drone roll",{"$nulls":4},"41.2","1-to-n"]
[null,"SF",null,null,"in: Drone yaw",{"$nulls":4},"41.2","1-to-n"]
[null,"SF",null,null,"in: Drone pitch rate",null,{"$f":"IF(NOT(ISBLANK(F441)),F441,G438)","v":41},null,null,"41.2","1-to-n"]
[null,"SF",null,null,"in: Drone roll rate",{"$nulls":4},"41.2","1-to-n"]
[null,"SF",null,null,"in: Drone yaw rate",{"$nulls":4},"41.2","1-to-n"]
[null,"SF",null,null,"out: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(F444)),F444,G441)","v":41},null,null,"41.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,"SF","[SF7.4.2] Compare drone altitude","[SF7.4] Monitor drone parameters",null,42,{"$f":"IF(NOT(ISBLANK(F445)),F445,G441)","v":42},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF742_MonitorAltitude","RPL Comparator"]
[null,"SF",null,null,"in: Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(F446)),F446,G445)","v":42},null,null,"42.1","1-to-n","The gathering is coherent with the gathering at source (SF72)","ok",null,null,"input"]
[null,"SF",null,null,"in: Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(F447)),F447,G446)","v":42},null,null,"42.1","1-to-n"]
[null,"SF",null,null,"in: Altitude MON",null,{"$f":"IF(NOT(ISBLANK(F448)),F448,G447)","v":42},null,null,"42.1","1-to-n"]
[null,"SF",null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(F449)),F449,G448)","v":42},null,null,"42.2","1-to-n","The gathering is coherent with the gathering at source (SF32)","ok",null,null,"input"]
[null,"SF",null,null,"in: Vertical speed",null,{"$f":"IF(NOT(ISBLANK(F450)),F450,G449)","v":42},null,null,"42.2","1-to-n"]
[null,"SF",null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(F451)),F451,G450)","v":42},null,null,"42.2","1-to-n"]
[null,"SF",null,null,"out: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(F452)),F452,G451)","v":42},null,null,"41.3","1-to-1",null,"ok","by RLP","ok","output"]
[null,"SF","[SF7.4.3] Compare drone motor consigns","[SF7.4] Monitor drone parameters",null,43,{"$f":"IF(NOT(ISBLANK(F453)),F453,G451)","v":43},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF743_MonitorMotorConsign","RPL Comparator"]
[null,"SF",null,null,"in: Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F454)),F454,G453)","v":43},null,null,"43.2","1-to-n","Same dysfunctional status","ok (reroutage)",null,null,"input"]
[null,"SF",null,null,"in: Motor 2 rate",{"$nulls":4},"43.2","1-to-n"]
[null,"SF",null,null,"in: Motor 3 rate",{"$nulls":4},"43.2","1-to-n"]
[null,"SF",null,null,"in: Motor 4 rate",{"$nulls":4},"43.2","1-to-n"]
[null,"SF",null,null,"in: Motor 1 rate MON",{"$nulls":4},"43.3","1-to-n","Same dysfunctional status","ok (reroutage)",null,null,"input"]
[null,"SF",null,null,"in: Motor 2 rate MON",null,{"$f":"IF(NOT(ISBLANK(F459)),F459,G454)","v":43},null,null,"43.3","1-to-n"]
[null,"SF",null,null,"in: Motor 3 rate MON",{"$nulls":4},"43.3","1-to-n"]
[null,"SF",null,null,"in: Motor 4 rate MON",{"$nulls":4},"43.3","1-to-n"]
[null,"SF",null,null,"out: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(F462)),F462,G459)","v":43},null,null,"43.1","1-to-1",null,"ok","by RPL","ok","output"]
[null,"SF","[SF7.4.4] Compare drone motor rate","[SF7.4] Monitor drone parameters",null,44,{"$f":"IF(NOT(ISBLANK(F463)),F463,G459)","v":44},"1-to-1","generates change request T87",null,null,null,"ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF744_MonitorMotorRate"]
[null,"SF",null,null,null,44,{"$f":"IF(NOT(ISBLANK(F464)),F464,G463)","v":44},"folded model component",{"$nulls":8},"MonitorMotorRate1 (subfunction)"]
[null,"SF",null,null,null,44,{"$f":"IF(NOT(ISBLANK(F465)),F465,G464)","v":44},"folded model component",{"$nulls":8},"MonitorMotorRate2 (subfunction)"]
[null,"SF",null,null,null,44,{"$f":"IF(NOT(ISBLANK(F466)),F466,G465)","v":44},"folded model component",{"$nulls":8},"MonitorMotorRate3 (subfunction)"]
[null,"SF",null,null,null,44,{"$f":"IF(NOT(ISBLANK(F467)),F467,G466)","v":44},"folded model component",{"$nulls":8},"MonitorMotorRate4 (subfunction)"]
[null,"SF",null,null,"in: Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(F468)),F468,G467)","v":44},null,null,"44.1","1-to-n",null,"ok (reroutage)",null,null,"In : MotorRate"]
[null,"SF",null,null,"in: Motor 2 rate",{"$nulls":4},"44.1","1-to-n"]
[null,"SF",null,null,"in: Motor 3 rate",{"$nulls":4},"44.1","1-to-n"]
[null,"SF",null,null,"in: Motor 4 rate",{"$nulls":4},"44.1","1-to-n"]
[null,"SF",null,null,"in: Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(F472)),F472,G468)","v":44},null,null,"44.2","1-to-1",null,"ok (reroutage)",null,null,"In : MotorRateMeasured^MotorRate1"]
[null,"SF",null,null,"in: Motor 2 rate measured",{"$nulls":4},"44.7","1-to-1",{"$nulls":4},"In : MotorRateMeasured^MotorRate2"]
[null,"SF",null,null,"in: Motor 3 rate measured",{"$nulls":4},"44.8","1-to-1",{"$nulls":4},"In : MotorRateMeasured^MotorRate3"]
[null,"SF",null,null,"in: Motor 4 rate measured",{"$nulls":4},"44.9","1-to-1",{"$nulls":4},"In : MotorRateMeasured^MotorRate4"]
[null,"SF",null,null,"out : Motor 1 runaway",{"$nulls":4},"44.3","1-to-1",null,null,"Cone = {Motor rate, MotorRateMeasured^MotorRate1}. Non standard behavior, see behavior review file","ok","out : Motor1Runaway"]
[null,"SF",null,null,"out : Motor 2 runaway",{"$nulls":4},"44.4","1-to-1",null,null,"Cone = {Motor rate, MotorRateMeasured^MotorRate1}. Same behavior as Motor1Runaway","ok","out : Motor2Runaway"]
[null,"SF",null,null,"out : Motor 3 runaway",{"$nulls":4},"44.5","1-to-1",null,null,"Cone = {Motor rate, MotorRateMeasured^MotorRate1}. Same behavior as Motor1Runaway","ok","out : Motor3Runaway"]
[null,"SF",null,null,"out : Motor 4 runaway",{"$nulls":4},"44.6","1-to-1",null,null,"Cone = {Motor rate, MotorRateMeasured^MotorRate1}. Same behavior as Motor1Runaway","ok","out : Motor4Runaway"]
[null,"SF","[SF7.4.5] Disable drone motor","[SF7.4] Monitor drone parameters",null,59,{"$f":"IF(NOT(ISBLANK(F480)),F480,G472)","v":59},"1-to-n","generates change request T87",null,null,null,"ok",null,null,null,"SF745_DisableDroneMotor"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"FailureModesOfSF74"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"FMPropagation1"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"FMPropagation2"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"FMPropagation3"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"FMPropagation4"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"OR1"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"OR2"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"OR3"]
[null,"SF",null,null,null,59,null,"folded model component",{"$nulls":8},"OR4"]
[null,"SF",null,null,"in: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(F490)),F490,G481)","v":0},null,null,"59.1","1-to-1","Justified name difference. In system, failure means detected failure mode, in safety a failure is an event and can exist in model whereas it is not detected by system",null,null,null,"AttitudeFailureDetected"]
[null,"SF",null,null,"in: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(F491)),F491,G490)","v":0},null,null,"59.2","1-to-1","name diff, idem",null,null,null,"AltitudeFailureDetected"]
[null,"SF",null,null,"in: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(F492)),F492,G491)","v":0},null,null,"59.3","1-to-1","name diff, idem",null,null,null,"MotorConsignFailureDetected"]
[null,"SF",null,null,"in : Motor 1 runaway",{"$nulls":4},"59.4","1-to-1",null,"ok",null,null,"Motor1Runaway"]
[null,"SF",null,null,"in : Motor 2 runaway",{"$nulls":4},"59.5","1-to-1",null,"ok",null,null,"Motor2Runaway"]
[null,"SF",null,null,"in : Motor 3 runaway",{"$nulls":4},"59.6","1-to-1",null,"ok",null,null,"Motor3Runaway"]
[null,"SF",null,null,"in : Motor 4 runaway",{"$nulls":4},"59.7","1-to-1",null,"ok",null,null,"Motor4Runaway"]
[null,"SF",null,null,"out: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(F497)),F497,G492)","v":0},null,null,"59.8","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Non standard behavior, see behavior review file","ok","MotorDisabled^Motor1"]
[null,"SF",null,null,"out: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(F498)),F498,G497)","v":0},null,null,"59.9","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor2"]
[null,"SF",null,null,"out: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(F499)),F499,G498)","v":0},null,null,"59.10","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor3"]
[null,"SF",null,null,"out: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(F500)),F500,G499)","v":0},null,null,"59.11","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor4"]
[null,"EXT","[Env] Create lift and drag forces and torques","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F501)),F501,G500)","v":50},"*-to-0","not necessary to safety modeling and not considered in failure"]
[null,"EXT","[Env] Stimulate acceleration sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F502)),F502,G501)","v":50},"*-to-0"]
[null,"EXT","[Env] Stimulate rate sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F503)),F503,G502)","v":50},"*-to-0"]
[null,"EXT","[Env] Stimulate magnetic sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F504)),F504,G503)","v":50},"*-to-0"]
[null,"EXT","[Env] Stimulate pressure sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F505)),F505,G504)","v":50},"*-to-0"]
[null,"EXT","[Env] Stimulate telemetric sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F506)),F506,G505)","v":50},"*-to-0"]
[null,"EXT","[Env] Simulate ground video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F507)),F507,G506)","v":50},"*-to-0"]
[null,"EXT","[Pos] Generate positioning signal","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F508)),F508,G507)","v":50},"*-to-0"]
[null,"EXT","[A/C] Stimulate payload video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(F509)),F509,G508)","v":50},"*-to-0",{"$nulls":8},{"$f":"sommepr","v":{"$error":"#NAME?"}}]
[null,"EXT","[Pil] Manually control AIDA","Root Physical Function",null,51,{"$f":"IF(NOT(ISBLANK(F510)),F510,G509)","v":51},"1-to-n",{"$nulls":4},"to be reviewed",null,null,null,"PilotDetection"]
[null,"EXT",null,null,"out : Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(F511)),F511,G510)","v":51},null,null,"51.1","1-to-1","modeled because they carry a functional information","ok",null,"ok","Out :PilotSelectedMode"]
[null,"EXT",null,null,"out : Manual payload control",null,{"$f":"IF(NOT(ISBLANK(F512)),F512,G511)","v":51},null,null,"51.2","1-to-1","modeled because they carry a functional information","ok",null,"ok","out: ManualPayloadControl"]
[null,"EXT",null,null,"out: Pilot orders",null,{"$f":"IF(NOT(ISBLANK(F513)),F513,G512)","v":51},null,null,"51.3","1-to-1","modeled as absent/present","to be reviewed",null,null,"out: PilotOrders"]
[null,"EXT",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F514)),F514,G513)","v":51},null,null,"51.4","*-to-0","Safety modeling artefact to remove a behaviour loop","ok",null,null,"Out : PilotInconsistentControl"]
[null,"EXT",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F515)),F515,G514)","v":51},null,null,"51.5","*-to-0","Safety modeling artefact to model visual detection","ok",null,null,"in : inputPosition"]
[null,"EXT",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F516)),F516,G515)","v":51},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputSpeed"]
[null,"EXT",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F517)),F517,G516)","v":51},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputControlPosition"]
[null,"EXT",{"$nulls":4},{"$f":"IF(NOT(ISBLANK(F518)),F518,G517)","v":51},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputLostHelixesControl"]
[null,"EXT","[Pil] Manually control the drone payload","[Pil] Manually control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(F519)),F519,#REF!)","v":51},"folded model component"]
[null,"EXT","[Pil] Enter a control mode","Root Physical Function",null,51,{"$f":"IF(NOT(ISBLANK(F520)),F520,G519)","v":51},"folded model component"]
[null,"EXT","[Pil] Manually control the drone",null,null,51,null,"folded model component"]
[null,"EXT","[Pil] Automaticallly control AIDA",null,null,51,null,"1-to-n"]
[null,"EXT",null,null,"in : Control mode",{"$nulls":4},"51.6","1-to-1",null,"ok",null,null,"in : inputSelectedMode"]
[null,"EXT",null,null,"in : Flight plan progress",{"$nulls":4},"51.7","1-to-1",null,"ok",null,null,"in : inputFlightPlanProgress"]
[null,"EXT",null,null,"in : Flight aerial view",{"$nulls":4},"51.8","*-to-0","Only used for validation of flight plan by pilot before mission launch. Not modeled.","ok"]
[null,"EXT",null,null,"out : Aircraft position validation",{"$nulls":4},"51.9","*-to-0","Reviewed by pilot during flight plan validation before mission launch","ok"]
[null,"EXT",null,null,"out : Aircraft type",{"$nulls":4},"51.9","*-to-0","Reviewed by pilot during flight plan validation before mission launch"]
[null,"EXT",null,null,"out : Exclusion zones",{"$nulls":4},"51.60","*-to-0","Set by the pilot during flight plan preparation","ok"]
[null,"EXT",null,null,"out : Flight domain",{"$nulls":4},"51.60","*-to-0"]
[null,"EXT",null,null,"out : Flight plan validation",{"$nulls":4},"51.60","*-to-0"]
[null,"EXT",null,null,"out : Pilot control consigns",{"$nulls":4},"51.61","*-to-0","From perfect pilot, cannot have dysfunctional status","ok"]
[null,"EXT","[Pil] Enter control consigns",null,null,51,null,"folded model component"]
[null,"EXT","[Pil] Check AIDA control mode","[Pil] Automatically control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(F533)),F533,G520)","v":51},"folded model component"]
[null,"EXT","[Pil] Set and adjust flight plan",null,null,51,null,"folded model component"]
[null,"EXT","[Pil] Start automatic control","[Pil] Automatically control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(F535)),F535,G533)","v":51},"folded model component"]
[null,"EXT","[Pil] Analyse mission results","Root Physical Function",null,52,{"$f":"IF(NOT(ISBLANK(F536)),F536,G535)","v":52},"*-to-0","This function is not activated during flight",null,null,null,"ok"]
[null,"EXT","[Pil] Analyse and validate the report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(F537)),F537,G536)","v":52},"folded model component"]
[null,"EXT","[Pil] Read report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(F538)),F538,G537)","v":52},"folded model component"]
[null,"EXT","[DB] Exchange data with AIDA","Root Physical Function",null,60,{"$f":"IF(NOT(ISBLANK(F539)),F539,G538)","v":60},"folder"]
[null,"EXT","[DB] Download mission results","[DB] Exchange data with AIDA",null,61,{"$f":"IF(NOT(ISBLANK(F540)),F540,G539)","v":61},"*-to-0","These functions are not activated during flight, but after.",null,null,null,"ok"]
[null,"EXT","[DB] Upload mission description and former mission data",null,null,63,null,"*-to-0","Former mission results have no impact on current mission.\nMission description are validated by the pilot before the flight. And not activated during the flight."]
[null,"EXT","[DB] Upload predefine flight zone boarders","[DB] Exchange data with AIDA",null,62,{"$f":"IF(NOT(ISBLANK(F542)),F542,G540)","v":62},"1-to-1",{"$nulls":4},"ok",null,null,null,"EXT_Database_UploadPredefinedFlightZoneBoarders"]
[null,"EXT",null,null,"out : Predefined flight zone boarders",{"$nulls":4},"62.1","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]

{"sheet":"PostRéu27aout - SynchroPoint de","index":3,"n_rows":491,"n_cols":20,"rows_kept":491,"cut":false,"hidden":false,"merged":[[0,0,0,3],[0,4,0,9],[0,10,0,12],[0,14,0,15],[0,16,0,18]]}
["Functional architecture",null,null,null,"Function synchro point",{"$nulls":5},"Port synchro point",null,null,"Structure review","Behavior synchro",null,"Functional architecture & external systems"]
["REC/RPL","Function","Parent function","Ports (deduced from flows) (inputs and outputs)","ID","Dependent SP (filtering)","To be reviewed (leaf and non-void on safety side)","To be reviewed (filtering)","Link between model component and synchro point","Remark","ID","Cardinality type","Remark",null,"Safety preparation","System review","Ports (inputs and outputs)","Function name","REC/RPL"]
[{"$nulls":4},1,1,"x","x","*-to-0","Safety modeling artefact. Must be reviewed by system designer",{"$nulls":4},"?",null,null,"FailureConditions"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E4)),E4,F3)","v":1},null,{"$f":"IF(F3=F4,H3,G4)","v":"x"},"folded model component",{"$nulls":8},"FC01_CAT"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E5)),E5,F4)","v":1},null,{"$f":"IF(F4=F5,H4,G5)","v":"x"},"folded model component",{"$nulls":8},"FC02_HAZ"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E6)),E6,F5)","v":1},null,{"$f":"IF(F5=F6,H5,G6)","v":"x"},"folded model component",{"$nulls":8},"FC03_MAJ"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E7)),E7,F6)","v":1},null,{"$f":"IF(F6=F7,H6,G7)","v":"x"},"folded model component",{"$nulls":8},"filter2"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E8)),E8,F7)","v":1},null,{"$f":"IF(F7=F8,H7,G8)","v":"x"},"folded model component",{"$nulls":8},"filter3"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E9)),E9,F8)","v":1},null,{"$f":"IF(F8=F9,H8,G9)","v":"x"},"folded model component",{"$nulls":8},"filter4"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E10)),E10,F9)","v":1},null,{"$f":"IF(F9=F10,H9,G10)","v":"x"},"folded model component",{"$nulls":8},"UncontrolledCrashInNonAuthorizedArea"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E11)),E11,F10)","v":1},null,{"$f":"IF(F10=F11,H10,G11)","v":"x"},"folded model component",{"$nulls":8},"Uncontrolled CrashInAuthorizedArea"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E12)),E12,F11)","v":1},null,{"$f":"IF(F11=F12,H11,G12)","v":"x"},"folded model component",{"$nulls":8},"LossOfSelectedModeFiltered"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E13)),E13,F12)","v":1},null,{"$f":"IF(F12=F13,H12,G13)","v":"x"},"folded model component",{"$nulls":8},"TotalLossOfControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E14)),E14,F13)","v":1},null,{"$f":"IF(F13=F14,H13,G14)","v":"x"},"folded model component",{"$nulls":8},"ControlledCrash"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E15)),E15,F14)","v":1},null,{"$f":"IF(F14=F15,H14,G15)","v":"x"},"folded model component",{"$nulls":8},"LossOfSelectedManualMode"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E16)),E16,F15)","v":1},null,{"$f":"IF(F15=F16,H15,G16)","v":"x"},"folded model component",{"$nulls":8},"ErroneousControlOfOneHelix"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E17)),E17,F16)","v":1},null,{"$f":"IF(F16=F17,H16,G17)","v":"x"},"folded model component",{"$nulls":8},"TotalLossOfHexiesControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E18)),E18,F17)","v":1},null,{"$f":"IF(F17=F18,H17,G18)","v":"x"},"folded model component",{"$nulls":8},"LossOfAtMost3HelixesControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E19)),E19,F18)","v":1},null,{"$f":"IF(F18=F19,H18,G19)","v":"x"},"folded model component",{"$nulls":8},"StruckModeAutoOrErr"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E20)),E20,F19)","v":1},null,{"$f":"IF(F19=F20,H19,G20)","v":"x"},"folded model component",{"$nulls":8},"StuckModeManual"]
[null,"[SF1] Control drone helixes","Root Physical Function",null,2,{"$f":"IF(NOT(ISBLANK(E21)),E21,F20)","v":2},null,{"$f":"IF(F20=F21,H20,G21)","v":0},"1-to-1",null,null," ",null,"ok",null,null,null,"SF1"]
["REC ControlHelix","[SF1.1] Control helix 1","[SF1] Control drone helixes",null,3,{"$f":"IF(NOT(ISBLANK(E22)),E22,#REF!)","v":3},null,{"$f":"IF(F21=F22,H21,G22)","v":0},"1-to-1","This synchro point is a REC in both system and safety.",null,null,null,"ok",null,null,null," SF11_ControlHelix1","REC SF1i_ControlHelix₂"]
[null,"[SF1.1.1] Control motor 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E23)),E23,#REF!)","v":47},"x",{"$f":"IF(F22=F23,H22,G23)","v":"x"},"N-to-n","Gathering of 4 subfunctions because 1) they do not have safety impact in isolation @ES, 2) they constitute a loop that is undesirable in safety modeling. Choice of 2 safety bricks because there is one dysfunctional behavior (first brick) and the reconfiguration behavior of shutting down (not dependent from the dysfunctional behavior",null,null,null,"ok",null,null,null,"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":4},47,{"$f":"IF(NOT(ISBLANK(E24)),E24,F23)","v":47},null,{"$f":"IF(F23=F24,H23,G24)","v":"x"},"N-to-n",{"$nulls":4},"ok",null,null,null,"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E25)),E25,F24)","v":47},null,{"$f":"IF(F24=F25,H24,G25)","v":"x"},null,null,"47.1","1-to-1",null,"ok",null,null,"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.1.2] Create motion 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E26)),E26,F25)","v":47},null,{"$f":"IF(F25=F26,H25,G26)","v":"x"},"N-to-n",{"$nulls":4},"ok"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E27)),E27,F26)","v":47},null,{"$f":"IF(F26=F27,H26,G27)","v":"x"},null,null,"47.2","1-to-1",null,"ok",null,null,"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E28)),E28,F27)","v":47},null,{"$f":"IF(F27=F28,H27,G28)","v":"x"},null,null,"47.3","1-to-1",null,"ok","Whole cone, see behavior review file",null,"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.1.4] Measure motor 1 position","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E29)),E29,F28)","v":47},null,{"$f":"IF(F28=F29,H28,G29)","v":"x"},"N-to-n",{"$nulls":4},"ok"]
[null,"[SF1.1.5] Compute motor 1 rate","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E30)),E30,F29)","v":47},null,{"$f":"IF(F29=F30,H29,G30)","v":"x"},"N-to-n",{"$nulls":4},"ok"]
[null,null,null,"out: Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E31)),E31,F30)","v":47},null,{"$f":"IF(F30=F31,H30,G31)","v":"x"},null,null,"47.4","1-to-1",null,"ok","Cone = MotorRate. Standard failure and combination of input and failure",null,"SF1i1_5_CreateMotionAndMeasure.output",null," "]
[null,"[SF1.1.6] Depower motor 1","[SF1.1] Control helix 1",null,48,{"$f":"IF(NOT(ISBLANK(E32)),E32,F31)","v":48},"x",{"$f":"IF(F31=F32,H31,G32)","v":"x"},"1-to-1",{"$nulls":4},"ok","Boolean equivalent of InOutFunction",null,null,"SF1i6_DepowerMotor"]
[null,null,null,"in: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E33)),E33,F32)","v":48},null,{"$f":"IF(F32=F33,H32,G33)","v":"x"},null,null,"48.2","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E34)),E34,F32)","v":48},null,{"$f":"IF(F32=F34,H32,G34)","v":"x"},null,null,"48.1","1-to-1",null,"ok",null,null,"output"]
[null,"[SF1.1.3] Create thrust and torque at helix 1","[SF1.1] Control helix 1",null,49,{"$f":"IF(NOT(ISBLANK(E35)),E35,#REF!)","v":49},"x",{"$f":"IF(#REF!=F35,#REF!,G35)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E36)),E36,F35)","v":49},null,{"$f":"IF(F35=F36,H35,G36)","v":{"$error":"#VALUE!"}},null,null,"49.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E37)),E37,F36)","v":49},null,{"$f":"IF(F36=F37,H36,G37)","v":{"$error":"#VALUE!"}},null,null,"49.2","1-to-n","Same dysfunctional status","ok","[STD] Standard dependency and failure modes",null,"output"]
[null,null,null,"out: Helix 1 torque",null,{"$f":"IF(NOT(ISBLANK(E38)),E38,F37)","v":49},null,{"$f":"IF(F37=F38,H37,G38)","v":{"$error":"#VALUE!"}},null,null,"49.2","1-to-n",null,"ok"]
["RPL ControlHelix","[SF1.2] Control helix 2","[SF1] Control drone helixes",null,4,{"$f":"IF(NOT(ISBLANK(E39)),E39,F38)","v":4},null,{"$f":"IF(F38=F39,H38,G39)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF12_ControlHelix2","RPL SF1i_ControlHelix₂"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E40)),E40,F39)","v":4},null,{"$f":"IF(F39=F40,H39,G40)","v":0},null,null,"4.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E41)),E41,F40)","v":4},null,{"$f":"IF(F40=F41,H40,G41)","v":0},null,null,"4.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E42)),E42,F41)","v":4},null,{"$f":"IF(F41=F42,H41,G42)","v":0},null,null,"4.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E43)),E43,F42)","v":4},null,{"$f":"IF(F42=F43,H42,G43)","v":0},null,null,"4.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E44)),E44,F43)","v":4},null,{"$f":"IF(F43=F44,H43,G44)","v":0},null,null,"4.4","1-to-n"]
[null,"[SF1.2.1] Control motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E45)),E45,F44)","v":"4 by RPL"},null,{"$f":"IF(F44=F45,H44,G45)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E46)),E46,F45)","v":"4 by RPL"},null,{"$f":"IF(F45=F46,H45,G46)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E47)),E47,F46)","v":"4 by RPL"},null,{"$f":"IF(F46=F47,H46,G47)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.2.2] Create motion 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E48)),E48,F47)","v":"4 by RPL"},null,{"$f":"IF(F47=F48,H47,G48)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E49)),E49,F48)","v":"4 by RPL"},null,{"$f":"IF(F48=F49,H48,G49)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E50)),E50,F49)","v":"4 by RPL"},null,{"$f":"IF(F49=F50,H49,G50)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.2.4] Measure motor 2 position","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E51)),E51,F50)","v":"4 by RPL"},null,{"$f":"IF(F50=F51,H50,G51)","v":0},"N-to-n"]
[null,"[SF1.2.5] Compute motor 2 rate","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E52)),E52,F51)","v":"4 by RPL"},null,{"$f":"IF(F51=F52,H51,G52)","v":0},"N-to-n"]
[null,null,null,"out: Motor 2 rate measured",null,{"$f":"IF(NOT(ISBLANK(E53)),E53,F52)","v":"4 by RPL"},null,{"$f":"IF(F52=F53,H52,G53)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.2.6] Depower motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E54)),E54,F53)","v":"4 by RPL"},null,{"$f":"IF(F53=F54,H53,G54)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E55)),E55,F54)","v":"4 by RPL"},null,{"$f":"IF(F54=F55,H54,G55)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(E56)),E56,F55)","v":"4 by RPL"},null,{"$f":"IF(F55=F56,H55,G56)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.2.3] Create thrust and torque at helix 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E57)),E57,F56)","v":"4 by RPL"},null,{"$f":"IF(F56=F57,H56,G57)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E58)),E58,F57)","v":"4 by RPL"},null,{"$f":"IF(F57=F58,H57,G58)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out: Helix 2 thrust",null,{"$f":"IF(NOT(ISBLANK(E59)),E59,F58)","v":"4 by RPL"},null,{"$f":"IF(F58=F59,H58,G59)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,null,null,"out: Helix 2 torque",null,{"$f":"IF(NOT(ISBLANK(E60)),E60,F59)","v":"4 by RPL"},null,{"$f":"IF(F59=F60,H59,G60)","v":0},null,null,"49.2","1-to-n"]
["RPL ControlHelix","[SF1.3] Control helix 3","[SF1] Control drone helixes",null,5,{"$f":"IF(NOT(ISBLANK(E61)),E61,F60)","v":5},null,{"$f":"IF(F60=F61,H60,G61)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF13_ControlHelix3","RPL ControlHelix"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E62)),E62,F61)","v":5},null,{"$f":"IF(F61=F62,H61,G62)","v":0},null,null,"5.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E63)),E63,F62)","v":5},null,{"$f":"IF(F62=F63,H62,G63)","v":0},null,null,"5.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E64)),E64,F63)","v":5},null,{"$f":"IF(F63=F64,H63,G64)","v":0},null,null,"5.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E65)),E65,F64)","v":5},null,{"$f":"IF(F64=F65,H64,G65)","v":0},null,null,"5.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E66)),E66,F65)","v":5},null,{"$f":"IF(F65=F66,H65,G66)","v":0},null,null,"5.4","1-to-n"]
[null,"[SF1.3.1] Control motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E67)),E67,F66)","v":"5 by RPL"},null,{"$f":"IF(F66=F67,H66,G67)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E68)),E68,F67)","v":"5 by RPL"},null,{"$f":"IF(F67=F68,H67,G68)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E69)),E69,F68)","v":"5 by RPL"},null,{"$f":"IF(F68=F69,H68,G69)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.3.2] Create motion 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E70)),E70,F69)","v":"5 by RPL"},null,{"$f":"IF(F69=F70,H69,G70)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E71)),E71,F70)","v":"5 by RPL"},null,{"$f":"IF(F70=F71,H70,G71)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E72)),E72,F71)","v":"5 by RPL"},null,{"$f":"IF(F71=F72,H71,G72)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.3.4] Measure motor 3 position","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E73)),E73,F72)","v":"5 by RPL"},null,{"$f":"IF(F72=F73,H72,G73)","v":0},"N-to-n"]
[null,"[SF1.3.5] Compute motor 3 rate","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E74)),E74,F73)","v":"5 by RPL"},null,{"$f":"IF(F73=F74,H73,G74)","v":0},"N-to-n"]
[null,null,null,"out: Motor 3 rate measured",null,{"$f":"IF(NOT(ISBLANK(E75)),E75,F74)","v":"5 by RPL"},null,{"$f":"IF(F74=F75,H74,G75)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.3.6] Depower motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E76)),E76,F75)","v":"5 by RPL"},null,{"$f":"IF(F75=F76,H75,G76)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E77)),E77,F76)","v":"5 by RPL"},null,{"$f":"IF(F76=F77,H76,G77)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(E78)),E78,F77)","v":"5 by RPL"},null,{"$f":"IF(F77=F78,H77,G78)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.3.3] Create thrust and torque at helix 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E79)),E79,F78)","v":"5 by RPL"},null,{"$f":"IF(F78=F79,H78,G79)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E80)),E80,F79)","v":"5 by RPL"},null,{"$f":"IF(F79=F80,H79,G80)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out: Helix 3 thrust",null,{"$f":"IF(NOT(ISBLANK(E81)),E81,F80)","v":"5 by RPL"},null,{"$f":"IF(F80=F81,H80,G81)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,null,null,"out: Helix 3 torque",null,{"$f":"IF(NOT(ISBLANK(E82)),E82,F81)","v":"5 by RPL"},null,{"$f":"IF(F81=F82,H81,G82)","v":0},null,null,"49.2","1-to-n"]
["RPL ControlHelix","[SF1.4] Control helix 4","[SF1] Control drone helixes",null,6,{"$f":"IF(NOT(ISBLANK(E83)),E83,F82)","v":6},null,{"$f":"IF(F82=F83,H82,G83)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF14_ControlHelix4","RPL ControlHelix"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E84)),E84,F83)","v":6},null,{"$f":"IF(F83=F84,H83,G84)","v":0},null,null,"6.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E85)),E85,F84)","v":6},null,{"$f":"IF(F84=F85,H84,G85)","v":0},null,null,"6.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E86)),E86,F85)","v":6},null,{"$f":"IF(F85=F86,H85,G86)","v":0},null,null,"6.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E87)),E87,F86)","v":6},null,{"$f":"IF(F86=F87,H86,G87)","v":0},null,null,"6.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E88)),E88,F87)","v":6},null,{"$f":"IF(F87=F88,H87,G88)","v":0},null,null,"6.4","1-to-n"]
[null,"[SF1.4.1] Control motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E89)),E89,F88)","v":"6 by RPL"},null,{"$f":"IF(F88=F89,H88,G89)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E90)),E90,F89)","v":"6 by RPL"},null,{"$f":"IF(F89=F90,H89,G90)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E91)),E91,F90)","v":"6 by RPL"},null,{"$f":"IF(F90=F91,H90,G91)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.4.2] Create motion 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E92)),E92,F91)","v":"6 by RPL"},null,{"$f":"IF(F91=F92,H91,G92)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E93)),E93,F92)","v":"6 by RPL"},null,{"$f":"IF(F92=F93,H92,G93)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E94)),E94,F93)","v":"6 by RPL"},null,{"$f":"IF(F93=F94,H93,G94)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.4.4] Measure motor 4 position","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E95)),E95,F94)","v":"6 by RPL"},null,{"$f":"IF(F94=F95,H94,G95)","v":0},"N-to-n"]
[null,"[SF1.4.5] Compute motor 4 rate","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E96)),E96,F95)","v":"6 by RPL"},null,{"$f":"IF(F95=F96,H95,G96)","v":0},"N-to-n"]
[null,null,null,"out: Motor 4 rate measured",null,{"$f":"IF(NOT(ISBLANK(E97)),E97,F96)","v":"6 by RPL"},null,{"$f":"IF(F96=F97,H96,G97)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.4.6] Depower motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E98)),E98,F97)","v":"6 by RPL"},null,{"$f":"IF(F97=F98,H97,G98)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E99)),E99,F98)","v":"6 by RPL"},null,{"$f":"IF(F98=F99,H98,G99)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(E100)),E100,F99)","v":"6 by RPL"},null,{"$f":"IF(F99=F100,H99,G100)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.4.3] Create thrust and torque at helix 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E101)),E101,F100)","v":"6 by RPL"},null,{"$f":"IF(F100=F101,H100,G101)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque",null,"SF23"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E102)),E102,F101)","v":"6 by RPL"},null,{"$f":"IF(F101=F102,H101,G102)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input",null,null,"SF731"]
[null,null,null,"out: Helix 4 thrust",null,{"$f":"IF(NOT(ISBLANK(E103)),E103,F102)","v":"6 by RPL"},null,{"$f":"IF(F102=F103,H102,G103)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output",null,null,"SF733"]
[null,null,null,"out: Helix 4 torque",null,{"$f":"IF(NOT(ISBLANK(E104)),E104,F103)","v":"6 by RPL"},null,{"$f":"IF(F103=F104,H103,G104)","v":0},null,null,"49.2","1-to-n"]
[null,"[SF2] Control drone attitude and position","Root Physical Function",null,7,{"$f":"IF(NOT(ISBLANK(E105)),E105,F104)","v":7},0,{"$f":"IF(F104=F105,H104,G105)","v":0},"1-to-1",{"$nulls":4},"nok",null,null,null,"SF2"]
[null,"[SF2.1] Automatically control drone position","[SF2] Control drone attitude and position",null,8,{"$f":"IF(NOT(ISBLANK(E106)),E106,#REF!)","v":8},"x",{"$f":"IF(F105=F106,H105,G106)","v":"x"},"1-to-1",{"$nulls":4},"nok",null,null,null,"SF21_ControlPosition"," "]
[null,null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(E107)),E107,F106)","v":8},null,{"$f":"IF(F106=F107,H106,G107)","v":"x"},null,null,"8.1","1-to-1",null,"ok",null,null,"in : Position"]
[null,null,null,"in : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E108)),E108,F107)","v":8},null,{"$f":"IF(F107=F108,H107,G108)","v":"x"},null,null,"8.2","1-to-n","Ground speed is computed based on vertical speed so it has always a wost case dysfunctional status","to be reviewed"]
[null,null,null,"in : Ground speed",null,{"$f":"IF(NOT(ISBLANK(E109)),E109,F108)","v":8},null,{"$f":"IF(F108=F109,H108,G109)","v":"x"},null,null,"8.2","1-to-n",null,"to be reviewed",null,null,"in : Speed "]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E110)),E110,F109)","v":8},null,{"$f":"IF(F109=F110,H109,G110)","v":"x"},null,null,"8.3","1-to-1","@sync : différents tye de regroupement","ok",null,null,"in : Attitude"]
[null,null,null,"in : Drone position consign",null,{"$f":"IF(NOT(ISBLANK(E111)),E111,F110)","v":8},null,{"$f":"IF(F110=F111,H110,G111)","v":"x"},null,null,"8.4","1-to-1",null,"ok",null,null,"In : PositionConsign"]
[null,null,null,"in : Drone speed consign",null,{"$f":"IF(NOT(ISBLANK(E112)),E112,F111)","v":8},null,{"$f":"IF(F111=F112,H111,G112)","v":"x"},null,null,"8.5","1-to-1",null,"ok",null,null,"in : SpeedConsign"]
[null,null,null,"in : Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E113)),E113,F112)","v":8},null,{"$f":"IF(F112=F113,H112,G113)","v":"x"},null,null,"8.6","1-to-1",null,"ok",null,null,"in : NavEngagement"]
[null,null,null,"out : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E114)),E114,F113)","v":8},null,{"$f":"IF(F113=F114,H113,G114)","v":"x"},null,null,"8.7","1-to-n","Same dysfunctional status",null,"Whole cone, see behavior review file",null,"out : output",null," "]
[null,null,null,"out : T AP",null,{"$f":"IF(NOT(ISBLANK(E115)),E115,F114)","v":8},null,{"$f":"IF(F114=F115,H114,G115)","v":"x"},null,null,"8.7","1-to-n",{"$nulls":6}," "]
[null,"[SF2.1.1] Control position","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E116)),E116,F115)","v":8},null,{"$f":"IF(F115=F116,H115,G116)","v":"x"},"folded model component"]
[null,"[SF2.1.2] Select speed consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E117)),E117,F116)","v":8},null,{"$f":"IF(F116=F117,H116,G117)","v":"x"},"folded model component"]
[null,"[SF2.1.3] Control speed","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E118)),E118,F117)","v":8},null,{"$f":"IF(F117=F118,H117,G118)","v":"x"},"folded model component"]
[null,"[SF2.1.4] Compute thrust and attitude consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E119)),E119,F118)","v":8},null,{"$f":"IF(F118=F119,H118,G119)","v":"x"},"folded model component"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E120)),E120,F119)","v":8},null,{"$f":"IF(F119=F120,H119,G120)","v":"x"},"folded model component",{"$nulls":8},"SF212_SelectSpeedConsign"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E121)),E121,F120)","v":8},null,{"$f":"IF(F120=F121,H120,G121)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E122)),E122,F121)","v":8},null,{"$f":"IF(F121=F122,H121,G122)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E123)),E123,F122)","v":8},null,{"$f":"IF(F122=F123,H122,G123)","v":"x"},"folded model component",{"$nulls":8},"AND3"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E124)),E124,F123)","v":8},null,{"$f":"IF(F123=F124,H123,G124)","v":"x"},"folded model component",{"$nulls":8},"AND4"]
[null,"[SF2.2] Acquire pilot orders","[SF2] Control drone attitude and position",null,9,{"$f":"IF(NOT(ISBLANK(E125)),E125,F124)","v":9},"x",{"$f":"IF(F124=F125,H124,G125)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF22_AcquirePilotOrders"]
[null,null,null,"in : Pilot orders",null,{"$f":"IF(NOT(ISBLANK(E126)),E126,F125)","v":9},null,{"$f":"IF(F125=F126,H125,G126)","v":"x"},null,null,"9.1","*-to-0","Piloting function by joystick is not modeled because not failing.","ok",{"$nulls":4}," "]
[null,null,null,"out : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(E127)),E127,F126)","v":9},null,{"$f":"IF(F126=F127,H126,G127)","v":"x"},null,null,"9 .2","1-to-n","Same dysfunctional status","ok","[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out : Roll consign",null,{"$f":"IF(NOT(ISBLANK(E128)),E128,F127)","v":9},null,{"$f":"IF(F127=F128,H127,G128)","v":"x"},null,null,"9 .2","1-to-n",null,"ok"]
[null,null,null,"out : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(E129)),E129,F128)","v":9},null,{"$f":"IF(F128=F129,H128,G129)","v":"x"},null,null,"9 .2","1-to-n",null,"ok"]
[null,null,null,"out : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(E130)),E130,F129)","v":9},null,{"$f":"IF(F129=F130,H129,G130)","v":"x"},null,null,"9 .2","1-to-n",null,"ok"]
[null,"[SF2.2.1] Acquire pitch order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E131)),E131,F130)","v":9},null,{"$f":"IF(F130=F131,H130,G131)","v":"x"},"folded model component"]
[null,"[SF2.2.2] Acquire roll order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E132)),E132,F131)","v":9},null,{"$f":"IF(F131=F132,H131,G132)","v":"x"},"folded model component"]
[null,"[SF2.2.3] Acquire yaw order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E133)),E133,F132)","v":9},null,{"$f":"IF(F132=F133,H132,G133)","v":"x"},"folded model component"]
[null,"[SF2.2.4] Acquire altitude order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E134)),E134,F133)","v":9},null,{"$f":"IF(F133=F134,H133,G134)","v":"x"},"folded model component"]
[null,"[SF2.3] Control attitude","[SF2] Control drone attitude and position",null,10,{"$f":"IF(NOT(ISBLANK(E135)),E135,F134)","v":10},null,{"$f":"IF(F134=F135,H134,G135)","v":0},"folder","corresponds to SF231 +  SF232_ 5",null," ",null,"modified, to be reviewed"]
[null,"[SF2.3.1] Compute yaw consign","[SF2.3] Control attitude",null,56,{"$f":"IF(NOT(ISBLANK(E136)),E136,#REF!)","v":56},"x",{"$f":"IF(F135=F136,H135,G136)","v":"x"},"1-to-1","Name difference because of inclusion of « Gather »",{"$nulls":7},"SF231_ComputeAttitudeManualConsign4"]
[null,"Gather SF2.3 Attitude manual consigns",null,null,56,{"$f":"IF(NOT(ISBLANK(E137)),E137,F136)","v":56},null,{"$f":"IF(F136=F137,H136,G137)","v":"x"},"???",null,null,null,"Need to add the « gather » to the synhcro point"]
[{"$nulls":4},56,{"$f":"IF(NOT(ISBLANK(E138)),E138,F137)","v":56},null,{"$f":"IF(F137=F138,H137,G138)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":4},56,{"$f":"IF(NOT(ISBLANK(E139)),E139,F138)","v":56},null,{"$f":"IF(F138=F139,H138,G139)","v":"x"},"folded model component",{"$nulls":8},"ComputeYawRateConsignState"]
[null,null,null,"in : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(E140)),E140,F139)","v":56},null,{"$f":"IF(F139=F140,H139,G140)","v":"x"},null,null,"56.1","1-to-1",{"$nulls":4},"in : YawRateConsign"]
[null,null,null,"in : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(E141)),E141,F140)","v":56},null,{"$f":"IF(F140=F141,H140,G141)","v":"x"},null,null,"56.2","1-to-n",{"$nulls":4},"in : PitchAndRollConsign"]
[null,null,null,"in : Roll consign",null,{"$f":"IF(NOT(ISBLANK(E142)),E142,F141)","v":56},null,{"$f":"IF(F141=F142,H141,G142)","v":"x"},null,null,"56.2","1-to-n"]
[null,null,null,"out : Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E143)),E143,F142)","v":56},null,{"$f":"IF(F142=F143,H142,G143)","v":"x"},null,null,"56.3","1-to-1",null,null,"[STD] Standard dependency and failure mode",null,"out : AttitudeManualConsign"]
["REC Select attitude consign","[SF2.3.2] Select attitude consign","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E144)),E144,#REF!)","v":57},"x",{"$f":"IF(F143=F144,H143,G144)","v":"x"},"1-to-n","on a bien besoin de grouper la sélection et le contrôle d’attitude car les dépendances sont modélisées avant la sélection en safety et après la sélection en capella (à voir la justification avec le débouclage de Tatiana)",null," ",{"$nulls":5},"SF242_3_ControlAltitude","REC SF232"]
["REC Control pitch angle","[SF2.3.3] Control pitch angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E145)),E145,F144)","v":57},null,{"$f":"IF(F144=F145,H144,G145)","v":"x"},"1-to-n"]
["REC Control roll angle","[SF2.3.4] Control roll angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E146)),E146,F145)","v":57},null,{"$f":"IF(F145=F146,H145,G146)","v":"x"},"1-to-n"]
["REC Control yaw angle","[SF2.3.5] Control yaw angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E147)),E147,F146)","v":57},null,{"$f":"IF(F146=F147,H146,G147)","v":"x"},"1-to-n"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E148)),E148,F147)","v":57},null,{"$f":"IF(F147=F148,H147,G148)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E149)),E149,F148)","v":57},null,{"$f":"IF(F148=F149,H148,G149)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E150)),E150,F149)","v":57},null,{"$f":"IF(F149=F150,H149,G150)","v":"x"},"folded model component",{"$nulls":8},"SF232_SelectAttitudeConsign"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E151)),E151,F150)","v":57},null,{"$f":"IF(F150=F151,H150,G151)","v":"x"},"folded model component",{"$nulls":8},"ControlAttitudeState"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E152)),E152,F151)","v":57},null,{"$f":"IF(F151=F152,H151,G152)","v":"x"},null,null,"57.1","1-to-n","Same dysfunctional status","ok",null,null,"in : Attitude"]
[null,null,null,"in : Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E153)),E153,F152)","v":57},null,{"$f":"IF(F152=F153,H152,G153)","v":"x"},null,null,"57.1","1-to-n",null,"ok"]
[null,null,null,"in : Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E154)),E154,F153)","v":57},null,{"$f":"IF(F153=F154,H153,G154)","v":"x"},null,null,"57.2","1-to-1",null,"modified, to be reviewed",null,null,"in : AttitudeConsign"]
[null,null,null,"in : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E155)),E155,F154)","v":57},null,{"$f":"IF(F154=F155,H154,G155)","v":"x"},null,null,"57.3","1-to-1",{"$nulls":4},"in : AttitudeAPConsign"]
[null,null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(E156)),E156,F155)","v":57},null,{"$f":"IF(F155=F156,H155,G156)","v":"x"},null,null,"57.4","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"out : Pphi",null,{"$f":"IF(NOT(ISBLANK(E157)),E157,F156)","v":57},null,{"$f":"IF(F156=F157,H156,G157)","v":"x"},null,null,"57.5","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file",null,"out : P"]
[null,null,null,"out : Ppsi",null,{"$f":"IF(NOT(ISBLANK(E158)),E158,F157)","v":57},null,{"$f":"IF(F157=F158,H157,G158)","v":"x"},null,null,"57.5","1-to-n",null,"ok"]
[null,null,null,"out : Ptheta",null,{"$f":"IF(NOT(ISBLANK(E159)),E159,F158)","v":57},null,{"$f":"IF(F158=F159,H158,G159)","v":"x"},null,null,"57.5","1-to-n",null,"ok"]
[null,null,null,"out : Pitch and roll consigns",null,{"$f":"IF(NOT(ISBLANK(E160)),E160,F159)","v":57},null,{"$f":"IF(F159=F160,H159,G160)","v":"x"},null,null,"57.7","*-to-0","Unlooping (Safety hypothesis Nb02)","ok"]
[null,"[SF2.4] Control altitude","[SF2] Control drone attitude and position",null,11,{"$f":"IF(NOT(ISBLANK(E161)),E161,#REF!)","v":11},null,{"$f":"IF(F160=F161,H160,G161)","v":0},"folder","corresponds to SF241 + SF242_ 5"]
[null,"[SF2.4.1] Compute altitude consign","[SF2.4] Control altitude",null,54,{"$f":"IF(NOT(ISBLANK(E162)),E162,F161)","v":54},"x",{"$f":"IF(F161=F162,H161,G162)","v":"x"},"1-to-1",{"$nulls":8},"SF241_ComputeAltitudeConsign"]
[null,null,null,"in : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(E163)),E163,F162)","v":54},null,{"$f":"IF(F162=F163,H162,G163)","v":"x"},null,null,"54.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E164)),E164,F163)","v":54},null,{"$f":"IF(F163=F164,H163,G164)","v":"x"},null,null,"54.2","1-to-1",{"$nulls":4},"output"]
["REC Compute total thrust MON","[SF2.4.2] Compute total thrust","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(E165)),E165,F164)","v":55},"x",{"$f":"IF(F164=F165,H164,G165)","v":"x"},"1-to-n",{"$nulls":8},"SF242_3_ControlAltitude","REC SF242"]
["REC Select total thrust consign MON","[SF2.4.3] Select total thrust consign","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(E166)),E166,F165)","v":55},null,{"$f":"IF(F165=F166,H165,G166)","v":"x"}]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E167)),E167,F166)","v":55},null,{"$f":"IF(F166=F167,H166,G167)","v":"x"},"folded model component",{"$nulls":8},"ControlAltitudeState"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E168)),E168,F167)","v":55},null,{"$f":"IF(F167=F168,H167,G168)","v":"x"},"folded model component",{"$nulls":8},"SF243_SelectTotalThrustConsign"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E169)),E169,F168)","v":55},null,{"$f":"IF(F168=F169,H168,G169)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E170)),E170,F169)","v":55},null,{"$f":"IF(F169=F170,H169,G170)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[null,null,null,"in : Altitude",null,{"$f":"IF(NOT(ISBLANK(E171)),E171,F170)","v":55},null,{"$f":"IF(F170=F171,H170,G171)","v":"x"},null,null,"55.1","1-to-1",null,"ok",null,null,"in : Altitude"]
[null,null,null,"in : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E172)),E172,F171)","v":55},null,{"$f":"IF(F171=F172,H171,G172)","v":"x"},null,null,"55.6","1-to-1",{"$nulls":4},"in : AltitudeConsign"]
[null,null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(E173)),E173,F172)","v":55},null,{"$f":"IF(F172=F173,H172,G173)","v":"x"},null,null,"55.2","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E174)),E174,F173)","v":55},null,{"$f":"IF(F173=F174,H173,G174)","v":"x"},null,null,"55.3","1-to-1",null,"ok",null,null,"in : Attitude"]
[null,null,null,"in : T AP",null,{"$f":"IF(NOT(ISBLANK(E175)),E175,F174)","v":55},null,{"$f":"IF(F174=F175,H174,G175)","v":"x"},null,null,"55.4","1-to-1",null,"ok",null,null,"in T_AP"]
[null,null,null,"out : T",null,{"$f":"IF(NOT(ISBLANK(E176)),E176,F175)","v":55},null,{"$f":"IF(F175=F176,H175,G176)","v":"x"},null,null,"55.5","1-to-1",null,null,"Whole cone, see behavior review file",null,"out : T"]
[null,"[SF2.5] Control thrust","[SF2] Control drone attitude and position",null,12,{"$f":"IF(NOT(ISBLANK(E177)),E177,F166)","v":12},"x",{"$f":"IF(F166=F177,H166,G177)","v":"x"},"1-to-n","contains REC",{"$nulls":7},"SF25_AllNeeded","REC ComputeThrustAndRate AllNeeded+InOutFunction"]
[{"$nulls":4},12,{"$f":"IF(NOT(ISBLANK(E178)),E178,F177)","v":12},null,{"$f":"IF(F177=F178,H177,G178)","v":"x"},"1-to-n",{"$nulls":8},"SF25_ControlThrust"]
[null,null,null,"in : Ptheta",null,{"$f":"IF(NOT(ISBLANK(E179)),E179,F178)","v":12},null,{"$f":"IF(F178=F179,H178,G179)","v":"x"},null,null,"12.1","1-to-n","Same dysfunctional status",null,null,null,"SF25_AllNeeded.input1"]
[null,null,null,"in : Pphi",null,{"$f":"IF(NOT(ISBLANK(E180)),E180,F179)","v":12},null,{"$f":"IF(F179=F180,H179,G180)","v":"x"},null,null,"12.1","1-to-n"]
[null,null,null,"in : Ppsi",null,{"$f":"IF(NOT(ISBLANK(E181)),E181,F180)","v":12},null,{"$f":"IF(F180=F181,H180,G181)","v":"x"},null,null,"12.1","1-to-n"]
[null,null,null,"in : T",null,{"$f":"IF(NOT(ISBLANK(E182)),E182,F181)","v":12},null,{"$f":"IF(F181=F182,H181,G182)","v":"x"},null,null,"12.2","1-to-1",{"$nulls":4},"SF25_AllNeeded.input2"]
[null,null,null,"out : Motor rate",null,{"$f":"IF(NOT(ISBLANK(E183)),E183,F182)","v":12},null,{"$f":"IF(F182=F183,H182,G183)","v":"x"},null,null,"12.3","1-to-1",null,null,"[STD] Standard dependency and failure mode",null,"SF25_ControlThrust.output"," "]
["REC Compute thrust","[SF2.5.1] Compute thrust","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(E184)),E184,F183)","v":12},null,{"$f":"IF(F183=F184,H183,G184)","v":"x"},"folded model component"]
["REC Compute motor rate","[SF2.5.2] Compute motor rate","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(E185)),E185,F184)","v":12},null,{"$f":"IF(F184=F185,H184,G185)","v":"x"},"folded model component"]
[null,"[SF3] Compute drone position and speed","Root Physical Function",null,13,{"$f":"IF(NOT(ISBLANK(E186)),E186,F185)","v":13},null,{"$f":"IF(F185=F186,H185,G186)","v":0},"1-to-1",{"$nulls":8},"SF3"]
["REC Compute drone attitude","[SF3.1] Compute drone attitude","[SF3] Compute drone position and speed",null,14,{"$f":"IF(NOT(ISBLANK(E187)),E187,#REF!)","v":14},"x",{"$f":"IF(F186=F187,H186,G187)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF31_ComputeAttitude","REC SourceFunction for compute drone attitude"]
[null,null,null,"in : Acceleration",null,{"$f":"IF(NOT(ISBLANK(E188)),E188,F187)","v":14},null,{"$f":"IF(F187=F188,H187,G188)","v":"x"},null,null,"14.1","*-to-0","no physical phenomenon in safety model","ok"]
[null,null,null,"in : North direction",null,{"$f":"IF(NOT(ISBLANK(E189)),E189,F188)","v":14},null,{"$f":"IF(F188=F189,H188,G189)","v":"x"},null,null,"14.1","*-to-0",null,"ok"]
[null,null,null,"in : Rate",null,{"$f":"IF(NOT(ISBLANK(E190)),E190,F189)","v":14},null,{"$f":"IF(F189=F190,H189,G190)","v":"x"},null,null,"14.1","*-to-0",null,"ok"]
[null,null,null,"in : Pitch and roll consigns",null,{"$f":"IF(NOT(ISBLANK(E191)),E191,F190)","v":14},null,{"$f":"IF(F190=F191,H190,G191)","v":"x"},null,null,"14.2","*-to-0","Unlooping (Safety hypothesis Nb02)","ok"]
[null,null,null,"out : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E192)),E192,F191)","v":14},null,{"$f":"IF(F191=F192,H191,G192)","v":"x"},null,null,"14.3","1-to-n","Angular rates are included in attitude in safety model","ok","[STD] Standard dependency and failure mode","ok","output"]
[null,null,null,"out : Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E193)),E193,F192)","v":14},null,{"$f":"IF(F192=F193,H192,G193)","v":"x"},null,null,"14.3","1-to-n",null,"ok"]
[null,"[SF3.1.1] Measure drone acceleration","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E194)),E194,F193)","v":14},null,{"$f":"IF(F193=F194,H193,G194)","v":"x"},"folded model component"]
[null,"[SF3.1.2] Measure drone rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E195)),E195,F194)","v":14},null,{"$f":"IF(F194=F195,H194,G195)","v":"x"},"folded model component"]
[null,"[SF3.1.3] Measure magnetic north direction","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E196)),E196,F195)","v":14},null,{"$f":"IF(F195=F196,H195,G196)","v":"x"},"folded model component"]
[null,"[SF3.1.4] Estimate X and Y rates","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E197)),E197,F196)","v":14},null,{"$f":"IF(F196=F197,H196,G197)","v":"x"},"folded model component"]
[null,"[SF3.1.5] Estimate Z rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E198)),E198,F197)","v":14},null,{"$f":"IF(F197=F198,H197,G198)","v":"x"},"folded model component"]
[null,"[SF3.1.6] Compute pitch, roll, yaw rates and angles","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E199)),E199,F198)","v":14},null,{"$f":"IF(F198=F199,H198,G199)","v":"x"},"folded model component"]
["REC Compute drone altitude","[SF3.2] Compute drone altitude","[SF3] Compute drone position and speed",null,15,{"$f":"IF(NOT(ISBLANK(E200)),E200,F199)","v":15},"x",{"$f":"IF(F199=F200,H199,G200)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF32_ComputeAltitude","REC InOutFunction/Compute altitude"]
[null,null,null,"in:Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E201)),E201,F200)","v":15},null,{"$f":"IF(F200=F201,H200,G201)","v":"x"},null,null,"15.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"in : Ground distance",null,{"$f":"IF(NOT(ISBLANK(E202)),E202,F201)","v":15},null,{"$f":"IF(F201=F202,H201,G202)","v":"x"},null,null,"15.2","*-to-0","no physical phenomenon in safety model","ok"]
[null,null,null,"in : Pressure",null,{"$f":"IF(NOT(ISBLANK(E203)),E203,F202)","v":15},null,{"$f":"IF(F202=F203,H202,G203)","v":"x"},null,null,"15.2","*-to-0",null,"ok"]
[null,null,null,"out : Altitude",null,{"$f":"IF(NOT(ISBLANK(E204)),E204,F203)","v":15},null,{"$f":"IF(F203=F204,H203,G204)","v":"x"},null,null,"15.4","1-to-n","Same dysfunctional status","ok","[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out : Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E205)),E205,F204)","v":15},null,{"$f":"IF(F204=F205,H204,G205)","v":"x"},null,null,"15.4","1-to-n",null,"ok"]
[null,null,null,"out : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E206)),E206,F205)","v":15},null,{"$f":"IF(F205=F206,H205,G206)","v":"x"},null,null,"15.4","1-to-n",null,"ok"]
[null,"[SF3.2.1] Measure ambient pressure","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E207)),E207,F206)","v":15},null,{"$f":"IF(F206=F207,H206,G207)","v":"x"},"folded model component"]
[null,"[SF3.2.2] Compute barometric altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E208)),E208,F207)","v":15},null,{"$f":"IF(F207=F208,H207,G208)","v":"x"},"folded model component"]
[null,"[SF3.2.3] Measure telemetric signal","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E209)),E209,F208)","v":15},null,{"$f":"IF(F208=F209,H208,G209)","v":"x"},"folded model component"]
[null,"[SF3.2.4] Compute ground altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E210)),E210,F209)","v":15},null,{"$f":"IF(F209=F210,H209,G210)","v":"x"},"folded model component"]
[null,"[SF3.2.5] Compute altitude and vertical speed","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E211)),E211,F210)","v":15},null,{"$f":"IF(F210=F211,H210,G211)","v":"x"},"folded model component"]
[null,"[SF3.3] Compute drone speed","[SF3] Compute drone position and speed",null,16,{"$f":"IF(NOT(ISBLANK(E212)),E212,F211)","v":16},null,{"$f":"IF(F211=F212,H211,G212)","v":0},"1-to-1","modification de l’archi du modèle safety pour pouvoir faire la synchro (précisément) : ajout d’un niveau hiérarchique. Il aurait aussi été possible de faire un SP transparent",null," ",{"$nulls":5},"SF33_ComputeDroneSpeed_v44"]
[null,"[SF3.3.1] Film ground","[SF3.3] Compute drone speed",null,17,{"$f":"IF(NOT(ISBLANK(E213)),E213,#REF!)","v":17},"x",{"$f":"IF(F212=F213,H212,G213)","v":"x"},"1-to-1",{"$nulls":8},"SF331_FilmGround"]
[null,null,null,"out: Video flux",null,{"$f":"IF(NOT(ISBLANK(E214)),E214,F213)","v":17},null,{"$f":"IF(F213=F214,H213,G214)","v":"x"},null,null,"17.1","1-to-1",null,null,"[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"in: Vertical sight",null,{"$f":"IF(NOT(ISBLANK(E215)),E215,F214)","v":17},null,{"$f":"IF(F214=F215,H214,G215)","v":"x"},null,null,"17.2","*-to-0","no physical phenomenon in safety model"]
[null,"[SF3.3.2] Compute ground speed","[SF3.3] Compute drone speed",null,18,{"$f":"IF(NOT(ISBLANK(E216)),E216,F215)","v":18},"x",{"$f":"IF(F215=F216,H215,G216)","v":"x"},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_ComputeSpeed"]
[{"$nulls":4},18,{"$f":"IF(NOT(ISBLANK(E217)),E217,F216)","v":18},null,{"$f":"IF(F216=F217,H216,G217)","v":"x"},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_AllNeeded"]
[null,null,null,"in: Video flux",null,{"$f":"IF(NOT(ISBLANK(E218)),E218,F217)","v":18},null,{"$f":"IF(F217=F218,H217,G218)","v":"x"},null,null,"18.1","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input1"]
[null,null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E219)),E219,F218)","v":18},null,{"$f":"IF(F218=F219,H218,G219)","v":"x"},null,null,"18.2","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input2"]
[null,null,null,"out: Ground speed",null,{"$f":"IF(NOT(ISBLANK(E220)),E220,F219)","v":18},null,{"$f":"IF(F219=F220,H219,G220)","v":"x"},null,null,"18.3","1-to-1",null,"ok","[STD] Standard dependency and failure mode",null,"SF332_ComputeSpeed.output"]
[null,"[SF3.4] Compute drone position and time","[SF3] Compute drone position and speed",null,19,{"$f":"IF(NOT(ISBLANK(E221)),E221,F220)","v":19},"x",{"$f":"IF(F220=F221,H220,G221)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF34_ComputePositionAndTime"]
[null,null,null,"in : Positionning signal",null,{"$f":"IF(NOT(ISBLANK(E222)),E222,F221)","v":19},null,{"$f":"IF(F221=F222,H221,G222)","v":"x"},null,null,"19.1","*-to-0","no physical phenomenon in safety model","ok"]
[null,null,null,"out : Drone position",null,{"$f":"IF(NOT(ISBLANK(E223)),E223,F222)","v":19},null,{"$f":"IF(F222=F223,H222,G223)","v":"x"},null,null,"19.2","1-to-n","The two outputs have the same dependencies","ok","[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out : Time",null,{"$f":"IF(NOT(ISBLANK(E224)),E224,F223)","v":19},null,{"$f":"IF(F223=F224,H223,G224)","v":"x"},null,null,"19.2","1-to-n",null,"ok"]
[null,"[SF3.4.1] Acquire positioning signal","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(E225)),E225,F224)","v":19},null,{"$f":"IF(F224=F225,H224,G225)","v":"x"},"folded model component"]
[null,"[SF3.4.2] Compute position and time","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(E226)),E226,F225)","v":19},null,{"$f":"IF(F225=F226,H225,G226)","v":"x"},"folded model component"]
[null,"[SF4] Control drone navigation","Root Physical Function",null,20,{"$f":"IF(NOT(ISBLANK(E227)),E227,F226)","v":20},null,{"$f":"IF(F226=F227,H226,G227)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF4"]
[null,"[SF4.1] Acquire and store flight plan","[SF4] Control drone navigation",null,21,{"$f":"IF(NOT(ISBLANK(E228)),E228,#REF!)","v":21},"x",{"$f":"IF(F227=F228,H227,G228)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF41_AcquireAndStoreFlightPlan"]
[null,null,null,"in: Flight plan",null,{"$f":"IF(NOT(ISBLANK(E229)),E229,F228)","v":21},null,{"$f":"IF(F228=F229,H228,G229)","v":"x"},null,null,"21.2","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"input"]
[null,null,null,"in: Flight zone",null,{"$f":"IF(NOT(ISBLANK(E230)),E230,F229)","v":21},null,{"$f":"IF(F229=F230,H229,G230)","v":"x"},null,null,"21.2","1-to-n",null,"ok"]
[null,null,null,"out: Flight plan",null,{"$f":"IF(NOT(ISBLANK(E231)),E231,F228)","v":21},null,{"$f":"IF(F228=F231,H228,G231)","v":"x"},null,null,"21.1","1-to-n","Gathering of flight plan and flight zone","ok","[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out: Flight zone",null,{"$f":"IF(NOT(ISBLANK(E232)),E232,F231)","v":21},null,{"$f":"IF(F231=F232,H231,G232)","v":"x"},null,null,"21.1","1-to-n",null,"ok"]
[null,"[SF4.2] Run flight plan","[SF4] Control drone navigation",null,22,{"$f":"IF(NOT(ISBLANK(E233)),E233,#REF!)","v":22},"x",{"$f":"IF(#REF!=F233,#REF!,G233)","v":{"$error":"#VALUE!"}},"1-to-n",{"$nulls":8},"SF42_RunFlightPlan"]
[{"$nulls":4},22,{"$f":"IF(NOT(ISBLANK(E234)),E234,F233)","v":22},null,{"$f":"IF(F233=F234,H233,G234)","v":{"$error":"#VALUE!"}},{"$nulls":9},"SF42_AND1"]
[{"$nulls":17},"SF42_AND2"]
[{"$nulls":4},22,{"$f":"IF(NOT(ISBLANK(E236)),E236,F234)","v":22},null,{"$f":"IF(F234=F236,H234,G236)","v":{"$error":"#VALUE!"}},{"$nulls":9},"SF42_Choice"]
[null,null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(E237)),E237,F236)","v":22},null,{"$f":"IF(F236=F237,H236,G237)","v":{"$error":"#VALUE!"}},null,null,"22.1","1-to-1",null,"ok",null,null,"SF42_AND.input/Position"]
[null,null,null,"in : Flight plan",null,{"$f":"IF(NOT(ISBLANK(E238)),E238,F237)","v":22},null,{"$f":"IF(F237=F238,H237,G238)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"SF42_Choice.input2"]
[null,null,null,"in : Flight zone",null,{"$f":"IF(NOT(ISBLANK(E239)),E239,F238)","v":22},null,{"$f":"IF(F238=F239,H238,G239)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-n",null,"ok"]
[null,null,null,"in : Pilot control consigns",null,{"$f":"IF(NOT(ISBLANK(E240)),E240,F239)","v":22},null,{"$f":"IF(F239=F240,H239,G240)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-1",null,"ok",null,null,"SF42_AND2"]
[null,null,null,"in : Time",null,{"$f":"IF(NOT(ISBLANK(E241)),E241,F240)","v":22},null,{"$f":"IF(F240=F241,H240,G241)","v":{"$error":"#VALUE!"}},null,null,"22.3","1-to-1",null,"ok",null,null,"SF42_AND.input/Time",null," "]
[null,null,null,"in : Flight plan interruption",null,{"$f":"IF(NOT(ISBLANK(E242)),E242,F241)","v":22},null,{"$f":"IF(F241=F242,H241,G242)","v":{"$error":"#VALUE!"}},null,null,"22.6","*-to-0","Unlooping (Safety hypothesis Nb03)"]
[null,null,null,"out : Automatic payload control",null,{"$f":"IF(NOT(ISBLANK(E243)),E243,F241)","v":22},null,{"$f":"IF(F241=F243,H241,G243)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n","Three outputs have the same dependencies","ok","Whole cone, see behavior review file.",null,"SF42_RunFlightPlan.output"]
[null,null,null,"out : Drone position consign",null,{"$f":"IF(NOT(ISBLANK(E244)),E244,F243)","v":22},null,{"$f":"IF(F243=F244,H243,G244)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n",null,"ok"]
[null,null,null,"out : Drone speed consign",null,{"$f":"IF(NOT(ISBLANK(E245)),E245,F244)","v":22},null,{"$f":"IF(F244=F245,H244,G245)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n",null,"ok"]
[null,null,null,"out : Flight plan mode",null,{"$f":"IF(NOT(ISBLANK(E246)),E246,F245)","v":22},null,{"$f":"IF(F245=F246,H245,G246)","v":{"$error":"#VALUE!"}},null,null,"22.5","*-to-0","Unlooping (Safety hypothesis Nb03)","@system : update of Safety Hypothesis Nb03 ?"]
[null,null,null,"out : Flight plan progress",null,{"$f":"IF(NOT(ISBLANK(E247)),E247,F246)","v":22},null,{"$f":"IF(F246=F247,H246,G247)","v":{"$error":"#VALUE!"}},null,null,"22.7","*-to-0","no safety impact"]
[null,"[SF4.3] Select control mode","[SF4] Control drone navigation",null,23,{"$f":"IF(NOT(ISBLANK(E248)),E248,F247)","v":23},null,{"$f":"IF(F247=F248,H247,G248)","v":0},"1-to-1",{"$nulls":8},"SF43_SelectControlMode"]
[null,"[SF4.3.1] Select drone control mode","[SF4.3] Select control mode",null,24,{"$f":"IF(NOT(ISBLANK(E249)),E249,#REF!)","v":24},"x",{"$f":"IF(F248=F249,H248,G249)","v":"x"},"1-to-1",{"$nulls":8},"SF431_SelectControlMode"]
[null,null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E250)),E250,F249)","v":24},null,{"$f":"IF(F249=F250,H249,G250)","v":"x"},null,null,"24.4","1-to-1"]
[null,null,null,"in: Flight plan mode",null,{"$f":"IF(NOT(ISBLANK(E251)),E251,F250)","v":24},null,{"$f":"IF(F250=F251,H250,G251)","v":"x"},null,null,"24.2","*-to-0","Unlooping (Safety hypothesis Nb03)"]
[null,null,null,"out: Selected control law",null,{"$f":"IF(NOT(ISBLANK(E252)),E252,F249)","v":24},null,{"$f":"IF(F249=F252,H249,G252)","v":"x"},null,null,"24.1","1-to-1",null,null,"Whole cone, see behavior review file","@safety : if there is an erroneous input and status ok, the input must be err","output"]
[null,null,null,"out: Flight plan interruption",null,{"$f":"IF(NOT(ISBLANK(E253)),E253,#REF!)","v":{"$error":"#REF!"}},null,{"$f":"IF(#REF!=F253,#REF!,G253)","v":{"$error":"#REF!"}},null,null,"24.3","*-to-0","Unlooping (Safety hypothesis Nb03)"]
[null,"[SF4.3.2] Passivate engagement oscillation","[SF4.3] Select control mode",null,25,{"$f":"IF(NOT(ISBLANK(E254)),E254,#REF!)","v":25},"x",{"$f":"IF(#REF!=F254,#REF!,G254)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":8},"SF432_PassivateEngagementOscillation"]
[null,null,null,"in: Selected control law",null,{"$f":"IF(NOT(ISBLANK(E255)),E255,F254)","v":25},null,{"$f":"IF(F254=F255,H254,G255)","v":{"$error":"#VALUE!"}},null,null,"25.1","1-to-1",null,"ok",null,null,"inputMode"]
[null,null,null,"out: Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E256)),E256,F255)","v":25},null,{"$f":"IF(F255=F256,H255,G256)","v":{"$error":"#VALUE!"}},null,null,"25.2","N-to-n","Both system outputs have the same dependencies so they are gathered in one output. This output is delivered in two versions (with different types) in safety model","ok","Whole cone, see behavior review file","ok","outputMode",null," "]
[null,null,null,"out: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E257)),E257,F256)","v":25},null,{"$f":"IF(F256=F257,H256,G257)","v":{"$error":"#VALUE!"}},null,null,"25.2","N-to-n",null,"ok",null,null,"outputManualModeSelected"]
[null,"[SF4.3.3] Indicate control mode","[SF4.3] Select control mode",null,26,{"$f":"IF(NOT(ISBLANK(E258)),E258,F257)","v":26},"x",{"$f":"IF(F257=F258,H257,G258)","v":"x"},"1-to-1",{"$nulls":8},"SF433_IndicateControlMode"]
[null,null,null,"in: Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E259)),E259,F258)","v":26},null,{"$f":"IF(F258=F259,H258,G259)","v":"x"},null,null,"26.1","1-to-n","Both system outputs have the same dependencies so they are gathered in one output","ok",null,null,"input"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E260)),E260,F259)","v":26},null,{"$f":"IF(F259=F260,H259,G260)","v":"x"},null,null,"26.1","1-to-n",null,"ok"]
[null,null,null,"out: Control mode",null,{"$f":"IF(NOT(ISBLANK(E261)),E261,F260)","v":26},null,{"$f":"IF(F260=F261,H260,G261)","v":"x"},null,null,"26.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output",null," "]
[null,"[SF4.4] Acquire pilot control consigns and mode","[SF4] Control drone navigation",null,45,{"$f":"IF(NOT(ISBLANK(E262)),E262,F261)","v":45},"x",{"$f":"IF(F261=F262,H261,G262)","v":"x"},"1-to-1",null,null,null,"transtypage is a pure safety modeling artefact",null,"In this brick, there is two distinct and different sets of failure modes : 1 affecting the mode acquisition, the other affecting the consign acquisition.",null,null,"SF44_AcquirePilotControlConsignsAndMode"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"transtypage"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"AcquireControlMode"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"AcquireControlConsigns"]
[null,null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E266)),E266,F265)","v":0},null,{"$f":"IF(F265=F266,H265,G266)","v":0},null,null,"45.3","1-to-1",null,"ok",null,null,"PilotControlMode"]
[null,null,null,"in: Pilot control consigns",null,{"$f":"IF(NOT(ISBLANK(E267)),E267,F266)","v":0},null,{"$f":"IF(F266=F267,H266,G267)","v":0},null,null,"45.4","*-to-0","From perfect pilot, cannot have dysfunctional status","to review"]
[null,null,null,"out: Pilot control consigns",null,null,null,"x",null,null,"45.1","1-to-1",null,"to review","Standard failure modes and no dependent input",null,"AcquiredPilotConsigns"]
[null,null,null,"out: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E269)),E269,F263)","v":0},null,{"$f":"IF(F263=F269,H263,G269)","v":0},null,null,"45.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","AcquiredPilotControlMode"]
[null,"[SF5] Make and record video","Root Physical Function",null,27,{"$f":"IF(NOT(ISBLANK(E270)),E270,F269)","v":27},null,{"$f":"IF(F269=F270,H269,G270)","v":0},"1-to-1",{"$nulls":8},"SF5"]
[null,"[SF5.1] Select camera control","[SF5] Make and record video",null,28,{"$f":"IF(NOT(ISBLANK(E271)),E271,F270)","v":28},"x",{"$f":"IF(F270=F271,H270,G271)","v":"x"},"1-to-1",{"$nulls":8},"SF51_SelectCameraControl"]
[]
[]
[null,null,null,"out: Camera position consign",null,{"$f":"IF(NOT(ISBLANK(E274)),E274,F271)","v":28},null,{"$f":"IF(F271=F274,H271,G274)","v":"x"},null,null,"28.1","*-to-0","no safety impact","ok"]
[null,null,null,"out: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(E275)),E275,F274)","v":28},null,{"$f":"IF(F274=F275,H274,G275)","v":"x"},null,null,"28.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,null,null,"out: File storage format",null,{"$f":"IF(NOT(ISBLANK(E276)),E276,F275)","v":28},null,{"$f":"IF(F275=F276,H275,G276)","v":"x"},null,null,"28.3","*-to-0","no safety impact","ok"]
[null,null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E277)),E277,F276)","v":28},null,{"$f":"IF(F276=F277,H276,G277)","v":"x"},null,null,"28.5","1-to-1",null,"ok",null,null,"condition"]
[null,null,null,"in: Automatic payload control",null,{"$f":"IF(NOT(ISBLANK(E278)),E278,F277)","v":28},null,{"$f":"IF(F277=F278,H277,G278)","v":"x"},null,null,"28.4","1-to-1",null,"ok",null,null,"input"]
[null,"[SF5.2] Control camera orientation","[SF5] Make and record video",null,53,{"$f":"IF(NOT(ISBLANK(E279)),E279,F278)","v":53},null,{"$f":"IF(F278=F279,H278,G279)","v":0},"*-to-0","same as previous version, to justify",null,null,null,"todo (udate model)"]
[null,"[SF5.3] Make photos and videos","[SF5] Make and record video",null,29,{"$f":"IF(NOT(ISBLANK(E280)),E280,F279)","v":29},"x",{"$f":"IF(F279=F280,H279,G280)","v":"x"},"1-to-1",{"$nulls":4},"todo",null,null,null,"SF53_MakePhotosAndVideos"]
[null,null,null,"in: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(E281)),E281,F280)","v":29},null,{"$f":"IF(F280=F281,H280,G281)","v":"x"},null,null,"29.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"in: Camera position",null,{"$f":"IF(NOT(ISBLANK(E282)),E282,F281)","v":29},null,{"$f":"IF(F281=F282,H281,G282)","v":"x"},null,null,"29.2","*-to-0","no safety impact"]
[null,null,null,"out: Video",null,{"$f":"IF(NOT(ISBLANK(E283)),E283,F282)","v":29},null,{"$f":"IF(F282=F283,H282,G283)","v":"x"},null,null,"29.3","1-to-n","Same dysfunctional status",null,"[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out: Photo",null,{"$f":"IF(NOT(ISBLANK(E284)),E284,F283)","v":29},null,{"$f":"IF(F283=F284,H283,G284)","v":"x"},null,null,"29.3","1-to-n"]
[null,null,null,"in: Aircraft sight",null,{"$f":"IF(NOT(ISBLANK(E285)),E285,F284)","v":29},null,{"$f":"IF(F284=F285,H284,G285)","v":"x"},null,null,"29.4","*-to-0","physical stimuli without safety impact"]
[null,"[SF5.4] Digitise photos and videos","[SF5] Make and record video",null,30,{"$f":"IF(NOT(ISBLANK(E286)),E286,F285)","v":30},null,{"$f":"IF(F285=F286,H285,G286)","v":0},"*-to-0","same as previous version, to justify",null,null,null,"todo"]
[null,"[SF5.5] Acquire manual payload control","[SF5] Make and record video",null,46,{"$f":"IF(NOT(ISBLANK(E287)),E287,F286)","v":46},"x",{"$f":"IF(F286=F287,H286,G287)","v":"x"},"1-to-1","attention seule la perte est modélisée",{"$nulls":7},"SF55_AcquireManualPayloadControl"]
[null,null,null,"out: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E288)),E288,F287)","v":46},null,{"$f":"IF(F287=F288,H287,G288)","v":"x"},null,null,"46.1","1-to-1",null,"ok","to do","ok","output"]
[null,null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E289)),E289,F288)","v":46},null,{"$f":"IF(F288=F289,H288,G289)","v":"x"},null,null,"46.2","1-to-1",null,"ok",null,null,"input"]
[null,"[SF6] Manage mission","Root Physical Function",null,58,{"$f":"IF(NOT(ISBLANK(E290)),E290,F289)","v":58},null,{"$f":"IF(F289=F290,H289,G290)","v":0},"folder",null,null,null,"@system : creation DB request with aircraft type to get mission description","ok"]
[null,null,null,"in : Aircraft position validation",null,{"$f":"IF(NOT(ISBLANK(E291)),E291,F290)","v":58},null,{"$f":"IF(F290=F291,H290,G291)","v":0},null,null,"31.1","*-to-0","not safety relevant"]
[null,null,null,"in : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(E292)),E292,F291)","v":58},null,{"$f":"IF(F291=F292,H291,G292)","v":0},null,null,"31.1","*-to-0"]
[null,null,null,"in : Control mode",null,{"$f":"IF(NOT(ISBLANK(E293)),E293,F292)","v":58},null,{"$f":"IF(F292=F293,H292,G293)","v":0},null,null,"31.2","*-to-0","used by unmodeled subfunction"]
[null,null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(E294)),E294,F293)","v":58},null,{"$f":"IF(F293=F294,H293,G294)","v":0},null,null,"31.3","*-to-0","used by unmodeled subfunction"]
[null,null,null,"in : Exclusion zones",null,{"$f":"IF(NOT(ISBLANK(E295)),E295,F294)","v":58},null,{"$f":"IF(F294=F295,H294,G295)","v":0},null,null,"31.4","*-to-0","?"]
[null,null,null,"in : Flight domain",null,{"$f":"IF(NOT(ISBLANK(E296)),E296,F295)","v":58},null,{"$f":"IF(F295=F296,H295,G296)","v":0},null,null,"31.5","*-to-0","?"]
[null,null,null,"in : Flight plan progress",null,{"$f":"IF(NOT(ISBLANK(E297)),E297,F296)","v":58},null,{"$f":"IF(F296=F297,H296,G297)","v":0},null,null,"31.6","*-to-0","used by unmodeled subfunction"]
[null,null,null,"in : Flight plan validation",null,{"$f":"IF(NOT(ISBLANK(E298)),E298,F297)","v":58},null,{"$f":"IF(F297=F298,H297,G298)","v":0},null,null,"31.7","*-to-0","?"]
[null,null,null,"in : Former results",null,{"$f":"IF(NOT(ISBLANK(E299)),E299,F298)","v":58},null,{"$f":"IF(F298=F299,H298,G299)","v":0},null,null,"31.8","*-to-0","Mission information, not safety relevant"]
[null,null,null,"in : Mission description",null,{"$f":"IF(NOT(ISBLANK(E300)),E300,F299)","v":58},null,{"$f":"IF(F299=F300,H299,G300)","v":0},null,null,"31.8","*-to-0"]
[null,null,null,"in : Photos and videos files",null,{"$f":"IF(NOT(ISBLANK(E301)),E301,F300)","v":58},null,{"$f":"IF(F300=F301,H300,G301)","v":0},null,null,"31.8","*-to-0"]
[null,null,null,"in : Pilot analysis",null,{"$f":"IF(NOT(ISBLANK(E302)),E302,F301)","v":58},null,{"$f":"IF(F301=F302,H301,G302)","v":0},null,null,"31.8","*-to-0"]
[null,null,null,"in : Pilot manual analysis",null,{"$f":"IF(NOT(ISBLANK(E303)),E303,F302)","v":58},null,{"$f":"IF(F302=F303,H302,G303)","v":0},null,null,"31.8","*-to-0"]
[null,null,null,"in : Predefined flight zone borders",null,{"$f":"IF(NOT(ISBLANK(E304)),E304,F303)","v":58},null,{"$f":"IF(F303=F304,H303,G304)","v":0},null,null,"31.9","*-to-0","not safety relevant"]
[null,null,null,"in : Report validation",null,{"$f":"IF(NOT(ISBLANK(E305)),E305,F304)","v":58},null,{"$f":"IF(F304=F305,H304,G305)","v":0},null,null,"31.8","*-to-0","not safety relevant"]
[null,null,null,"In :Time",null,{"$f":"IF(NOT(ISBLANK(E306)),E306,F305)","v":58},null,{"$f":"IF(F305=F306,H305,G306)","v":0},null,null,"31.10","*-to-0","used by unmodeled subfunction"]
[null,null,null,"out : Control mode",null,{"$f":"IF(NOT(ISBLANK(E307)),E307,F306)","v":58},null,{"$f":"IF(F306=F307,H306,G307)","v":0},null,null,"31.11","*-to-0","provided by unmodeled subfunction"]
[null,null,null,"out : Drone measurements",null,{"$f":"IF(NOT(ISBLANK(E308)),E308,F307)","v":58},null,{"$f":"IF(F307=F308,H307,G308)","v":0},null,null,"31.12","*-to-0","provided by unmodeled subfunction"]
[null,null,null,"out : Flight plan",null,{"$f":"IF(NOT(ISBLANK(E309)),E309,F308)","v":58},null,{"$f":"IF(F308=F309,H308,G309)","v":0},null,null,"31.13","1-to-n","Gathering of flight plan and flight zone"]
[null,null,null,"out : Flight zone",null,{"$f":"IF(NOT(ISBLANK(E310)),E310,F309)","v":58},null,{"$f":"IF(F309=F310,H309,G310)","v":0},null,null,"31.13","1-to-n"]
[null,null,null,"out : Flight plan progress",null,{"$f":"IF(NOT(ISBLANK(E311)),E311,F310)","v":58},null,{"$f":"IF(F310=F311,H310,G311)","v":0},null,null,"31.14","*-to-0","provided by unmodeled subfunction"]
[null,null,null,"out : Flight zone aerial view",null,{"$f":"IF(NOT(ISBLANK(E312)),E312,F311)","v":58},null,{"$f":"IF(F311=F312,H311,G312)","v":0},null,null,"31.15","*-to-0","physical phenomenon not modeled in safety model"]
[null,null,null,"out : Report",null,{"$f":"IF(NOT(ISBLANK(E313)),E313,F312)","v":58},null,{"$f":"IF(F312=F313,H312,G313)","v":0},null,null,"31.16","*-to-0","Mission information, not safety relevant"]
[null,"[SF6.1] Compute flight plan and flight zone","[SF6] Manage mission",null,31,{"$f":"IF(NOT(ISBLANK(E314)),E314,F313)","v":31},"x",{"$f":"IF(F313=F314,H313,G314)","v":"x"},"1-to-1",null,"Mission information, not safety relevant",null,null,"nok",null,null,null,"SF61_ComputeFlightPlanAndZone"]
[null,null,null,"in : Aircraft position validation",null,{"$f":"IF(NOT(ISBLANK(E315)),E315,F314)","v":31},null,{"$f":"IF(F314=F315,H314,G315)","v":"x"},null,null,"31.1","*-to-0","perfect pilot, no failure modes associated","ok"]
[null,null,null,"in : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(E316)),E316,F315)","v":31},null,{"$f":"IF(F315=F316,H315,G316)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Exclusion zones",null,{"$f":"IF(NOT(ISBLANK(E317)),E317,F316)","v":31},null,{"$f":"IF(F316=F317,H316,G317)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Flight domain",null,{"$f":"IF(NOT(ISBLANK(E318)),E318,F317)","v":31},null,{"$f":"IF(F317=F318,H317,G318)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Flight plan validation",null,{"$f":"IF(NOT(ISBLANK(E319)),E319,F318)","v":31},null,{"$f":"IF(F318=F319,H318,G319)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Mapping flight data",null,{"$f":"IF(NOT(ISBLANK(E320)),E320,F319)","v":31},null,{"$f":"IF(F319=F320,H319,G320)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Mission flight data",null,{"$f":"IF(NOT(ISBLANK(E321)),E321,F320)","v":31},null,{"$f":"IF(F320=F321,H320,G321)","v":"x"},null,null,"31.1","*-to-0",null,"ok"]
[null,null,null,"in : Predefined flight zone borders",null,{"$f":"IF(NOT(ISBLANK(E322)),E322,F321)","v":31},null,{"$f":"IF(F321=F322,H321,G322)","v":"x"},null,null,"31.2","*-to-0","todo, en discuter avec Estelle","todo"]
[null,null,null,"out : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(E323)),E323,F322)","v":31},null,{"$f":"IF(F322=F323,H322,G323)","v":"x"},null,null,"31.3","*-to-0","reviewed by pilot during flight plan validation before mission launch","ok"]
[null,null,null,"out : Flight zone",null,{"$f":"IF(NOT(ISBLANK(E324)),E324,F323)","v":31},null,{"$f":"IF(F323=F324,H323,G324)","v":"x"},null,null,"31.4","1-to-n","Same dysfunctional status","ok","[STD] Standard dependency and failure mode",null,"output"]
[null,null,null,"out : Flight plan",null,{"$f":"IF(NOT(ISBLANK(E325)),E325,F324)","v":31},null,{"$f":"IF(F324=F325,H324,G325)","v":"x"},null,null,"31.4","1-to-n",null,"ok"]
[null,null,null,"out : Flight aerial view",null,{"$f":"IF(NOT(ISBLANK(E326)),E326,F325)","v":31},null,{"$f":"IF(F325=F326,H325,G326)","v":"x"},null,null,"31.5","*-to-0","Only used for validation of flight plan by pilot before mission launch. Not modeled.","ok"]
[null,"[SF6.1.1] Set flight zone borders","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E327)),E327,F326)","v":31},null,{"$f":"IF(F326=F327,H326,G327)","v":"x"},"folded model component"]
[null,"[SF6.1.2] Map the flight zone","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E328)),E328,F327)","v":31},null,{"$f":"IF(F327=F328,H327,G328)","v":"x"},"folded model component"]
[null,"[SF6.1.3] Detect aircraft position","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E329)),E329,F328)","v":31},null,{"$f":"IF(F328=F329,H328,G329)","v":"x"},"folded model component"]
[null,"[SF6.1.4] Detect obstacles","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E330)),E330,F329)","v":31},null,{"$f":"IF(F329=F330,H329,G330)","v":"x"},"folded model component"]
[null,"[SF6.1.5] Compute the flight plan","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E331)),E331,F330)","v":31},null,{"$f":"IF(F330=F331,H330,G331)","v":"x"},"folded model component"]
[null,"[SF6.2] Store data","[SF6] Manage mission",null,32,{"$f":"IF(NOT(ISBLANK(E332)),E332,F331)","v":32},null,{"$f":"IF(F331=F332,H331,G332)","v":0},"*-to-0","no safety impact"]
[null,"[SF6.3] Analyse drone measurement","[SF6] Manage mission",null,32,{"$f":"IF(NOT(ISBLANK(E333)),E333,F332)","v":32},null,{"$f":"IF(F332=F333,H332,G333)","v":0},"*-to-0"]
[null,"[SF6.3.1] Analyse measurement manually","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E334)),E334,F333)","v":32},null,{"$f":"IF(F333=F334,H333,G334)","v":0},"*-to-0"]
[null,"[SF6.3.2] Analyse mission automatically","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E335)),E335,F334)","v":32},null,{"$f":"IF(F334=F335,H334,G335)","v":0},"*-to-0"]
[null,"[SF6.3.3] Generate mission report","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E336)),E336,F335)","v":32},null,{"$f":"IF(F335=F336,H335,G336)","v":0},"*-to-0"]
[null,"[SF7] Monitor drone control","Root Physical Function",null,33,{"$f":"IF(NOT(ISBLANK(E337)),E337,F336)","v":33},null,{"$f":"IF(F336=F337,H336,G337)","v":0},"1-to-1",{"$nulls":8},"SF7"]
[null,null,null,"In : AccelerationMON",null,{"$f":"IF(NOT(ISBLANK(E338)),E338,F337)","v":33},null,{"$f":"IF(F337=F338,H337,G338)","v":0},null,null,"33.1","*-to-0","physical stimuli"]
[null,null,null,"in : Ground distance MON",null,{"$f":"IF(NOT(ISBLANK(E339)),E339,F338)","v":33},null,{"$f":"IF(F338=F339,H338,G339)","v":0},null,null,"33.1","*-to-0"]
[null,null,null,"in : North direction MON",null,{"$f":"IF(NOT(ISBLANK(E340)),E340,F339)","v":33},null,{"$f":"IF(F339=F340,H339,G340)","v":0},null,null,"33.1","*-to-0"]
[null,null,null,"in : Pressure MON",null,{"$f":"IF(NOT(ISBLANK(E341)),E341,F340)","v":33},null,{"$f":"IF(F340=F341,H340,G341)","v":0},null,null,"33.1","*-to-0"]
[null,null,null,"in : Rate MON",null,{"$f":"IF(NOT(ISBLANK(E342)),E342,F341)","v":33},null,{"$f":"IF(F341=F342,H341,G342)","v":0},null,null,"33.1","*-to-0"]
[null,null,null,"In : Altitude",null,{"$f":"IF(NOT(ISBLANK(E343)),E343,F342)","v":33},null,{"$f":"IF(F342=F343,H342,G343)","v":0},null,null,"33.2","1-to-n","Gathering two altitudes",null,null,null,"in : Altitude"]
[null,null,null,"in : Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E344)),E344,F343)","v":33},null,{"$f":"IF(F343=F344,H343,G344)","v":0},null,null,"33.2","1-to-n"]
[null,null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(E345)),E345,F344)","v":33},null,{"$f":"IF(F344=F345,H344,G345)","v":0},null,null,"33.3","1-to-1",{"$nulls":4},"in : APEngagement"]
[null,null,null,"in : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E346)),E346,F345)","v":33},null,{"$f":"IF(F345=F346,H345,G346)","v":0},null,null,"33.4","*-to-0","A justifier !!! Analyse du flux pour décider entre *-to-0 ou 1-to-n"]
[null,null,null,"in : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E347)),E347,F346)","v":33},null,{"$f":"IF(F346=F347,H346,G347)","v":0},null,null,"33.5","1-to-n",{"$nulls":4},"in : Consigns"]
[null,null,null,"in : Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E348)),E348,F347)","v":33},null,{"$f":"IF(F347=F348,H347,G348)","v":0},null,null,"33.5","1-to-n"]
[null,null,null,"in : T AP",null,{"$f":"IF(NOT(ISBLANK(E349)),E349,F348)","v":33},null,{"$f":"IF(F348=F349,H348,G349)","v":0},null,null,"33.5","1-to-n"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E350)),E350,F349)","v":33},null,{"$f":"IF(F349=F350,H349,G350)","v":0},null,null,"33.6","1-to-n","Gathering attitude and attitude rate",null,null,null,"in : Attitude"]
[null,null,null,"in : Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E351)),E351,F350)","v":33},null,{"$f":"IF(F350=F351,H350,G351)","v":0},null,null,"33.6","1-to-n"]
[null,null,null,"in : Motors rate",null,{"$f":"IF(NOT(ISBLANK(E352)),E352,F351)","v":33},null,{"$f":"IF(F351=F352,H351,G352)","v":0},null,null,"33.7","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"in : Motors rate measured",null,{"$f":"IF(NOT(ISBLANK(E353)),E353,F352)","v":33},null,{"$f":"IF(F352=F353,H352,G353)","v":0},null,null,"33.8","1-to-1",{"$nulls":4},"in : MotorRatesMeasured"]
[null,null,null,"in : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E354)),E354,F353)","v":33},null,{"$f":"IF(F353=F354,H353,G354)","v":0},null,null,"33.9","*-to-0"]
[null,null,null,"out : Motors disabled",null,{"$f":"IF(NOT(ISBLANK(E355)),E355,F354)","v":33},null,{"$f":"IF(F354=F355,H354,G355)","v":0},null,null,"33.10","1-to-1",{"$nulls":4},"out : MotorDisabled"]
["RPL Compute drone attitude","[SF7.1] Compute drone attitude MON","[SF7] Monitor drone control",null,34,{"$f":"IF(NOT(ISBLANK(E356)),E356,F355)","v":34},"x",{"$f":"IF(F355=F356,H355,G356)","v":"x"},"1-to-1","REC/RPL cohérent, donc tous les ports sont auto. Avec sous-fonctions masquées",{"$nulls":7},"SF71_ComputeAttitudeMON","RPL SourceFunction/Compute drone"]
[null,null,null,"In : AccelerationMON",null,{"$f":"IF(NOT(ISBLANK(E357)),E357,F356)","v":34},null,{"$f":"IF(F356=F357,H356,G357)","v":"x"},null,null,"34.1","*-to-0","Physical phenomenon have no dysfunctional status"]
[null,null,null,"in : North direction MON",null,{"$f":"IF(NOT(ISBLANK(E358)),E358,F357)","v":34},null,{"$f":"IF(F357=F358,H357,G358)","v":"x"},null,null,"34.1","*-to-0"]
[null,null,null,"in : Rate MON",null,{"$f":"IF(NOT(ISBLANK(E359)),E359,F358)","v":34},null,{"$f":"IF(F358=F359,H358,G359)","v":"x"},null,null,"34.1","*-to-0"]
[null,null,null,"in : Pitch and roll consigns MON",null,{"$f":"IF(NOT(ISBLANK(E360)),E360,F359)","v":34},null,{"$f":"IF(F359=F360,H359,G360)","v":"x"},null,null,"34.2","*-to-0","Unlooping (Safety hypothesis Nb02)"]
[null,null,null,"out : Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E361)),E361,F360)","v":34},null,{"$f":"IF(F360=F361,H360,G361)","v":"x"},null,null,"34.3","1-to-n","Gathering attitude and attitude rate",null,"by RPL (standard)",null,"output"]
[null,null,null,"out : Drone attitude rate MON",null,{"$f":"IF(NOT(ISBLANK(E362)),E362,F361)","v":34},null,{"$f":"IF(F361=F362,H361,G362)","v":"x"},null,null,"34.3","1-to-n"]
[null,"[SF7.1.1] Measure drone acceleration MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E363)),E363,F362)","v":34},null,{"$f":"IF(F362=F363,H362,G363)","v":"x"},"folded model component"]
[null,"[SF7.1.2] Measure drone rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E364)),E364,F363)","v":34},null,{"$f":"IF(F363=F364,H363,G364)","v":"x"},"folded model component"]
[null,"[SF7.1.3] Measure magnetic north direction MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E365)),E365,F364)","v":34},null,{"$f":"IF(F364=F365,H364,G365)","v":"x"},"folded model component"]
[null,"[SF7.1.4] Estimate X and Y rates MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E366)),E366,F365)","v":34},null,{"$f":"IF(F365=F366,H365,G366)","v":"x"},"folded model component"]
[null,"[SF7.1.5] Estimate Z rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E367)),E367,F366)","v":34},null,{"$f":"IF(F366=F367,H366,G367)","v":"x"},"folded model component"]
[null,"[SF7.1.6] Compute pitch, roll, yaw rates and angles MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E368)),E368,F367)","v":34},null,{"$f":"IF(F367=F368,H367,G368)","v":"x"},"folded model component"]
["RPL Compute drone altitude","[SF7.2] Compute drone altitude MON","[SF7] Monitor drone control",null,35,{"$f":"IF(NOT(ISBLANK(E369)),E369,F368)","v":35},"x",{"$f":"IF(F368=F369,H368,G369)","v":"x"},"1-to-n","REC/RPL cohérent, donc tous les ports sont auto. Avec sous-fonctions masquées",{"$nulls":7},"SF72_ComputeAltitudeMON","RPL InOutFunction/Compute altitude"]
[null,null,null,"in : Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E370)),E370,F369)","v":35},null,{"$f":"IF(F369=F370,H369,G370)","v":"x"},null,null,"35.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"in : Ground distance MON",null,{"$f":"IF(NOT(ISBLANK(E371)),E371,F370)","v":35},null,{"$f":"IF(F370=F371,H370,G371)","v":"x"},null,null,"35.2","*-to-0"]
[null,null,null,"in : Pressure MON",null,{"$f":"IF(NOT(ISBLANK(E372)),E372,F371)","v":35},null,{"$f":"IF(F371=F372,H371,G372)","v":"x"},null,null,"35.3","*-to-0"]
[null,null,null,"out : Altitude MON",null,{"$f":"IF(NOT(ISBLANK(E373)),E373,F372)","v":35},null,{"$f":"IF(F372=F373,H372,G373)","v":"x"},null,null,"35.4","1-to-n","Same dysfunctional status",null,"by RPL (standard)",null,"output"]
[null,null,null,"out : Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(E374)),E374,F373)","v":35},null,{"$f":"IF(F373=F374,H373,G374)","v":"x"},null,null,"35.4","1-to-n"]
[null,null,null,"out : Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(E375)),E375,F374)","v":35},null,{"$f":"IF(F374=F375,H374,G375)","v":"x"},null,null,"35.5","1-to-n"]
[null,"[SF7.2.1] Measure ambient pressure MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E376)),E376,F375)","v":35},null,{"$f":"IF(F375=F376,H375,G376)","v":"x"},"folded model component"]
[null,"[SF7.2.2] Compute barometric altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E377)),E377,F376)","v":35},null,{"$f":"IF(F376=F377,H376,G377)","v":"x"},"folded model component"]
[null,"[SF7.2.3] Measure telemetric signal MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E378)),E378,F377)","v":35},null,{"$f":"IF(F377=F378,H377,G378)","v":"x"},"folded model component"]
[null,"[SF7.2.4] Compute ground altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E379)),E379,F378)","v":35},null,{"$f":"IF(F378=F379,H378,G379)","v":"x"},"folded model component"]
[null,"[SF7.2.5] Compute altitude and vertical speed MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E380)),E380,F379)","v":35},null,{"$f":"IF(F379=F380,H379,G380)","v":"x"},"folded model component"]
[null,"[SF7.3] Control attitude and altitude MON","[SF7] Monitor drone control",null,36,{"$f":"IF(NOT(ISBLANK(E381)),E381,F380)","v":36},null,{"$f":"IF(F380=F381,H380,G381)","v":0},"1-to-1",{"$nulls":8},"SF73_ControlAttitudeAndAltitudeMON"]
["RPL Compute total thrust","[SF7.3.1] Compute total thrust MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(E382)),E382,#REF!)","v":37},"x",{"$f":"IF(F381=F382,H381,G382)","v":"x"},"1-to-n","La réplique n’est pas identique à la classe donc pas utilisable en synchro (cependant les rec/rpl système/safety sont cohérent au niveau du périmètre). Les flux compléter car copier/coller du tableau de synhcro des REC et avec l’aide du shéma safety pour remonter d’un niveau",{"$nulls":4},"by RPL",null,null,"SF731_2_ControlAltitudeMON","RPL SF242"]
[null,null,null,"in: Drone roll",null,{"$f":"IF(NOT(ISBLANK(E383)),E383,F382)","v":37},null,{"$f":"IF(F382=F383,H382,G383)","v":"x"},null,null,"37.1","1-to-n","Why yaw is not there ?",null,null,null,"in : Attitude"]
[null,null,null,"in: Drone pitch",null,{"$f":"IF(NOT(ISBLANK(E384)),E384,F383)","v":37},null,{"$f":"IF(F383=F384,H383,G384)","v":"x"},null,null,"37.1","1-to-n"]
[null,null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(E385)),E385,F384)","v":37},null,{"$f":"IF(F384=F385,H384,G385)","v":"x"},null,null,"37.2","1-to-1",{"$nulls":4},"in : Altitude"]
[null,null,null,"in: Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E386)),E386,F385)","v":37},null,{"$f":"IF(F385=F386,H385,G386)","v":"x"},null,null,"37.3","1-to-1",{"$nulls":4},"in : AltitudeConsign",null," "]
["RPL Select total thrust consign","[SF7.3.2] Select total thrust consign MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(E387)),E387,F386)","v":37},null,{"$f":"IF(F386=F387,H386,G387)","v":"x"},"1-to-n"]
[null,null,null,"out: T MON",null,{"$f":"IF(NOT(ISBLANK(E388)),E388,F387)","v":37},null,{"$f":"IF(F387=F388,H387,G388)","v":"x"},null,null,"37.4","1-to-1",null,null,"by RPL (safety)",null,"out : T"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E389)),E389,F388)","v":37},null,{"$f":"IF(F388=F389,H388,G389)","v":"x"},null,null,"37.8","1-to-1",{"$nulls":4},"in : APEngagement"]
[null,null,null,"in: T AP",null,{"$f":"IF(NOT(ISBLANK(E390)),E390,F389)","v":37},null,{"$f":"IF(F389=F390,H389,G390)","v":"x"},null,null,"37.9","1-to-1",{"$nulls":4},"in T_AP"]
["RPL Select attitude consign","[SF7.3.3] Select attitude consign MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E391)),E391,F390)","v":38},"x",{"$f":"IF(F390=F391,H390,G391)","v":"x"},"1-to-n","le rec/rpl est cohérent. Attention, il y a en fait un niveau de plus dans le modèle safety",{"$nulls":4},"by RPL",null,null,"SF733_6_ControlAttitudeMON","RPL SF232"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E392)),E392,F391)","v":38},null,{"$f":"IF(F391=F392,H391,G392)","v":"x"},null,null,"38.1","1-to-1",{"$nulls":4},"in : APEngagement"]
[null,null,null,"out: Roll consign MON",null,{"$f":"IF(NOT(ISBLANK(E393)),E393,F392)","v":38},null,{"$f":"IF(F392=F393,H392,G393)","v":"x"},null,null,"38.2","*-to-0","Unlooping (Safety hypothesis Nb02)",{"$nulls":5}," "]
[null,null,null,"out: Pitch consign MON",null,{"$f":"IF(NOT(ISBLANK(E394)),E394,F393)","v":38},null,{"$f":"IF(F393=F394,H393,G394)","v":"x"},null,null,"38.2","*-to-0"]
[null,null,null,"in: Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E395)),E395,F394)","v":38},null,{"$f":"IF(F394=F395,H394,G395)","v":"x"},null,null,"38.3","1-to-1",{"$nulls":4},"in : AttitudeConsign"]
[null,null,null,"in: Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E396)),E396,F395)","v":38},null,{"$f":"IF(F395=F396,H395,G396)","v":"x"},null,null,"38.4","1-to-1",{"$nulls":4},"in : AttitudeAPConsign"]
["RPL Control pitch angle","[SF7.3.4] Control pitch angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E397)),E397,F396)","v":38},null,{"$f":"IF(F396=F397,H396,G397)","v":"x"},"1-to-n"]
[null,null,null,"out: Ptheta",null,{"$f":"IF(NOT(ISBLANK(E398)),E398,F397)","v":38},null,{"$f":"IF(F397=F398,H397,G398)","v":"x"},null,null,"38.5","1-to-n","Gather 3 torque consigns projected by axis",null,"by RPL (safety)",null,"out : P"]
["RPL Control roll angle","[SF7.3.5] Control roll angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E399)),E399,F398)","v":38},null,{"$f":"IF(F398=F399,H398,G399)","v":"x"},"1-to-n"]
[null,null,null,"out: Pphi",null,{"$f":"IF(NOT(ISBLANK(E400)),E400,F399)","v":38},null,{"$f":"IF(F399=F400,H399,G400)","v":"x"},null,null,"38.5","1-to-n"]
["RPL Control yaw angle","[SF7.3.6] Control yaw angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E401)),E401,F400)","v":38},null,{"$f":"IF(F400=F401,H400,G401)","v":"x"},"1-to-n"]
[null,null,null,"out: Ppsi",null,{"$f":"IF(NOT(ISBLANK(E402)),E402,F401)","v":38},null,{"$f":"IF(F401=F402,H401,G402)","v":"x"},null,null,"38.5","1-to-n"]
["RPL Compute thrust","[SF7.3.7] Compute thrust MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(E403)),E403,F402)","v":39},"x",{"$f":"IF(F402=F403,H402,G403)","v":"x"},"N-to-n",{"$nulls":5},"Attention on utilise le RPL pour valider le comportement safety mais la structure coté système n’est pas la même que dans le REC",null,null,"SF737_All_Needed","RPL ComputeThrustAndRate AllNeeded+InOutFunction"]
[{"$nulls":4},39,{"$f":"IF(NOT(ISBLANK(E404)),E404,F403)","v":39},null,{"$f":"IF(F403=F404,H403,G404)","v":"x"},"N-to-n",{"$nulls":8},"SF737_8_ControlThrust"]
[null,null,null,"in: Ptheta",null,{"$f":"IF(NOT(ISBLANK(E405)),E405,F404)","v":39},null,{"$f":"IF(F404=F405,H404,G405)","v":"x"},null,null,"39.1","1-to-n","Gather 3 torque consigns projected by axis",null,null,null,"SF737_All_Needed.input1"]
[null,null,null,"in: Pphi",null,{"$f":"IF(NOT(ISBLANK(E406)),E406,F405)","v":39},null,{"$f":"IF(F405=F406,H405,G406)","v":"x"},null,null,"39.1","1-to-n"]
[null,null,null,"in: Ppsi",null,{"$f":"IF(NOT(ISBLANK(E407)),E407,F406)","v":39},null,{"$f":"IF(F406=F407,H406,G407)","v":"x"},null,null,"39.1","1-to-n"]
[null,null,null,"in: T MON",null,{"$f":"IF(NOT(ISBLANK(E408)),E408,F407)","v":39},null,{"$f":"IF(F407=F408,H407,G408)","v":"x"},null,null,"39.1","1-to-1",{"$nulls":4},"SF737_All_Needed.input2"]
["RPL Compute motor rate","[SF7.3.8] Compute motor rate MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(E409)),E409,F408)","v":39},null,{"$f":"IF(F408=F409,H408,G409)","v":"x"},"N-to-n"]
[null,null,null,"out: Motor 1 rate MON",null,{"$f":"IF(NOT(ISBLANK(E410)),E410,F409)","v":39},null,{"$f":"IF(F409=F410,H409,G410)","v":"x"},null,null,"39.2","1-to-n","Gather 4 motor rates in one structured type",null,"by safety RPL",null,"SF737_8_ControlThrust.output"]
[null,null,null,"out: Motor 2 rate MON",null,{"$f":"IF(NOT(ISBLANK(E411)),E411,F410)","v":39},null,{"$f":"IF(F410=F411,H410,G411)","v":"x"},null,null,"39.2","1-to-n"]
[null,null,null,"out: Motor 3 rate MON",null,{"$f":"IF(NOT(ISBLANK(E412)),E412,F411)","v":39},null,{"$f":"IF(F411=F412,H411,G412)","v":"x"},null,null,"39.2","1-to-n"]
[null,null,null,"out: Motor 4 rate MON",null,{"$f":"IF(NOT(ISBLANK(E413)),E413,F412)","v":39},null,{"$f":"IF(F412=F413,H412,G413)","v":"x"},null,null,"39.2","1-to-n"]
[null,"[SF7.4] Monitor drone parameters","[SF7] Monitor drone control",null,40,{"$f":"IF(NOT(ISBLANK(E414)),E414,F413)","v":40},null,{"$f":"IF(F413=F414,H413,G414)","v":0},"1-to-1",{"$nulls":8},"SF74_MonitorParameters"]
[null,"[SF7.4.1] Compare drone attitude","[SF7.4] Monitor drone parameters",null,41,{"$f":"IF(NOT(ISBLANK(E415)),E415,F414)","v":41},"x",{"$f":"IF(F414=F415,H414,G415)","v":"x"},"1-to-1",{"$nulls":5},"SF7.4.1, SF7.4.2 and SF7.4.3 have no failure modes because failure modes are considered at SF7.4 upper level and modeled in SF7.4.5",null,null,"SF741_MonitorAttitude","REC Comparator"]
[null,null,null,"out: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E416)),E416,F415)","v":41},null,{"$f":"IF(F415=F416,H415,G416)","v":"x"},null,null,"41.3","1-to-1",null,"ok","Whole cone, see behavior review file",null,"output"]
[null,null,null,"in: Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E417)),E417,F416)","v":41},null,{"$f":"IF(F416=F417,H416,G417)","v":"x"},null,null,"41.1","1-to-n","Gather attitute and attitude rate","ok",null,null,"input"]
[null,null,null,"in: Drone attitude rate MON",null,{"$f":"IF(NOT(ISBLANK(E418)),E418,F417)","v":41},null,{"$f":"IF(F417=F418,H417,G418)","v":"x"},null,null,"41.1","1-to-n",null,"ok"]
[null,null,null,"in: Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E419)),E419,F418)","v":41},null,{"$f":"IF(F418=F419,H418,G419)","v":"x"},null,null,"41.2","1-to-n","Gather attitute and attitude rate","ok",null,null,"input"]
[null,null,null,"in: Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E420)),E420,F419)","v":41},null,{"$f":"IF(F419=F420,H419,G420)","v":"x"},null,null,"41.2","1-to-n",null,"ok"]
[null,"[SF7.4.2] Compare drone altitude","[SF7.4] Monitor drone parameters",null,42,{"$f":"IF(NOT(ISBLANK(E421)),E421,F420)","v":42},"x",{"$f":"IF(F420=F421,H420,G421)","v":"x"},"1-to-1",{"$nulls":8},"SF742_MonitorAltitude","RPL Comparator"]
[null,null,null,"out: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E422)),E422,F421)","v":42},null,{"$f":"IF(F421=F422,H421,G422)","v":"x"},null,null,"41.3","1-to-1",null,null,"by RLP",null,"output"]
[null,null,null,"in: Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(E423)),E423,F422)","v":42},null,{"$f":"IF(F422=F423,H422,G423)","v":"x"},null,null,"42.1","1-to-n","The gathering is coherent with the gathering at source (SF72)",null,null,null,"input"]
[null,null,null,"in: Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(E424)),E424,F423)","v":42},null,{"$f":"IF(F423=F424,H423,G424)","v":"x"},null,null,"42.1","1-to-n"]
[null,null,null,"in: Altitude MON",null,{"$f":"IF(NOT(ISBLANK(E425)),E425,F424)","v":42},null,{"$f":"IF(F424=F425,H424,G425)","v":"x"},null,null,"42.1","1-to-n"]
[null,null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(E426)),E426,F425)","v":42},null,{"$f":"IF(F425=F426,H425,G426)","v":"x"},null,null,"42.2","1-to-n","The gathering is coherent with the gathering at source (SF32)",null,null,null,"input"]
[null,null,null,"in: Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E427)),E427,F426)","v":42},null,{"$f":"IF(F426=F427,H426,G427)","v":"x"},null,null,"42.2","1-to-n"]
[null,null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E428)),E428,F427)","v":42},null,{"$f":"IF(F427=F428,H427,G428)","v":"x"},null,null,"42.2","1-to-n"]
[null,"[SF7.4.3] Compare drone motor consigns","[SF7.4] Monitor drone parameters",null,43,{"$f":"IF(NOT(ISBLANK(E429)),E429,F428)","v":43},"x",{"$f":"IF(F428=F429,H428,G429)","v":"x"},"1-to-1",{"$nulls":8},"SF743_MonitorMotorConsign","RPL Comparator"]
[null,null,null,"out: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(E430)),E430,F429)","v":43},null,{"$f":"IF(F429=F430,H429,G430)","v":"x"},null,null,"43.1","1-to-1",null,null,"by RPL",null,"output"]
[null,null,null,"in: Motors rate",null,{"$f":"IF(NOT(ISBLANK(E431)),E431,F430)","v":43},null,{"$f":"IF(F430=F431,H430,G431)","v":"x"},null,null,"43.2","1-to-1",{"$nulls":4},"input"]
[null,null,null,"in: Motors rate MON",null,{"$f":"IF(NOT(ISBLANK(E432)),E432,F431)","v":43},null,{"$f":"IF(F431=F432,H431,G432)","v":"x"},null,null,"43.3","1-to-1",{"$nulls":4},"input"]
[null,"[SF7.4.4] Compare drone motor rate","[SF7.4] Monitor drone parameters",null,44,{"$f":"IF(NOT(ISBLANK(E433)),E433,F432)","v":44},"x",{"$f":"IF(F432=F433,H432,G433)","v":"x"},"1-to-1",{"$nulls":8},"SF744_MonitorRate"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E434)),E434,F433)","v":44},null,{"$f":"IF(F433=F434,H433,G434)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate1 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E435)),E435,F434)","v":44},null,{"$f":"IF(F434=F435,H434,G435)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate2 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E436)),E436,F435)","v":44},null,{"$f":"IF(F435=F436,H435,G436)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate3 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E437)),E437,F436)","v":44},null,{"$f":"IF(F436=F437,H436,G437)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate4 (subfunction)"]
[null,null,null,"in: Motors rate",null,{"$f":"IF(NOT(ISBLANK(E438)),E438,F437)","v":44},null,{"$f":"IF(F437=F438,H437,G438)","v":"x"},null,null,"44.1","1-to-1",null,"ok",null,null,"In : MotorRate"]
[null,null,null,"in: Motors rate measured",null,{"$f":"IF(NOT(ISBLANK(E439)),E439,F438)","v":44},null,{"$f":"IF(F438=F439,H438,G439)","v":"x"},null,null,"44.2","1-to-1","Record/Gather type including 4 rates","ok",null,null,"In : MotorRateMeasured"]
[null,null,null,"out : Motor 1 runaway",{"$nulls":6},"44.3","1-to-n","@safety : need of 4 different disable motor signals",null,"Whole cone, see behavior review file",null,"out : MotorRunaway"]
[null,null,null,"out : Motor 2 runaway",{"$nulls":6},"44.3","1-to-n"]
[null,null,null,"out : Motor 3 runaway",{"$nulls":6},"44.3","1-to-n"]
[null,null,null,"out : Motor 4 runaway",{"$nulls":6},"44.3","1-to-n"]
[null,"[SF7.4.5] Disable drone motor","[SF7.4] Monitor drone parameters",null,59,{"$f":"IF(NOT(ISBLANK(E444)),E444,F439)","v":59},"x",{"$f":"IF(F439=F444,H439,G444)","v":"x"},"1-to-n",{"$nulls":8},"SF74_MonitorParametersFailed"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E445)),E445,F444)","v":59},null,{"$f":"IF(F444=F445,H444,G445)","v":"x"},{"$nulls":9},"SF745_DisableMotor"]
[null,null,null,"in: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E446)),E446,F445)","v":59},null,{"$f":"IF(F445=F446,H445,G446)","v":"x"},null,null,"59.1","1-to-1",{"$nulls":4},"SF745_DisableMotor.input"]
[null,null,null,"in: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E447)),E447,F446)","v":59},null,{"$f":"IF(F446=F447,H446,G447)","v":"x"},null,null,"59.2","1-to-1",{"$nulls":4},"SF745_DisableMotor.input"]
[null,null,null,"in: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(E448)),E448,F447)","v":59},null,{"$f":"IF(F447=F448,H447,G448)","v":"x"},null,null,"59.3","1-to-1",{"$nulls":4},"SF745_DisableMotor.input"]
[null,null,null,"in : Motor 1 runaway",{"$nulls":6},"59.4","1-to-n","see Motor disabling ports",null,null,null,"SF745_DisableMotor.input"]
[null,null,null,"in : Motor 2 runaway",{"$nulls":6},"59.4","1-to-n"]
[null,null,null,"in : Motor 3 runaway",{"$nulls":6},"59.4","1-to-n"]
[null,null,null,"in : Motor 4 runaway",{"$nulls":6},"59.4","1-to-n"]
[null,null,null,"out: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E453)),E453,F448)","v":59},null,{"$f":"IF(F448=F453,H448,G453)","v":"x"},null,null,"59.5","1-to-n","In safety modeling, motor disabling (and motor runaway) is done at one for all motors because SFHA mentions that all motors are depowered in case one motor is erroneous",null,"Whole cone, see behavior review file",null,"SF74_MonitorParametersFailed.output"]
[null,null,null,"out: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(E454)),E454,F453)","v":59},null,{"$f":"IF(F453=F454,H453,G454)","v":"x"},null,null,"59.5","1-to-n"]
[null,null,null,"out: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(E455)),E455,F454)","v":59},null,{"$f":"IF(F454=F455,H454,G455)","v":"x"},null,null,"59.5","1-to-n"]
[null,null,null,"out: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(E456)),E456,F455)","v":59},null,{"$f":"IF(F455=F456,H455,G456)","v":"x"},null,null,"59.5","1-to-n"]
[null,"[Env] Create lift and drag forces and torques","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E457)),E457,F456)","v":50},null,{"$f":"IF(F456=F457,H456,G457)","v":0},"*-to-0","not necessary to safety modeling and not considered in failure"]
[null,"[Env] Stimulate acceleration sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E458)),E458,F457)","v":50},null,{"$f":"IF(F457=F458,H457,G458)","v":0},"*-to-0"]
[null,"[Env] Stimulate rate sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E459)),E459,F458)","v":50},null,{"$f":"IF(F458=F459,H458,G459)","v":0},"*-to-0"]
[null,"[Env] Stimulate magnetic sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E460)),E460,F459)","v":50},null,{"$f":"IF(F459=F460,H459,G460)","v":0},"*-to-0"]
[null,"[Env] Stimulate pressure sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E461)),E461,F460)","v":50},null,{"$f":"IF(F460=F461,H460,G461)","v":0},"*-to-0"]
[null,"[Env] Stimulate telemetric sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E462)),E462,F461)","v":50},null,{"$f":"IF(F461=F462,H461,G462)","v":0},"*-to-0"]
[null,"[Env] Simulate ground video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E463)),E463,F462)","v":50},null,{"$f":"IF(F462=F463,H462,G463)","v":0},"*-to-0"]
[null,"[Pos] Generate positioning signal","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E464)),E464,F463)","v":50},null,{"$f":"IF(F463=F464,H463,G464)","v":0},"*-to-0"]
[null,"[A/C] Stimulate payload video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E465)),E465,F464)","v":50},null,{"$f":"IF(F464=F465,H464,G465)","v":0},"*-to-0"]
[null,"[Pil] Manually control AIDA","Root Physical Function",null,51,{"$f":"IF(NOT(ISBLANK(E466)),E466,F465)","v":51},"x",{"$f":"IF(F465=F466,H465,G466)","v":"x"},"1-to-n",{"$nulls":8},"PilotDetection"]
[null,null,"[Pil] Manually control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(E467)),E467,F466)","v":51},null,{"$f":"IF(F466=F467,H466,G467)","v":"x"},"1-to-n"]
[null,null,null,"out : Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E468)),E468,F467)","v":51},null,{"$f":"IF(F467=F468,H467,G468)","v":"x"},null,null,"51.1","1-to-n",{"$nulls":4},"Out :PilotManualControl"]
[null,null,null,"out : Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E469)),E469,F468)","v":51},null,{"$f":"IF(F468=F469,H468,G469)","v":"x"},null,null,"51.2","*-to-0","?"]
[null,null,null,"out: Pilot orders",null,{"$f":"IF(NOT(ISBLANK(E470)),E470,F469)","v":51},null,{"$f":"IF(F469=F470,H469,G470)","v":"x"},null,null,"51.3","*-to-0","Supposed always correct in safety"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E471)),E471,F470)","v":51},null,{"$f":"IF(F470=F471,H470,G471)","v":"x"},null,null,"51.4","*-to-0","safety modeling artefact",null,null,null,"Out : PilotInconsistentControl"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E472)),E472,F471)","v":51},null,{"$f":"IF(F471=F472,H471,G472)","v":"x"},null,null,"51.5","*-to-0","safety modeling artefact to model visual detection",null,null,null,"in : inputFlightPlan"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E473)),E473,F472)","v":51},null,{"$f":"IF(F472=F473,H472,G473)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputPosition"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E474)),E474,F473)","v":51},null,{"$f":"IF(F473=F474,H473,G474)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputSpeed"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E475)),E475,F474)","v":51},null,{"$f":"IF(F474=F475,H474,G475)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputControlPosition"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E476)),E476,F475)","v":51},null,{"$f":"IF(F475=F476,H475,G476)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputLostHElixesControl"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E477)),E477,F476)","v":51},null,{"$f":"IF(F476=F477,H476,G477)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputSelectedMode"]
[null,"[Pil] Enter a control mode","[Pil] Manually control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E478)),E478,F477)","v":52},null,{"$f":"IF(F477=F478,H477,G478)","v":0},"*-to-0","to justify !!!"]
[null,"[Pil] Automatically control AIDA","Root Physical Function",null,52,{"$f":"IF(NOT(ISBLANK(E479)),E479,F478)","v":52},null,{"$f":"IF(F478=F479,H478,G479)","v":0},"*-to-0","perfect pilot"]
[null,"[Pil] Check AIDA control mode","[Pil] Automatically control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E480)),E480,F479)","v":52},null,{"$f":"IF(F479=F480,H479,G480)","v":0},"*-to-0"]
[null,"[Pil] Enter control consigns","[Pil] Automatically control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E481)),E481,F480)","v":52},null,{"$f":"IF(F480=F481,H480,G481)","v":0},"*-to-0"]
[null,"[Pil] Manually control the drone",null,null,52,{"$f":"IF(NOT(ISBLANK(E482)),E482,F481)","v":52},null,{"$f":"IF(F481=F482,H481,G482)","v":0},"*-to-0"]
[null,"[Pil] Manually control the drone payload","[Pil] Manually control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E483)),E483,F482)","v":52},null,{"$f":"IF(F482=F483,H482,G483)","v":0},"*-to-0"]
[null,"[Pil] analyse mission results","Root Physical Function",null,52,{"$f":"IF(NOT(ISBLANK(E484)),E484,F483)","v":52},null,{"$f":"IF(F483=F484,H483,G484)","v":0},"*-to-0"]
[null,"[Pil] Analyse and validate the report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(E485)),E485,F484)","v":52},null,{"$f":"IF(F484=F485,H484,G485)","v":0},"*-to-0"]
[null,"[Pil] Read report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(E486)),E486,F485)","v":52},null,{"$f":"IF(F485=F486,H485,G486)","v":0},"*-to-0"]
[null,"[Pil] Set and adjust flight plan","[Pil] Automatically control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E487)),E487,F486)","v":52},null,{"$f":"IF(F486=F487,H486,G487)","v":0},"*-to-0"]
[null,"[DB] Exchange data with AIDA","Root Physical Function",null,52,{"$f":"IF(NOT(ISBLANK(E488)),E488,F487)","v":52},null,{"$f":"IF(F487=F488,H487,G488)","v":0},"*-to-0"]
[null,"[DB] Download mission results","[DB] Exchange data with AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E489)),E489,F488)","v":52},null,{"$f":"IF(F488=F489,H488,G489)","v":0},"*-to-0"]
[null,"[DB] Upload predefine flight zone boarders","[DB] Exchange data with AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E490)),E490,F489)","v":52},null,{"$f":"IF(F489=F490,H489,G490)","v":0},"*-to-0"]
[null,"[DB] Upload mission description and former mission data","[DB] Exchange data with AIDA",null,null,{"$f":"IF(NOT(ISBLANK(E491)),E491,F490)","v":52},null,{"$f":"IF(F490=F491,H490,G491)","v":0},"*-to-0"]

{"sheet":"PostRéu31aout - SynchroPoint de","index":4,"n_rows":469,"n_cols":20,"rows_kept":469,"cut":false,"hidden":false,"merged":[[0,0,0,3],[0,4,0,9],[0,10,0,12],[0,14,0,15],[0,16,0,18]]}
["Functional architecture",null,null,null,"Function synchro point",{"$nulls":5},"Port synchro point",null,null,"Structure review","Behavior synchro",null,"Functional architecture & external systems"]
["REC/RPL","Function","Parent function","Ports (deduced from flows) (inputs and outputs)","ID","Dependent SP (filtering)","To be reviewed (leaf and non-void on safety side)","To be reviewed (filtering)","Link between model component and synchro point","Remark","ID","Cardinality type","Remark",null,"Safety preparation","System review","Ports (inputs and outputs)","Function name","REC/RPL"]
[{"$nulls":4},1,1,"x","x","*-to-0","Safety modeling artefact. Must be reviewed by system designer",{"$nulls":4},"?",null,null,"FailureConditions"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E4)),E4,F3)","v":1},null,{"$f":"IF(F3=F4,H3,G4)","v":"x"},"folded model component",{"$nulls":8},"FC01_CAT"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E5)),E5,F4)","v":1},null,{"$f":"IF(F4=F5,H4,G5)","v":"x"},"folded model component",{"$nulls":8},"FC02_HAZ"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E6)),E6,F5)","v":1},null,{"$f":"IF(F5=F6,H5,G6)","v":"x"},"folded model component",{"$nulls":8},"FC03_MAJ"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E7)),E7,F6)","v":1},null,{"$f":"IF(F6=F7,H6,G7)","v":"x"},"folded model component",{"$nulls":8},"filter2"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E8)),E8,F7)","v":1},null,{"$f":"IF(F7=F8,H7,G8)","v":"x"},"folded model component",{"$nulls":8},"filter3"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E9)),E9,F8)","v":1},null,{"$f":"IF(F8=F9,H8,G9)","v":"x"},"folded model component",{"$nulls":8},"filter4"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E10)),E10,F9)","v":1},null,{"$f":"IF(F9=F10,H9,G10)","v":"x"},"folded model component",{"$nulls":8},"UncontrolledCrashInNonAuthorizedArea"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E11)),E11,F10)","v":1},null,{"$f":"IF(F10=F11,H10,G11)","v":"x"},"folded model component",{"$nulls":8},"Uncontrolled CrashInAuthorizedArea"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E12)),E12,F11)","v":1},null,{"$f":"IF(F11=F12,H11,G12)","v":"x"},"folded model component",{"$nulls":8},"LossOfSelectedModeFiltered"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E13)),E13,F12)","v":1},null,{"$f":"IF(F12=F13,H12,G13)","v":"x"},"folded model component",{"$nulls":8},"TotalLossOfControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E14)),E14,F13)","v":1},null,{"$f":"IF(F13=F14,H13,G14)","v":"x"},"folded model component",{"$nulls":8},"ControlledCrash"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E15)),E15,F14)","v":1},null,{"$f":"IF(F14=F15,H14,G15)","v":"x"},"folded model component",{"$nulls":8},"LossOfSelectedManualMode"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E16)),E16,F15)","v":1},null,{"$f":"IF(F15=F16,H15,G16)","v":"x"},"folded model component",{"$nulls":8},"ErroneousControlOfOneHelix"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E17)),E17,F16)","v":1},null,{"$f":"IF(F16=F17,H16,G17)","v":"x"},"folded model component",{"$nulls":8},"TotalLossOfHexiesControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E18)),E18,F17)","v":1},null,{"$f":"IF(F17=F18,H17,G18)","v":"x"},"folded model component",{"$nulls":8},"LossOfAtMost3HelixesControl"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E19)),E19,F18)","v":1},null,{"$f":"IF(F18=F19,H18,G19)","v":"x"},"folded model component",{"$nulls":8},"StruckModeAutoOrErr"]
[{"$nulls":4},1,{"$f":"IF(NOT(ISBLANK(E20)),E20,F19)","v":1},null,{"$f":"IF(F19=F20,H19,G20)","v":"x"},"folded model component",{"$nulls":8},"StuckModeManual"]
[null,"[SF1] Control drone helixes","Root Physical Function",null,2,{"$f":"IF(NOT(ISBLANK(E21)),E21,F20)","v":2},null,{"$f":"IF(F20=F21,H20,G21)","v":0},"1-to-1",null,null," ",null,"ok",null,null,null,"SF1"]
["REC ControlHelix","[SF1.1] Control helix 1","[SF1] Control drone helixes",null,3,{"$f":"IF(NOT(ISBLANK(E22)),E22,#REF!)","v":3},null,{"$f":"IF(F21=F22,H21,G22)","v":0},"1-to-1","This synchro point is a REC in both system and safety.",null,null,null,"ok",null,null,null," SF11_ControlHelix1","REC SF1i_ControlHelix₂"]
[null,"[SF1.1.1] Control motor 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E23)),E23,#REF!)","v":47},"x",{"$f":"IF(F22=F23,H22,G23)","v":"x"},"N-to-n","Gathering of 4 subfunctions because 1) they do not have safety impact in isolation @ES, 2) they constitute a loop that is undesirable in safety modeling. Choice of 2 safety bricks because there is one dysfunctional behavior (first brick) and the reconfiguration behavior of shutting down (not dependent from the dysfunctional behavior",null,null,null,"ok",null,null,null,"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":4},47,{"$f":"IF(NOT(ISBLANK(E24)),E24,F23)","v":47},null,{"$f":"IF(F23=F24,H23,G24)","v":"x"},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E25)),E25,F24)","v":47},null,{"$f":"IF(F24=F25,H24,G25)","v":"x"},null,null,"47.1","1-to-1",null,"ok",null,null,"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.1.2] Create motion 1","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E26)),E26,F25)","v":47},null,{"$f":"IF(F25=F26,H25,G26)","v":"x"},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E27)),E27,F26)","v":47},null,{"$f":"IF(F26=F27,H26,G27)","v":"x"},null,null,"47.2","1-to-1",null,"ok",null,null,"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E28)),E28,F27)","v":47},null,{"$f":"IF(F27=F28,H27,G28)","v":"x"},null,null,"47.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.1.4] Measure motor 1 position","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E29)),E29,F28)","v":47},null,{"$f":"IF(F28=F29,H28,G29)","v":"x"},"N-to-n"]
[null,"[SF1.1.5] Compute motor 1 rate","[SF1.1] Control helix 1",null,47,{"$f":"IF(NOT(ISBLANK(E30)),E30,F29)","v":47},null,{"$f":"IF(F29=F30,H29,G30)","v":"x"},"N-to-n"]
[null,null,null,"out: Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E31)),E31,F30)","v":47},null,{"$f":"IF(F30=F31,H30,G31)","v":"x"},null,null,"47.4","1-to-1",null,"ok","Cone = MotorRate. Standard failure and combination of input and failure","ok","SF1i1_5_CreateMotionAndMeasure.output",null," "]
[null,"[SF1.1.6] Depower motor 1","[SF1.1] Control helix 1",null,48,{"$f":"IF(NOT(ISBLANK(E32)),E32,F31)","v":48},"x",{"$f":"IF(F31=F32,H31,G32)","v":"x"},"1-to-1",{"$nulls":4},"ok","Boolean equivalent of InOutFunction",null,null,"SF1i6_DepowerMotor"]
[null,null,null,"in: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E33)),E33,F31)","v":47},null,{"$f":"IF(F31=F33,H31,G33)","v":"x"},null,null,"48.2","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E34)),E34,F33)","v":47},null,{"$f":"IF(F33=F34,H33,G34)","v":"x"},null,null,"48.1","1-to-1",null,"ok",null,null,"output"]
[null,"[SF1.1.3] Create thrust and torque at helix 1","[SF1.1] Control helix 1",null,49,{"$f":"IF(NOT(ISBLANK(E35)),E35,#REF!)","v":49},"x",{"$f":"IF(#REF!=F35,#REF!,G35)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E36)),E36,F35)","v":49},null,{"$f":"IF(F35=F36,H35,G36)","v":{"$error":"#VALUE!"}},null,null,"49.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E37)),E37,F36)","v":49},null,{"$f":"IF(F36=F37,H36,G37)","v":{"$error":"#VALUE!"}},null,null,"49.2","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out: Helix 1 torque",null,{"$f":"IF(NOT(ISBLANK(E38)),E38,F37)","v":49},null,{"$f":"IF(F37=F38,H37,G38)","v":{"$error":"#VALUE!"}},null,null,"49.2","1-to-n"]
["RPL ControlHelix","[SF1.2] Control helix 2","[SF1] Control drone helixes",null,4,{"$f":"IF(NOT(ISBLANK(E39)),E39,F38)","v":4},null,{"$f":"IF(F38=F39,H38,G39)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF12_ControlHelix2","RPL SF1i_ControlHelix₂"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E40)),E40,F39)","v":4},null,{"$f":"IF(F39=F40,H39,G40)","v":0},null,null,"4.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E41)),E41,F40)","v":4},null,{"$f":"IF(F40=F41,H40,G41)","v":0},null,null,"4.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E42)),E42,F41)","v":4},null,{"$f":"IF(F41=F42,H41,G42)","v":0},null,null,"4.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E43)),E43,F42)","v":4},null,{"$f":"IF(F42=F43,H42,G43)","v":0},null,null,"4.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E44)),E44,F43)","v":4},null,{"$f":"IF(F43=F44,H43,G44)","v":0},null,null,"4.4","1-to-n"]
[null,"[SF1.2.1] Control motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E45)),E45,F44)","v":"4 by RPL"},null,{"$f":"IF(F44=F45,H44,G45)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E46)),E46,F45)","v":"4 by RPL"},null,{"$f":"IF(F45=F46,H45,G46)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E47)),E47,F46)","v":"4 by RPL"},null,{"$f":"IF(F46=F47,H46,G47)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.2.2] Create motion 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E48)),E48,F47)","v":"4 by RPL"},null,{"$f":"IF(F47=F48,H47,G48)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E49)),E49,F48)","v":"4 by RPL"},null,{"$f":"IF(F48=F49,H48,G49)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E50)),E50,F49)","v":"4 by RPL"},null,{"$f":"IF(F49=F50,H49,G50)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.2.4] Measure motor 2 position","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E51)),E51,F50)","v":"4 by RPL"},null,{"$f":"IF(F50=F51,H50,G51)","v":0},"N-to-n"]
[null,"[SF1.2.5] Compute motor 2 rate","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E52)),E52,F51)","v":"4 by RPL"},null,{"$f":"IF(F51=F52,H51,G52)","v":0},"N-to-n"]
[null,null,null,"out: Motor 2 rate measured",null,{"$f":"IF(NOT(ISBLANK(E53)),E53,F52)","v":"4 by RPL"},null,{"$f":"IF(F52=F53,H52,G53)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.2.6] Depower motor 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E54)),E54,F53)","v":"4 by RPL"},null,{"$f":"IF(F53=F54,H53,G54)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E55)),E55,F54)","v":"4 by RPL"},null,{"$f":"IF(F54=F55,H54,G55)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(E56)),E56,F55)","v":"4 by RPL"},null,{"$f":"IF(F55=F56,H55,G56)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.2.3] Create thrust and torque at helix 2","[SF1.2] Control helix 2",null,"4 by RPL",{"$f":"IF(NOT(ISBLANK(E57)),E57,F56)","v":"4 by RPL"},null,{"$f":"IF(F56=F57,H56,G57)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E58)),E58,F57)","v":"4 by RPL"},null,{"$f":"IF(F57=F58,H57,G58)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out: Helix 2 thrust",null,{"$f":"IF(NOT(ISBLANK(E59)),E59,F58)","v":"4 by RPL"},null,{"$f":"IF(F58=F59,H58,G59)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,null,null,"out: Helix 2 torque",null,{"$f":"IF(NOT(ISBLANK(E60)),E60,F59)","v":"4 by RPL"},null,{"$f":"IF(F59=F60,H59,G60)","v":0},null,null,"49.2","1-to-n"]
["RPL ControlHelix","[SF1.3] Control helix 3","[SF1] Control drone helixes",null,5,{"$f":"IF(NOT(ISBLANK(E61)),E61,F60)","v":5},null,{"$f":"IF(F60=F61,H60,G61)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF13_ControlHelix3","RPL ControlHelix"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E62)),E62,F61)","v":5},null,{"$f":"IF(F61=F62,H61,G62)","v":0},null,null,"5.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E63)),E63,F62)","v":5},null,{"$f":"IF(F62=F63,H62,G63)","v":0},null,null,"5.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E64)),E64,F63)","v":5},null,{"$f":"IF(F63=F64,H63,G64)","v":0},null,null,"5.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E65)),E65,F64)","v":5},null,{"$f":"IF(F64=F65,H64,G65)","v":0},null,null,"5.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E66)),E66,F65)","v":5},null,{"$f":"IF(F65=F66,H65,G66)","v":0},null,null,"5.4","1-to-n"]
[null,"[SF1.3.1] Control motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E67)),E67,F66)","v":"5 by RPL"},null,{"$f":"IF(F66=F67,H66,G67)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E68)),E68,F67)","v":"5 by RPL"},null,{"$f":"IF(F67=F68,H67,G68)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E69)),E69,F68)","v":"5 by RPL"},null,{"$f":"IF(F68=F69,H68,G69)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.3.2] Create motion 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E70)),E70,F69)","v":"5 by RPL"},null,{"$f":"IF(F69=F70,H69,G70)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E71)),E71,F70)","v":"5 by RPL"},null,{"$f":"IF(F70=F71,H70,G71)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E72)),E72,F71)","v":"5 by RPL"},null,{"$f":"IF(F71=F72,H71,G72)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.3.4] Measure motor 3 position","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E73)),E73,F72)","v":"5 by RPL"},null,{"$f":"IF(F72=F73,H72,G73)","v":0},"N-to-n"]
[null,"[SF1.3.5] Compute motor 3 rate","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E74)),E74,F73)","v":"5 by RPL"},null,{"$f":"IF(F73=F74,H73,G74)","v":0},"N-to-n"]
[null,null,null,"out: Motor 3 rate measured",null,{"$f":"IF(NOT(ISBLANK(E75)),E75,F74)","v":"5 by RPL"},null,{"$f":"IF(F74=F75,H74,G75)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.3.6] Depower motor 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E76)),E76,F75)","v":"5 by RPL"},null,{"$f":"IF(F75=F76,H75,G76)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E77)),E77,F76)","v":"5 by RPL"},null,{"$f":"IF(F76=F77,H76,G77)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(E78)),E78,F77)","v":"5 by RPL"},null,{"$f":"IF(F77=F78,H77,G78)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.3.3] Create thrust and torque at helix 3","[SF1.3] Control helix 3",null,"5 by RPL",{"$f":"IF(NOT(ISBLANK(E79)),E79,F78)","v":"5 by RPL"},null,{"$f":"IF(F78=F79,H78,G79)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E80)),E80,F79)","v":"5 by RPL"},null,{"$f":"IF(F79=F80,H79,G80)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out: Helix 3 thrust",null,{"$f":"IF(NOT(ISBLANK(E81)),E81,F80)","v":"5 by RPL"},null,{"$f":"IF(F80=F81,H80,G81)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output"]
[null,null,null,"out: Helix 3 torque",null,{"$f":"IF(NOT(ISBLANK(E82)),E82,F81)","v":"5 by RPL"},null,{"$f":"IF(F81=F82,H81,G82)","v":0},null,null,"49.2","1-to-n"]
["RPL ControlHelix","[SF1.4] Control helix 4","[SF1] Control drone helixes",null,6,{"$f":"IF(NOT(ISBLANK(E83)),E83,F82)","v":6},null,{"$f":"IF(F82=F83,H82,G83)","v":0},"1-to-1","Internal synchro by RPL (SP3)",null,null,null,"System validates REC/RPL approach",null,null,null," SF14_ControlHelix4","RPL ControlHelix"]
[null,null,null,"in : Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E84)),E84,F83)","v":6},null,{"$f":"IF(F83=F84,H83,G84)","v":0},null,null,"6.1","1-to-1",{"$nulls":4},"in : MotorDisabled"]
[null,null,null,"in : motor 1 rate",null,{"$f":"IF(NOT(ISBLANK(E85)),E85,F84)","v":6},null,{"$f":"IF(F84=F85,H84,G85)","v":0},null,null,"6.2","1-to-1",{"$nulls":4},"in : MotorRate"]
[null,null,null,"out : Motor 1 rate measured",null,{"$f":"IF(NOT(ISBLANK(E86)),E86,F85)","v":6},null,{"$f":"IF(F85=F86,H85,G86)","v":0},null,null,"6.3","1-to-1",{"$nulls":4},"out : MotorRateMeasured"]
[null,null,null,"out : helix 1 thrust",null,{"$f":"IF(NOT(ISBLANK(E87)),E87,F86)","v":6},null,{"$f":"IF(F86=F87,H86,G87)","v":0},null,null,"6.4","1-to-n",{"$nulls":4},"out : ThrustAndTorque"]
[null,null,null,"out : helix 1 Torque",null,{"$f":"IF(NOT(ISBLANK(E88)),E88,F87)","v":6},null,{"$f":"IF(F87=F88,H87,G88)","v":0},null,null,"6.4","1-to-n"]
[null,"[SF1.4.1] Control motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E89)),E89,F88)","v":"6 by RPL"},null,{"$f":"IF(F88=F89,H88,G89)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_CreateMotionAndMeasure"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E90)),E90,F89)","v":"6 by RPL"},null,{"$f":"IF(F89=F90,H89,G90)","v":0},"N-to-n",{"$nulls":8},"SF1i1_5_PerfectSelectorLOST"]
[null,null,null,"in: Motor i rate measured",null,{"$f":"IF(NOT(ISBLANK(E91)),E91,F90)","v":"6 by RPL"},null,{"$f":"IF(F90=F91,H90,G91)","v":0},null,null,"47.1","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.input"]
[null,"[SF1.4.2] Create motion 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E92)),E92,F91)","v":"6 by RPL"},null,{"$f":"IF(F91=F92,H91,G92)","v":0},"N-to-n"]
[null,null,null,"in: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E93)),E93,F92)","v":"6 by RPL"},null,{"$f":"IF(F92=F93,H92,G93)","v":0},null,null,"47.2","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.condition"]
[null,null,null,"out: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E94)),E94,F93)","v":"6 by RPL"},null,{"$f":"IF(F93=F94,H93,G94)","v":0},null,null,"47.3","1-to-1",{"$nulls":4},"SF1i1_5_PerfectSelectorLOST.output"]
[null,"[SF1.4.4] Measure motor 4 position","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E95)),E95,F94)","v":"6 by RPL"},null,{"$f":"IF(F94=F95,H94,G95)","v":0},"N-to-n"]
[null,"[SF1.4.5] Compute motor 4 rate","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E96)),E96,F95)","v":"6 by RPL"},null,{"$f":"IF(F95=F96,H95,G96)","v":0},"N-to-n"]
[null,null,null,"out: Motor 4 rate measured",null,{"$f":"IF(NOT(ISBLANK(E97)),E97,F96)","v":"6 by RPL"},null,{"$f":"IF(F96=F97,H96,G97)","v":0},null,null,"47.4","1-to-1",{"$nulls":4},"SF1i1_5_CreateMotionAndMeasure.output"]
[null,"[SF1.4.6] Depower motor 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E98)),E98,F97)","v":"6 by RPL"},null,{"$f":"IF(F97=F98,H97,G98)","v":0},"1-to-1",{"$nulls":8},"SF1i6_DepowerMotor"]
[null,null,null,"out: Motor i shut down",null,{"$f":"IF(NOT(ISBLANK(E99)),E99,F98)","v":"6 by RPL"},null,{"$f":"IF(F98=F99,H98,G99)","v":0},null,null,"48.1","1-to-1",{"$nulls":4},"output"]
[null,null,null,"in: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(E100)),E100,F99)","v":"6 by RPL"},null,{"$f":"IF(F99=F100,H99,G100)","v":0},null,null,"48.2","1-to-1",{"$nulls":4},"input"]
[null,"[SF1.4.3] Create thrust and torque at helix 4","[SF1.4] Control helix 4",null,"6 by RPL",{"$f":"IF(NOT(ISBLANK(E101)),E101,F100)","v":"6 by RPL"},null,{"$f":"IF(F100=F101,H100,G101)","v":0},"1-to-1",{"$nulls":8},"SF1i3_CreateThrustAndTorque",null,"SF23"]
[null,null,null,"in: Motor i motion",null,{"$f":"IF(NOT(ISBLANK(E102)),E102,F101)","v":"6 by RPL"},null,{"$f":"IF(F101=F102,H101,G102)","v":0},null,null,"49.1","1-to-1",{"$nulls":4},"input",null,null,"SF731"]
[null,null,null,"out: Helix 4 thrust",null,{"$f":"IF(NOT(ISBLANK(E103)),E103,F102)","v":"6 by RPL"},null,{"$f":"IF(F102=F103,H102,G103)","v":0},null,null,"49.2","1-to-n",{"$nulls":4},"output",null,null,"SF733"]
[null,null,null,"out: Helix 4 torque",null,{"$f":"IF(NOT(ISBLANK(E104)),E104,F103)","v":"6 by RPL"},null,{"$f":"IF(F103=F104,H103,G104)","v":0},null,null,"49.2","1-to-n"]
[null,"[SF2] Control drone attitude and position","Root Physical Function",null,7,{"$f":"IF(NOT(ISBLANK(E105)),E105,F104)","v":7},0,{"$f":"IF(F104=F105,H104,G105)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF2"]
[null,"[SF2.1] Automatically control drone position","[SF2] Control drone attitude and position",null,8,{"$f":"IF(NOT(ISBLANK(E106)),E106,#REF!)","v":8},"x",{"$f":"IF(F105=F106,H105,G106)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF21_ControlPosition"," "]
[null,null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(E107)),E107,F106)","v":8},null,{"$f":"IF(F106=F107,H106,G107)","v":"x"},null,null,"8.1","1-to-1",null,"ok",null,null,"in : Position"]
[null,null,null,"in : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E108)),E108,F107)","v":8},null,{"$f":"IF(F107=F108,H107,G108)","v":"x"},null,null,"8.2","1-to-n","Ground speed is computed based on vertical speed so it has always a worst case dysfunctional status","ok",null,null,"in : Speed "]
[null,null,null,"in : Ground speed",null,{"$f":"IF(NOT(ISBLANK(E109)),E109,F108)","v":8},null,{"$f":"IF(F108=F109,H108,G109)","v":"x"},null,null,"8.2","1-to-n"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E110)),E110,F109)","v":8},null,{"$f":"IF(F109=F110,H109,G110)","v":"x"},null,null,"8.3","1-to-1",null,"ok",null,null,"in : Attitude"]
[null,null,null,"in : Drone position consign",null,{"$f":"IF(NOT(ISBLANK(E111)),E111,F110)","v":8},null,{"$f":"IF(F110=F111,H110,G111)","v":"x"},null,null,"8.4","1-to-1",null,"ok",null,null,"In : PositionConsign"]
[null,null,null,"in : Drone speed consign",null,{"$f":"IF(NOT(ISBLANK(E112)),E112,F111)","v":8},null,{"$f":"IF(F111=F112,H111,G112)","v":"x"},null,null,"8.5","1-to-1",null,"ok",null,null,"in : SpeedConsign"]
[null,null,null,"in : Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E113)),E113,F112)","v":8},null,{"$f":"IF(F112=F113,H112,G113)","v":"x"},null,null,"8.6","1-to-1",null,"ok",null,null,"in : NavEngagement"]
[null,null,null,"out : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E114)),E114,F113)","v":8},null,{"$f":"IF(F113=F114,H113,G114)","v":"x"},null,null,"8.7","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file","ok","out : output",null," "]
[null,null,null,"out : T AP",null,{"$f":"IF(NOT(ISBLANK(E115)),E115,F114)","v":8},null,{"$f":"IF(F114=F115,H114,G115)","v":"x"},null,null,"8.7","1-to-n",{"$nulls":6}," "]
[null,"[SF2.1.1] Control position","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E116)),E116,F115)","v":8},null,{"$f":"IF(F115=F116,H115,G116)","v":"x"},"folded model component"]
[null,"[SF2.1.2] Select speed consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E117)),E117,F116)","v":8},null,{"$f":"IF(F116=F117,H116,G117)","v":"x"},"folded model component"]
[null,"[SF2.1.3] Control speed","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E118)),E118,F117)","v":8},null,{"$f":"IF(F117=F118,H117,G118)","v":"x"},"folded model component"]
[null,"[SF2.1.4] Compute thrust and attitude consign","[SF2.1] Automatically control drone position",null,8,{"$f":"IF(NOT(ISBLANK(E119)),E119,F118)","v":8},null,{"$f":"IF(F118=F119,H118,G119)","v":"x"},"folded model component"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E120)),E120,F119)","v":8},null,{"$f":"IF(F119=F120,H119,G120)","v":"x"},"folded model component",{"$nulls":8},"SF212_SelectSpeedConsign"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E121)),E121,F120)","v":8},null,{"$f":"IF(F120=F121,H120,G121)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E122)),E122,F121)","v":8},null,{"$f":"IF(F121=F122,H121,G122)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E123)),E123,F122)","v":8},null,{"$f":"IF(F122=F123,H122,G123)","v":"x"},"folded model component",{"$nulls":8},"AND3"]
[{"$nulls":4},8,{"$f":"IF(NOT(ISBLANK(E124)),E124,F123)","v":8},null,{"$f":"IF(F123=F124,H123,G124)","v":"x"},"folded model component",{"$nulls":8},"AND4"]
[null,"[SF2.2] Acquire pilot orders","[SF2] Control drone attitude and position",null,9,{"$f":"IF(NOT(ISBLANK(E125)),E125,F124)","v":9},"x",{"$f":"IF(F124=F125,H124,G125)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF22_AcquirePilotOrders"]
[null,null,null,"in : Pilot orders",null,{"$f":"IF(NOT(ISBLANK(E126)),E126,F125)","v":9},null,{"$f":"IF(F125=F126,H125,G126)","v":"x"},null,null,"9.1","*-to-0","From perfect pilot, cannot have dysfunctional status","ok",{"$nulls":4}," "]
[null,null,null,"out : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(E127)),E127,F126)","v":9},null,{"$f":"IF(F126=F127,H126,G127)","v":"x"},null,null,"9 .2","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out : Roll consign",null,{"$f":"IF(NOT(ISBLANK(E128)),E128,F127)","v":9},null,{"$f":"IF(F127=F128,H127,G128)","v":"x"},null,null,"9 .2","1-to-n"]
[null,null,null,"out : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(E129)),E129,F128)","v":9},null,{"$f":"IF(F128=F129,H128,G129)","v":"x"},null,null,"9 .2","1-to-n"]
[null,null,null,"out : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(E130)),E130,F129)","v":9},null,{"$f":"IF(F129=F130,H129,G130)","v":"x"},null,null,"9 .2","1-to-n"]
[null,"[SF2.2.1] Acquire pitch order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E131)),E131,F130)","v":9},null,{"$f":"IF(F130=F131,H130,G131)","v":"x"},"folded model component"]
[null,"[SF2.2.2] Acquire roll order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E132)),E132,F131)","v":9},null,{"$f":"IF(F131=F132,H131,G132)","v":"x"},"folded model component"]
[null,"[SF2.2.3] Acquire yaw order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E133)),E133,F132)","v":9},null,{"$f":"IF(F132=F133,H132,G133)","v":"x"},"folded model component"]
[null,"[SF2.2.4] Acquire altitude order","[SF2.2] Acquire pilot orders",null,9,{"$f":"IF(NOT(ISBLANK(E134)),E134,F133)","v":9},null,{"$f":"IF(F133=F134,H133,G134)","v":"x"},"folded model component"]
[null,"[SF2.3] Control attitude","[SF2] Control drone attitude and position",null,10,{"$f":"IF(NOT(ISBLANK(E135)),E135,F134)","v":10},null,{"$f":"IF(F134=F135,H134,G135)","v":0},"transparent","corresponds to SF231 +  SF232_ 5",null," "]
[null,"[SF2.3.1] Compute yaw consign","[SF2.3] Control attitude",null,56,{"$f":"IF(NOT(ISBLANK(E136)),E136,#REF!)","v":56},"x",{"$f":"IF(F135=F136,H135,G136)","v":"x"},"1-to-1","Name difference because of inclusion of « Gather »",null,null,null,"2 signaux",null,null,null,"SF231_ComputeAttitudeManualConsign4"]
[null,"Gather SF2.3 Attitude manual consigns",null,null,56,{"$f":"IF(NOT(ISBLANK(E137)),E137,F136)","v":56},null,{"$f":"IF(F136=F137,H136,G137)","v":"x"},"???",null,null,null,"Need to add the « gather » to the synhcro point"]
[{"$nulls":4},56,{"$f":"IF(NOT(ISBLANK(E138)),E138,F137)","v":56},null,{"$f":"IF(F137=F138,H137,G138)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":4},56,{"$f":"IF(NOT(ISBLANK(E139)),E139,F138)","v":56},null,{"$f":"IF(F138=F139,H138,G139)","v":"x"},"folded model component",{"$nulls":8},"ComputeYawRateConsignState"]
[null,null,null,"in : Yaw rate consign",null,{"$f":"IF(NOT(ISBLANK(E140)),E140,F139)","v":56},null,{"$f":"IF(F139=F140,H139,G140)","v":"x"},null,null,"56.1","1-to-1",{"$nulls":4},"in : YawRateConsign"]
[null,null,null,"in : Pitch consign",null,{"$f":"IF(NOT(ISBLANK(E141)),E141,F140)","v":56},null,{"$f":"IF(F140=F141,H140,G141)","v":"x"},null,null,"56.2","1-to-n",{"$nulls":4},"in : PitchAndRollConsign"]
[null,null,null,"in : Roll consign",null,{"$f":"IF(NOT(ISBLANK(E142)),E142,F141)","v":56},null,{"$f":"IF(F141=F142,H141,G142)","v":"x"},null,null,"56.2","1-to-n"]
[null,null,null,"out : Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E143)),E143,F142)","v":56},null,{"$f":"IF(F142=F143,H142,G143)","v":"x"},null,null,"56.3","1-to-1",null,null,"[STD] Whole cone, standard failure modes, standard combination","ok","out : AttitudeManualConsign"]
["REC Select attitude consign","[SF2.3.2] Select attitude consign","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E144)),E144,#REF!)","v":57},"x",{"$f":"IF(F143=F144,H143,G144)","v":"x"},"1-to-n","on a bien besoin de grouper la sélection et le contrôle d’attitude car les dépendances sont modélisées avant la sélection en safety et après la sélection en capella (à voir la justification avec le débouclage de Tatiana)",null," ",{"$nulls":5},"SF242_3_ControlAltitude","REC SF232"]
["REC Control pitch angle","[SF2.3.3] Control pitch angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E145)),E145,F144)","v":57},null,{"$f":"IF(F144=F145,H144,G145)","v":"x"},"1-to-n"]
["REC Control roll angle","[SF2.3.4] Control roll angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E146)),E146,F145)","v":57},null,{"$f":"IF(F145=F146,H145,G146)","v":"x"},"1-to-n"]
["REC Control yaw angle","[SF2.3.5] Control yaw angle","[SF2.3] Control attitude",null,57,{"$f":"IF(NOT(ISBLANK(E147)),E147,F146)","v":57},null,{"$f":"IF(F146=F147,H146,G147)","v":"x"},"1-to-n"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E148)),E148,F147)","v":57},null,{"$f":"IF(F147=F148,H147,G148)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E149)),E149,F148)","v":57},null,{"$f":"IF(F148=F149,H148,G149)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E150)),E150,F149)","v":57},null,{"$f":"IF(F149=F150,H149,G150)","v":"x"},"folded model component",{"$nulls":8},"SF232_SelectAttitudeConsign"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E151)),E151,F150)","v":57},null,{"$f":"IF(F150=F151,H150,G151)","v":"x"},"folded model component",{"$nulls":8},"ControlAttitudeState"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E152)),E152,F151)","v":57},null,{"$f":"IF(F151=F152,H151,G152)","v":"x"},null,null,"57.1","1-to-n","Same dysfunctional status","ok",null,null,"in : Attitude"]
[null,null,null,"in : Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E153)),E153,F152)","v":57},null,{"$f":"IF(F152=F153,H152,G153)","v":"x"},null,null,"57.1","1-to-n"]
[null,null,null,"in : Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E154)),E154,F153)","v":57},null,{"$f":"IF(F153=F154,H153,G154)","v":"x"},null,null,"57.2","1-to-1",null,"ok",null,null,"in : AttitudeConsign"]
[null,null,null,"in : Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E155)),E155,F154)","v":57},null,{"$f":"IF(F154=F155,H154,G155)","v":"x"},null,null,"57.3","1-to-1",null,"ok",null,null,"in : AttitudeAPConsign"]
[null,null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(E156)),E156,F155)","v":57},null,{"$f":"IF(F155=F156,H155,G156)","v":"x"},null,null,"57.4","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"out : Pphi",null,{"$f":"IF(NOT(ISBLANK(E157)),E157,F156)","v":57},null,{"$f":"IF(F156=F157,H156,G157)","v":"x"},null,null,"57.5","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file","ok","out : P"]
[null,null,null,"out : Ppsi",null,{"$f":"IF(NOT(ISBLANK(E158)),E158,F157)","v":57},null,{"$f":"IF(F157=F158,H157,G158)","v":"x"},null,null,"57.5","1-to-n"]
[null,null,null,"out : Ptheta",null,{"$f":"IF(NOT(ISBLANK(E159)),E159,F158)","v":57},null,{"$f":"IF(F158=F159,H158,G159)","v":"x"},null,null,"57.5","1-to-n"]
[null,null,null,"out : Pitch and roll consigns",null,{"$f":"IF(NOT(ISBLANK(E160)),E160,F159)","v":57},null,{"$f":"IF(F159=F160,H159,G160)","v":"x"},null,null,"57.7","*-to-0","Unlooping (Safety hypothesis Nb02)","ok"]
[null,"[SF2.4] Control altitude","[SF2] Control drone attitude and position",null,11,{"$f":"IF(NOT(ISBLANK(E161)),E161,#REF!)","v":11},null,{"$f":"IF(F160=F161,H160,G161)","v":0},"folder","corresponds to SF241 + SF242_ 5",null,null,null,"ok"]
[null,"[SF2.4.1] Compute altitude consign","[SF2.4] Control altitude",null,54,{"$f":"IF(NOT(ISBLANK(E162)),E162,F161)","v":54},"x",{"$f":"IF(F161=F162,H161,G162)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF241_ComputeAltitudeConsign"]
[null,null,null,"in : Vertical speed consign",null,{"$f":"IF(NOT(ISBLANK(E163)),E163,F162)","v":54},null,{"$f":"IF(F162=F163,H162,G163)","v":"x"},null,null,"54.1","1-to-1",{"$nulls":4},"input"]
[null,null,null,"out : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E164)),E164,F163)","v":54},null,{"$f":"IF(F163=F164,H163,G164)","v":"x"},null,null,"54.2","1-to-1",null,"ok",null,null,"output"]
["REC Compute total thrust MON","[SF2.4.2] Compute total thrust","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(E165)),E165,F164)","v":55},"x",{"$f":"IF(F164=F165,H164,G165)","v":"x"},"1-to-n",{"$nulls":4},"ok but to be renamed in compute total thrust",null,null,null,"SF242_3_ControlAltitude","REC SF242"]
["REC Select total thrust consign MON","[SF2.4.3] Select total thrust consign","[SF2.4] Control altitude",null,55,{"$f":"IF(NOT(ISBLANK(E166)),E166,F165)","v":55},null,{"$f":"IF(F165=F166,H165,G166)","v":"x"}]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E167)),E167,F166)","v":55},null,{"$f":"IF(F166=F167,H166,G167)","v":"x"},"folded model component",{"$nulls":8},"ControlAltitudeState"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E168)),E168,F167)","v":55},null,{"$f":"IF(F167=F168,H167,G168)","v":"x"},"folded model component",{"$nulls":8},"SF243_SelectTotalThrustConsign"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E169)),E169,F168)","v":55},null,{"$f":"IF(F168=F169,H168,G169)","v":"x"},"folded model component",{"$nulls":8},"AND1"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E170)),E170,F169)","v":55},null,{"$f":"IF(F169=F170,H169,G170)","v":"x"},"folded model component",{"$nulls":8},"AND2"]
[null,null,null,"in : Altitude",null,{"$f":"IF(NOT(ISBLANK(E171)),E171,F170)","v":55},null,{"$f":"IF(F170=F171,H170,G171)","v":"x"},null,null,"55.1","1-to-1",null,"ok",null,null,"in : Altitude"]
[null,null,null,"in : Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E172)),E172,F171)","v":55},null,{"$f":"IF(F171=F172,H171,G172)","v":"x"},null,null,"55.6","1-to-1",null,"ok",null,null,"in : AltitudeConsign"]
[null,null,null,"in : AP engagement",null,{"$f":"IF(NOT(ISBLANK(E173)),E173,F172)","v":55},null,{"$f":"IF(F172=F173,H172,G173)","v":"x"},null,null,"55.2","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"in : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E174)),E174,F173)","v":55},null,{"$f":"IF(F173=F174,H173,G174)","v":"x"},null,null,"55.3","1-to-1",null,"ok",null,null,"in : Attitude"]
[null,null,null,"in : T AP",null,{"$f":"IF(NOT(ISBLANK(E175)),E175,F174)","v":55},null,{"$f":"IF(F174=F175,H174,G175)","v":"x"},null,null,"55.4","1-to-1",null,"ok",null,null,"in T_AP"]
[null,null,null,"out : T",null,{"$f":"IF(NOT(ISBLANK(E176)),E176,F175)","v":55},null,{"$f":"IF(F175=F176,H175,G176)","v":"x"},null,null,"55.5","1-to-1",null,"ok","Whole cone, see behavior review file","ok","out : T"]
[null,"[SF2.5] Control thrust","[SF2] Control drone attitude and position",null,12,{"$f":"IF(NOT(ISBLANK(E177)),E177,F166)","v":12},"x",{"$f":"IF(F166=F177,H166,G177)","v":"x"},"1-to-n","contains REC",null,null,null,"ok",null,null,null,"SF25_AllNeeded","REC ComputeThrustAndRate AllNeeded+InOutFunction"]
[{"$nulls":4},12,{"$f":"IF(NOT(ISBLANK(E178)),E178,F177)","v":12},null,{"$f":"IF(F177=F178,H177,G178)","v":"x"},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF25_ControlThrust"]
[null,null,null,"in : Ptheta",null,{"$f":"IF(NOT(ISBLANK(E179)),E179,F178)","v":12},null,{"$f":"IF(F178=F179,H178,G179)","v":"x"},null,null,"12.1","1-to-n","Same dysfunctional status","ok",null,null,"SF25_AllNeeded.input1"]
[null,null,null,"in : Pphi",null,{"$f":"IF(NOT(ISBLANK(E180)),E180,F179)","v":12},null,{"$f":"IF(F179=F180,H179,G180)","v":"x"},null,null,"12.1","1-to-n"]
[null,null,null,"in : Ppsi",null,{"$f":"IF(NOT(ISBLANK(E181)),E181,F180)","v":12},null,{"$f":"IF(F180=F181,H180,G181)","v":"x"},null,null,"12.1","1-to-n"]
[null,null,null,"in : T",null,{"$f":"IF(NOT(ISBLANK(E182)),E182,F181)","v":12},null,{"$f":"IF(F181=F182,H181,G182)","v":"x"},null,null,"12.2","1-to-1",null,"ok",null,null,"SF25_AllNeeded.input2"]
[null,null,null,"out : Motor rate",null,{"$f":"IF(NOT(ISBLANK(E183)),E183,F182)","v":12},null,{"$f":"IF(F182=F183,H182,G183)","v":"x"},null,null,"12.3","1-to-1","Valid because same cone. Caution : 4 flows","ok","[STD] Whole cone, standard failure modes, standard combination","ok","SF25_ControlThrust.output"," "]
["REC Compute thrust","[SF2.5.1] Compute thrust","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(E184)),E184,F183)","v":12},null,{"$f":"IF(F183=F184,H183,G184)","v":"x"},"folded model component"]
["REC Compute motor rate","[SF2.5.2] Compute motor rate","[SF2.5] Control thrust",null,null,{"$f":"IF(NOT(ISBLANK(E185)),E185,F184)","v":12},null,{"$f":"IF(F184=F185,H184,G185)","v":"x"},"folded model component"]
[null,"[SF3] Compute drone position and speed","Root Physical Function",null,13,{"$f":"IF(NOT(ISBLANK(E186)),E186,F185)","v":13},null,{"$f":"IF(F185=F186,H185,G186)","v":0},"1-to-1",{"$nulls":8},"SF3"]
["REC Compute drone attitude","[SF3.1] Compute drone attitude","[SF3] Compute drone position and speed",null,14,{"$f":"IF(NOT(ISBLANK(E187)),E187,#REF!)","v":14},"x",{"$f":"IF(F186=F187,H186,G187)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF31_ComputeAttitude","REC SourceFunction for compute drone attitude"]
[null,null,null,"in : Acceleration",null,{"$f":"IF(NOT(ISBLANK(E188)),E188,F187)","v":14},null,{"$f":"IF(F187=F188,H187,G188)","v":"x"},null,null,"14.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"in : North direction",null,{"$f":"IF(NOT(ISBLANK(E189)),E189,F188)","v":14},null,{"$f":"IF(F188=F189,H188,G189)","v":"x"},null,null,"14.1","*-to-0"]
[null,null,null,"in : Rate",null,{"$f":"IF(NOT(ISBLANK(E190)),E190,F189)","v":14},null,{"$f":"IF(F189=F190,H189,G190)","v":"x"},null,null,"14.1","*-to-0"]
[null,null,null,"in : Pitch and roll consigns",null,{"$f":"IF(NOT(ISBLANK(E191)),E191,F190)","v":14},null,{"$f":"IF(F190=F191,H190,G191)","v":"x"},null,null,"14.2","*-to-0","Unlooping (Safety hypothesis Nb02)","ok"]
[null,null,null,"out : Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E192)),E192,F191)","v":14},null,{"$f":"IF(F191=F192,H191,G192)","v":"x"},null,null,"14.3","1-to-n","Angular rates are included in attitude in safety model","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out : Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E193)),E193,F192)","v":14},null,{"$f":"IF(F192=F193,H192,G193)","v":"x"},null,null,"14.3","1-to-n"]
[null,"[SF3.1.1] Measure drone acceleration","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E194)),E194,F193)","v":14},null,{"$f":"IF(F193=F194,H193,G194)","v":"x"},"folded model component"]
[null,"[SF3.1.2] Measure drone rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E195)),E195,F194)","v":14},null,{"$f":"IF(F194=F195,H194,G195)","v":"x"},"folded model component"]
[null,"[SF3.1.3] Measure magnetic north direction","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E196)),E196,F195)","v":14},null,{"$f":"IF(F195=F196,H195,G196)","v":"x"},"folded model component"]
[null,"[SF3.1.4] Estimate X and Y rates","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E197)),E197,F196)","v":14},null,{"$f":"IF(F196=F197,H196,G197)","v":"x"},"folded model component"]
[null,"[SF3.1.5] Estimate Z rate","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E198)),E198,F197)","v":14},null,{"$f":"IF(F197=F198,H197,G198)","v":"x"},"folded model component"]
[null,"[SF3.1.6] Compute pitch, roll, yaw rates and angles","[SF3.1] Compute drone attitude",null,14,{"$f":"IF(NOT(ISBLANK(E199)),E199,F198)","v":14},null,{"$f":"IF(F198=F199,H198,G199)","v":"x"},"folded model component"]
["REC Compute drone altitude","[SF3.2] Compute drone altitude","[SF3] Compute drone position and speed",null,15,{"$f":"IF(NOT(ISBLANK(E200)),E200,F199)","v":15},"x",{"$f":"IF(F199=F200,H199,G200)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF32_ComputeAltitude","REC InOutFunction/Compute altitude"]
[null,null,null,"in:Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E201)),E201,F200)","v":15},null,{"$f":"IF(F200=F201,H200,G201)","v":"x"},null,null,"15.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"in : Ground distance",null,{"$f":"IF(NOT(ISBLANK(E202)),E202,F201)","v":15},null,{"$f":"IF(F201=F202,H201,G202)","v":"x"},null,null,"15.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"in : Pressure",null,{"$f":"IF(NOT(ISBLANK(E203)),E203,F202)","v":15},null,{"$f":"IF(F202=F203,H202,G203)","v":"x"},null,null,"15.2","*-to-0"]
[null,null,null,"out : Altitude",null,{"$f":"IF(NOT(ISBLANK(E204)),E204,F203)","v":15},null,{"$f":"IF(F203=F204,H203,G204)","v":"x"},null,null,"15.4","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out : Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E205)),E205,F204)","v":15},null,{"$f":"IF(F204=F205,H204,G205)","v":"x"},null,null,"15.4","1-to-n"]
[null,null,null,"out : Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E206)),E206,F205)","v":15},null,{"$f":"IF(F205=F206,H205,G206)","v":"x"},null,null,"15.4","1-to-n"]
[null,"[SF3.2.1] Measure ambient pressure","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E207)),E207,F206)","v":15},null,{"$f":"IF(F206=F207,H206,G207)","v":"x"},"folded model component"]
[null,"[SF3.2.2] Compute barometric altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E208)),E208,F207)","v":15},null,{"$f":"IF(F207=F208,H207,G208)","v":"x"},"folded model component"]
[null,"[SF3.2.3] Measure telemetric signal","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E209)),E209,F208)","v":15},null,{"$f":"IF(F208=F209,H208,G209)","v":"x"},"folded model component"]
[null,"[SF3.2.4] Compute ground altitude","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E210)),E210,F209)","v":15},null,{"$f":"IF(F209=F210,H209,G210)","v":"x"},"folded model component"]
[null,"[SF3.2.5] Compute altitude and vertical speed","[SF3.2] Compute drone altitude",null,15,{"$f":"IF(NOT(ISBLANK(E211)),E211,F210)","v":15},null,{"$f":"IF(F210=F211,H210,G211)","v":"x"},"folded model component"]
[null,"[SF3.3] Compute drone speed","[SF3] Compute drone position and speed",null,16,{"$f":"IF(NOT(ISBLANK(E212)),E212,F211)","v":16},null,{"$f":"IF(F211=F212,H211,G212)","v":0},"1-to-1",null,null," ",null,"ok",null,null,null,"SF33_ComputeDroneSpeed_v44"]
[null,"[SF3.3.1] Film ground","[SF3.3] Compute drone speed",null,17,{"$f":"IF(NOT(ISBLANK(E213)),E213,#REF!)","v":17},"x",{"$f":"IF(F212=F213,H212,G213)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF331_FilmGround"]
[null,null,null,"in: Vertical sight",null,{"$f":"IF(NOT(ISBLANK(E214)),E214,F212)","v":16},null,{"$f":"IF(F212=F214,H212,G214)","v":0},null,null,"17.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"out: Video flux",null,{"$f":"IF(NOT(ISBLANK(E215)),E215,F214)","v":16},null,{"$f":"IF(F214=F215,H214,G215)","v":0},null,null,"17.1","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"[SF3.3.2] Compute ground speed","[SF3.3] Compute drone speed",null,18,{"$f":"IF(NOT(ISBLANK(E216)),E216,#REF!)","v":18},"x",{"$f":"IF(#REF!=F216,#REF!,G216)","v":{"$error":"#VALUE!"}},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_ComputeSpeed"]
[{"$nulls":4},18,{"$f":"IF(NOT(ISBLANK(E217)),E217,F216)","v":18},null,{"$f":"IF(F216=F217,H216,G217)","v":{"$error":"#VALUE!"}},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF332_AllNeeded"]
[null,null,null,"in: Video flux",null,{"$f":"IF(NOT(ISBLANK(E218)),E218,F217)","v":18},null,{"$f":"IF(F217=F218,H217,G218)","v":{"$error":"#VALUE!"}},null,null,"18.1","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input1"]
[null,null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E219)),E219,F218)","v":18},null,{"$f":"IF(F218=F219,H218,G219)","v":{"$error":"#VALUE!"}},null,null,"18.2","1-to-1",null,"ok",null,null,"SF332_AllNeeded.input2"]
[null,null,null,"out: Ground speed",null,{"$f":"IF(NOT(ISBLANK(E220)),E220,F219)","v":18},null,{"$f":"IF(F219=F220,H219,G220)","v":{"$error":"#VALUE!"}},null,null,"18.3","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","SF332_ComputeSpeed.output"]
[null,"[SF3.4] Compute drone position and time","[SF3] Compute drone position and speed",null,19,{"$f":"IF(NOT(ISBLANK(E221)),E221,F220)","v":19},"x",{"$f":"IF(F220=F221,H220,G221)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF34_ComputePositionAndTime"]
[null,null,null,"in : Positionning signal",null,{"$f":"IF(NOT(ISBLANK(E222)),E222,F221)","v":19},null,{"$f":"IF(F221=F222,H221,G222)","v":"x"},null,null,"19.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"out : Drone position",null,{"$f":"IF(NOT(ISBLANK(E223)),E223,F222)","v":19},null,{"$f":"IF(F222=F223,H222,G223)","v":"x"},null,null,"19.2","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out : Time",null,{"$f":"IF(NOT(ISBLANK(E224)),E224,F223)","v":19},null,{"$f":"IF(F223=F224,H223,G224)","v":"x"},null,null,"19.2","1-to-n"]
[null,"[SF3.4.1] Acquire positioning signal","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(E225)),E225,F224)","v":19},null,{"$f":"IF(F224=F225,H224,G225)","v":"x"},"folded model component"]
[null,"[SF3.4.2] Compute position and time","[SF3.4] Compute drone position and time",null,19,{"$f":"IF(NOT(ISBLANK(E226)),E226,F225)","v":19},null,{"$f":"IF(F225=F226,H225,G226)","v":"x"},"folded model component"]
[null,"[SF4] Control drone navigation","Root Physical Function",null,20,{"$f":"IF(NOT(ISBLANK(E227)),E227,F226)","v":20},null,{"$f":"IF(F226=F227,H226,G227)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF4"]
[null,"[SF4.1] Acquire and store flight plan","[SF4] Control drone navigation",null,21,{"$f":"IF(NOT(ISBLANK(E228)),E228,#REF!)","v":21},"x",{"$f":"IF(F227=F228,H227,G228)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF41_AcquireAndStoreFlightPlan"]
[null,null,null,"in: Flight plan",null,{"$f":"IF(NOT(ISBLANK(E229)),E229,F228)","v":21},null,{"$f":"IF(F228=F229,H228,G229)","v":"x"},null,null,"21.2","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"input"]
[null,null,null,"in: Flight zone",null,{"$f":"IF(NOT(ISBLANK(E230)),E230,F229)","v":21},null,{"$f":"IF(F229=F230,H229,G230)","v":"x"},null,null,"21.2","1-to-n"]
[null,null,null,"out: Flight plan",null,{"$f":"IF(NOT(ISBLANK(E231)),E231,F228)","v":21},null,{"$f":"IF(F228=F231,H228,G231)","v":"x"},null,null,"21.1","1-to-n","Gathering of flight plan and flight zone","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out: Flight zone",null,{"$f":"IF(NOT(ISBLANK(E232)),E232,F231)","v":21},null,{"$f":"IF(F231=F232,H231,G232)","v":"x"},null,null,"21.1","1-to-n"]
[null,"[SF4.2] Run flight plan","[SF4] Control drone navigation",null,22,{"$f":"IF(NOT(ISBLANK(E233)),E233,#REF!)","v":22},"x",{"$f":"IF(#REF!=F233,#REF!,G233)","v":{"$error":"#VALUE!"}},"1-to-n",{"$nulls":8},"SF42_RunFlightPlan"]
[{"$nulls":4},22,{"$f":"IF(NOT(ISBLANK(E234)),E234,F233)","v":22},null,{"$f":"IF(F233=F234,H233,G234)","v":{"$error":"#VALUE!"}},{"$nulls":9},"SF42_AND1"]
[{"$nulls":17},"SF42_AND2"]
[{"$nulls":4},22,{"$f":"IF(NOT(ISBLANK(E236)),E236,F234)","v":22},null,{"$f":"IF(F234=F236,H234,G236)","v":{"$error":"#VALUE!"}},{"$nulls":9},"SF42_Choice"]
[null,null,null,"in : Drone position",null,{"$f":"IF(NOT(ISBLANK(E237)),E237,F236)","v":22},null,{"$f":"IF(F236=F237,H236,G237)","v":{"$error":"#VALUE!"}},null,null,"22.1","1-to-1",null,"ok",null,null,"SF42_AND.input/Position"]
[null,null,null,"in : Flight plan",null,{"$f":"IF(NOT(ISBLANK(E238)),E238,F237)","v":22},null,{"$f":"IF(F237=F238,H237,G238)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-n","Gathering of flight plan and flight zone","ok",null,null,"SF42_Choice.input2"]
[null,null,null,"in : Flight zone",null,{"$f":"IF(NOT(ISBLANK(E239)),E239,F238)","v":22},null,{"$f":"IF(F238=F239,H238,G239)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-n"]
[null,null,null,"in : Pilot control consigns",null,{"$f":"IF(NOT(ISBLANK(E240)),E240,F239)","v":22},null,{"$f":"IF(F239=F240,H239,G240)","v":{"$error":"#VALUE!"}},null,null,"22.2","1-to-1",null,"ok",null,null,"SF42_AND2"]
[null,null,null,"in : Time",null,{"$f":"IF(NOT(ISBLANK(E241)),E241,F240)","v":22},null,{"$f":"IF(F240=F241,H240,G241)","v":{"$error":"#VALUE!"}},null,null,"22.3","1-to-1",null,"ok",null,null,"SF42_AND.input/Time",null," "]
[null,null,null,"in : Flight plan interruption",null,{"$f":"IF(NOT(ISBLANK(E242)),E242,F241)","v":22},null,{"$f":"IF(F241=F242,H241,G242)","v":{"$error":"#VALUE!"}},null,null,"22.6","*-to-0","Unlooping (Safety hypothesis Nb03)"]
[null,null,null,"out : Automatic payload control",null,{"$f":"IF(NOT(ISBLANK(E243)),E243,F241)","v":22},null,{"$f":"IF(F241=F243,H241,G243)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n","Same dysfunctional status","ok","Whole cone, see behavior review file.","ok","SF42_RunFlightPlan.output"]
[null,null,null,"out : Drone position consign",null,{"$f":"IF(NOT(ISBLANK(E244)),E244,F243)","v":22},null,{"$f":"IF(F243=F244,H243,G244)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n"]
[null,null,null,"out : Drone speed consign",null,{"$f":"IF(NOT(ISBLANK(E245)),E245,F244)","v":22},null,{"$f":"IF(F244=F245,H244,G245)","v":{"$error":"#VALUE!"}},null,null,"22.4","1-to-n"]
[null,null,null,"out : Flight plan mode",null,{"$f":"IF(NOT(ISBLANK(E246)),E246,F245)","v":22},null,{"$f":"IF(F245=F246,H245,G246)","v":{"$error":"#VALUE!"}},null,null,"22.5","*-to-0","Unlooping (Safety hypothesis Nb03)","Ok @system : update of Safety Hypothesis Nb03 ?"]
[null,null,null,"out : Flight plan progress",null,{"$f":"IF(NOT(ISBLANK(E247)),E247,#REF!)","v":{"$error":"#REF!"}},null,{"$f":"IF(#REF!=F247,#REF!,G247)","v":{"$error":"#REF!"}},null,null,"22.7","*-to-0","no safety impact"]
[null,"[SF4.3] Select control mode","[SF4] Control drone navigation",null,23,{"$f":"IF(NOT(ISBLANK(E248)),E248,F247)","v":23},null,{"$f":"IF(F247=F248,H247,G248)","v":{"$error":"#REF!"}},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF43_SelectControlMode"]
[null,"[SF4.3.1] Select drone control mode","[SF4.3] Select control mode",null,24,{"$f":"IF(NOT(ISBLANK(E249)),E249,#REF!)","v":24},"x",{"$f":"IF(F248=F249,H248,G249)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,"Ok @system : result of behavior review: if no mode is received from pilot, select manual mode",null,"SF431_SelectControlMode"]
[null,null,null,"in: Flight plan mode",null,{"$f":"IF(NOT(ISBLANK(E250)),E250,F249)","v":24},null,{"$f":"IF(F249=F250,H249,G250)","v":"x"},null,null,"24.2","*-to-0","Unlooping (Safety hypothesis Nb03)","ok"]
[null,null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E251)),E251,F250)","v":24},null,{"$f":"IF(F250=F251,H250,G251)","v":"x"},null,null,"24.4","1-to-1",null,"ok"]
[null,null,null,"out: Selected control law",null,{"$f":"IF(NOT(ISBLANK(E252)),E252,F249)","v":24},null,{"$f":"IF(F249=F252,H249,G252)","v":"x"},null,null,"24.1","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,null,null,"out: Flight plan interruption",null,{"$f":"IF(NOT(ISBLANK(E253)),E253,#REF!)","v":{"$error":"#REF!"}},null,{"$f":"IF(#REF!=F253,#REF!,G253)","v":{"$error":"#REF!"}},null,null,"24.3","*-to-0","Unlooping (Safety hypothesis Nb03)","ok"]
[null,"[SF4.3.2] Passivate engagement oscillation","[SF4.3] Select control mode",null,25,{"$f":"IF(NOT(ISBLANK(E254)),E254,#REF!)","v":25},"x",{"$f":"IF(#REF!=F254,#REF!,G254)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":6},"@system : result of behavior review: if no mode is received from pilot, select manual mode",null,"SF432_PassivateEngagementOscillation"]
[null,null,null,"in: Selected control law",null,{"$f":"IF(NOT(ISBLANK(E255)),E255,F254)","v":25},null,{"$f":"IF(F254=F255,H254,G255)","v":{"$error":"#VALUE!"}},null,null,"25.1","1-to-1",null,"ok",null,null,"inputMode"]
[null,null,null,"out: Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E256)),E256,F255)","v":25},null,{"$f":"IF(F255=F256,H255,G256)","v":{"$error":"#VALUE!"}},null,null,"25.2","N-to-n","Both system outputs have the same dependencies so they are gathered in one output. This output is delivered in two versions (with different types) in safety model. As translation from one another is direct in safety modeling only one behavior review for both output ports","ok","Whole cone, see behavior review file","ok","outputMode",null," "]
[null,null,null,"out: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E257)),E257,F256)","v":25},null,{"$f":"IF(F256=F257,H256,G257)","v":{"$error":"#VALUE!"}},null,null,"25.2","N-to-n",{"$nulls":4},"outputManualModeSelected"]
[null,"[SF4.3.3] Indicate control mode","[SF4.3] Select control mode",null,26,{"$f":"IF(NOT(ISBLANK(E258)),E258,F257)","v":26},"x",{"$f":"IF(F257=F258,H257,G258)","v":"x"},"1-to-1",{"$nulls":8},"SF433_IndicateControlMode"]
[null,null,null,"in: Nav engagement",null,{"$f":"IF(NOT(ISBLANK(E259)),E259,F258)","v":26},null,{"$f":"IF(F258=F259,H258,G259)","v":"x"},null,null,"26.1","1-to-n","Both system outputs have the same dependencies so they are gathered in one output","ok",null,null,"input"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E260)),E260,F259)","v":26},null,{"$f":"IF(F259=F260,H259,G260)","v":"x"},null,null,"26.1","1-to-n"]
[null,null,null,"out: Control mode",null,{"$f":"IF(NOT(ISBLANK(E261)),E261,F260)","v":26},null,{"$f":"IF(F260=F261,H260,G261)","v":"x"},null,null,"26.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output",null," "]
[null,"[SF4.4] Acquire pilot control consigns and mode","[SF4] Control drone navigation",null,45,{"$f":"IF(NOT(ISBLANK(E262)),E262,F261)","v":45},"x",{"$f":"IF(F261=F262,H261,G262)","v":"x"},"1-to-1",null,null,null,"transtypage is a pure safety modeling artefact",null,"In this brick, there is two distinct and different sets of failure modes : 1 affecting the mode acquisition, the other affecting the consign acquisition.",null,null,"SF44_AcquirePilotControlConsignsAndMode"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"transtypage"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"AcquireControlMode"]
[{"$nulls":4},45,null,null,null,"folded model component",{"$nulls":8},"AcquireControlConsigns"]
[null,null,null,"in: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E266)),E266,F265)","v":0},null,{"$f":"IF(F265=F266,H265,G266)","v":0},null,null,"45.3","1-to-1","Not a dysfunctional status, functional control flow. Must be modeled even if there is no dysfunctional status","ok",null,null,"PilotControlMode"]
[null,null,null,"in: Pilot control consigns",null,{"$f":"IF(NOT(ISBLANK(E267)),E267,F266)","v":0},null,{"$f":"IF(F266=F267,H266,G267)","v":0},null,null,"45.4","*-to-0","From perfect pilot, cannot have dysfunctional status","ok"]
[null,null,null,"out: Pilot control consigns",null,null,null,"x",null,null,"45.1","1-to-1",null,"ok","Cone=Ø, standard failure modes, standard combination","ok","AcquiredPilotConsigns"]
[null,null,null,"out: Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E269)),E269,F263)","v":0},null,{"$f":"IF(F263=F269,H263,G269)","v":0},null,null,"45.2","1-to-1",null,"ok","Cone= {input control mode}, see behavior review file","ok","AcquiredPilotControlMode"]
[null,"[SF5] Make and record video","Root Physical Function",null,27,{"$f":"IF(NOT(ISBLANK(E270)),E270,#REF!)","v":27},null,{"$f":"IF(#REF!=F270,#REF!,G270)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":4},"ok",null,"ok",null,"SF5"]
[null,"[SF5.1] Select camera control","[SF5] Make and record video",null,28,{"$f":"IF(NOT(ISBLANK(E271)),E271,F270)","v":28},"x",{"$f":"IF(F270=F271,H270,G271)","v":"x"},"1-to-1",{"$nulls":4},"ok",null,"ok",null,"SF51_SelectCameraControl"]
[null,null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E272)),E272,F271)","v":28},null,{"$f":"IF(F271=F272,H271,G272)","v":"x"},null,null,"28.5","1-to-1",null,"ok",null,null,"condition"]
[null,null,null,"in: Automatic payload control",null,{"$f":"IF(NOT(ISBLANK(E273)),E273,F272)","v":28},null,{"$f":"IF(F272=F273,H272,G273)","v":"x"},null,null,"28.4","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Camera position consign",null,{"$f":"IF(NOT(ISBLANK(E274)),E274,F271)","v":28},null,{"$f":"IF(F271=F274,H271,G274)","v":"x"},null,null,"28.1","*-to-0","no safety impact","ok"]
[null,null,null,"out: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(E275)),E275,F274)","v":28},null,{"$f":"IF(F274=F275,H274,G275)","v":"x"},null,null,"28.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,null,null,"out: File storage format",null,{"$f":"IF(NOT(ISBLANK(E276)),E276,F275)","v":28},null,{"$f":"IF(F275=F276,H275,G276)","v":"x"},null,null,"28.3","*-to-0","no safety impact","ok"]
[null,"[SF5.2] Control camera orientation","[SF5] Make and record video",null,29,{"$f":"IF(NOT(ISBLANK(E277)),E277,#REF!)","v":29},null,{"$f":"IF(#REF!=F277,#REF!,G277)","v":{"$error":"#VALUE!"}},"1-to-n",{"$nulls":4},"ok",null,null,null,"SF52_4_MakePhotosAndVideos"]
[null,"[SF5.3] Make photos and videos","[SF5] Make and record video",null,29,{"$f":"IF(NOT(ISBLANK(E278)),E278,F277)","v":29},"x",{"$f":"IF(F277=F278,H277,G278)","v":{"$error":"#VALUE!"}},"1-to-n"]
[null,"[SF5.4] Digitise photos and videos",null,null,29,null,null,null,"1-to-n"]
[null,null,null,"in: Photo and video control",null,{"$f":"IF(NOT(ISBLANK(E280)),E280,F278)","v":29},null,{"$f":"IF(F278=F280,H278,G280)","v":{"$error":"#VALUE!"}},null,null,"29.1","1-to-n","Same dysfunctional status","ok",null,null,"input"]
[null,null,null,"in: Camera position consign",null,{"$f":"IF(NOT(ISBLANK(E281)),E281,F280)","v":29},null,{"$f":"IF(F280=F281,H280,G281)","v":{"$error":"#VALUE!"}},null,null,"29.1","1-to-n"]
[null,null,null,"in : File storage format",{"$nulls":6},"29.1","1-to-n"]
[null,null,null,"in: Aircraft sight",null,{"$f":"IF(NOT(ISBLANK(E283)),E283,F282)","v":0},null,{"$f":"IF(F282=F283,H282,G283)","v":0},null,null,"29.4","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"out: PhotosAndVideosFiles",null,{"$f":"IF(NOT(ISBLANK(E284)),E284,F281)","v":29},null,{"$f":"IF(F281=F284,H281,G284)","v":{"$error":"#VALUE!"}},null,null,"29.3","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,"[SF5.5] Acquire manual payload control","[SF5] Make and record video",null,46,{"$f":"IF(NOT(ISBLANK(E285)),E285,#REF!)","v":46},"x",{"$f":"IF(#REF!=F285,#REF!,G285)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF55_AcquireManualPayloadControl"]
[null,null,null,"in: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E286)),E286,#REF!)","v":{"$error":"#REF!"}},null,{"$f":"IF(#REF!=F286,#REF!,G286)","v":{"$error":"#REF!"}},null,null,"46.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E287)),E287,F286)","v":{"$error":"#REF!"}},null,{"$f":"IF(F286=F287,H286,G287)","v":{"$error":"#REF!"}},null,null,"46.2","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,"[SF6] Manage mission","Root Physical Function",null,58,{"$f":"IF(NOT(ISBLANK(E288)),E288,F287)","v":58},null,{"$f":"IF(F287=F288,H287,G288)","v":{"$error":"#REF!"}},"folder",null,null,null,"@system : creation DB request with aircraft type to get mission description","ok"]
[null,"[SF6.1] Compute flight plan and flight zone","[SF6] Manage mission",null,31,{"$f":"IF(NOT(ISBLANK(E289)),E289,#REF!)","v":31},"x",{"$f":"IF(#REF!=F289,#REF!,G289)","v":{"$error":"#VALUE!"}},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF61_ComputeFlightPlanAndZone"]
[null,null,null,"in : Aircraft position validation",null,{"$f":"IF(NOT(ISBLANK(E290)),E290,F289)","v":31},null,{"$f":"IF(F289=F290,H289,G290)","v":{"$error":"#VALUE!"}},null,null,"31.1","*-to-0","From perfect pilot, cannot have dysfunctional status","ok"]
[null,null,null,"in : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(E291)),E291,F290)","v":31},null,{"$f":"IF(F290=F291,H290,G291)","v":{"$error":"#VALUE!"}},null,null,"31.1","*-to-0","Mission information is not safety relevant"]
[null,null,null,"in : Exclusion zones",null,{"$f":"IF(NOT(ISBLANK(E292)),E292,F291)","v":31},null,{"$f":"IF(F291=F292,H291,G292)","v":{"$error":"#VALUE!"}},null,null,"31.1","*-to-0"]
[null,null,null,"in : Flight domain",null,{"$f":"IF(NOT(ISBLANK(E293)),E293,F292)","v":31},null,{"$f":"IF(F292=F293,H292,G293)","v":{"$error":"#VALUE!"}},null,null,"31.1","*-to-0"]
[null,null,null,"in : Flight plan validation",null,{"$f":"IF(NOT(ISBLANK(E294)),E294,F293)","v":31},null,{"$f":"IF(F293=F294,H293,G294)","v":{"$error":"#VALUE!"}},null,null,"31.1","*-to-0"]
[null,null,null,"in : Mapping data",{"$nulls":6},"31.1","*-to-0"]
[null,null,null,"in:Mission flight data",{"$nulls":6},"31.1","*-to-0"]
[null,null,null,"in : Predefined flight zone borders",null,{"$f":"IF(NOT(ISBLANK(E297)),E297,F296)","v":0},null,{"$f":"IF(F296=F297,H296,G297)","v":0},null,null,"31.2","1-to-1","@system : naming problem « predefineD »","ok",null,null,"input"]
[null,null,null,"out : Aircraft type",null,{"$f":"IF(NOT(ISBLANK(E298)),E298,F297)","v":0},null,{"$f":"IF(F297=F298,H297,G298)","v":0},null,null,"31.3","*-to-0","reviewed by pilot during flight plan validation before mission launch","ok"]
[null,null,null,"out : Flight zone",null,{"$f":"IF(NOT(ISBLANK(E299)),E299,F298)","v":0},null,{"$f":"IF(F298=F299,H298,G299)","v":0},null,null,"31.4","1-to-n","Same dysfunctional status","ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]
[null,null,null,"out : Flight plan",null,{"$f":"IF(NOT(ISBLANK(E300)),E300,F299)","v":0},null,{"$f":"IF(F299=F300,H299,G300)","v":0},null,null,"31.4","1-to-n"]
[null,null,null,"out : Flight aerial view",null,{"$f":"IF(NOT(ISBLANK(E301)),E301,F300)","v":0},null,{"$f":"IF(F300=F301,H300,G301)","v":0},null,null,"31.5","*-to-0","Only used for validation of flight plan by pilot before mission launch. Not modeled.","ok"]
[null,"[SF6.1.1] Set flight zone borders","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E302)),E302,F301)","v":31},null,{"$f":"IF(F301=F302,H301,G302)","v":0},"folded model component"]
[null,"[SF6.1.2] Map the flight zone","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E303)),E303,F302)","v":31},null,{"$f":"IF(F302=F303,H302,G303)","v":0},"folded model component"]
[null,"[SF6.1.3] Detect aircraft position","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E304)),E304,F303)","v":31},null,{"$f":"IF(F303=F304,H303,G304)","v":0},"folded model component"]
[null,"[SF6.1.4] Detect obstacles","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E305)),E305,F304)","v":31},null,{"$f":"IF(F304=F305,H304,G305)","v":0},"folded model component"]
[null,"[SF6.1.5] Compute the flight plan","[SF6.1] Compute flight plan and flight zone",null,31,{"$f":"IF(NOT(ISBLANK(E306)),E306,F305)","v":31},null,{"$f":"IF(F305=F306,H305,G306)","v":0},"folded model component"]
[null,"[SF6.2] Store data","[SF6] Manage mission",null,32,{"$f":"IF(NOT(ISBLANK(E307)),E307,F306)","v":32},null,{"$f":"IF(F306=F307,H306,G307)","v":0},"*-to-0","to model"]
[null,null,null,"control mode",{"$nulls":8},"?  to discuss ? To be modeled if safety impact"]
[null,null,null,"flight plan progress",{"$nulls":7},"*-to-0","no safety impact, pilot uses only visual detection"]
[null,"[SF6.3] Analyse drone measurement","[SF6] Manage mission",null,32,{"$f":"IF(NOT(ISBLANK(E310)),E310,F307)","v":32},null,{"$f":"IF(F307=F310,H307,G310)","v":0},"*-to-0","after drone landing",null,null,null,"ok"]
[null,"[SF6.3.1] Analyse measurement manually","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E311)),E311,F310)","v":32},null,{"$f":"IF(F310=F311,H310,G311)","v":0},"folded model component"]
[null,"[SF6.3.2] Analyse mission automatically","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E312)),E312,F311)","v":32},null,{"$f":"IF(F311=F312,H311,G312)","v":0},"folded model component"]
[null,"[SF6.3.3] Generate mission report","[SF6.3] Analyse drone measurement",null,32,{"$f":"IF(NOT(ISBLANK(E313)),E313,F312)","v":32},null,{"$f":"IF(F312=F313,H312,G313)","v":0},"folded model component"]
[null,"[SF7] Monitor drone control","Root Physical Function",null,33,{"$f":"IF(NOT(ISBLANK(E314)),E314,F313)","v":33},null,{"$f":"IF(F313=F314,H313,G314)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF7"]
["RPL Compute drone attitude","[SF7.1] Compute drone attitude MON","[SF7] Monitor drone control",null,34,{"$f":"IF(NOT(ISBLANK(E315)),E315,#REF!)","v":34},"x",{"$f":"IF(#REF!=F315,#REF!,G315)","v":{"$error":"#VALUE!"}},"1-to-1","Consistent REC/RPL",null,null,null,"Ok RPL validate by system",null,null,null,"SF71_ComputeAttitudeMON","RPL SourceFunction/Compute drone"]
[null,null,null,"In : AccelerationMON",null,{"$f":"IF(NOT(ISBLANK(E316)),E316,F315)","v":34},null,{"$f":"IF(F315=F316,H315,G316)","v":{"$error":"#VALUE!"}},null,null,"34.1","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"in : North direction MON",null,{"$f":"IF(NOT(ISBLANK(E317)),E317,F316)","v":34},null,{"$f":"IF(F316=F317,H316,G317)","v":{"$error":"#VALUE!"}},null,null,"34.1","*-to-0"]
[null,null,null,"in : Rate MON",null,{"$f":"IF(NOT(ISBLANK(E318)),E318,F317)","v":34},null,{"$f":"IF(F317=F318,H317,G318)","v":{"$error":"#VALUE!"}},null,null,"34.1","*-to-0"]
[null,null,null,"in : Pitch and roll consigns MON",null,{"$f":"IF(NOT(ISBLANK(E319)),E319,F318)","v":34},null,{"$f":"IF(F318=F319,H318,G319)","v":{"$error":"#VALUE!"}},null,null,"34.2","*-to-0","Unlooping (Safety hypothesis Nb02)","ok"]
[null,null,null,"out : Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E320)),E320,F319)","v":34},null,{"$f":"IF(F319=F320,H319,G320)","v":{"$error":"#VALUE!"}},null,null,"34.3","1-to-n","Gathering attitude and attitude rate","ok","by RPL (standard)","ok","output"]
[null,null,null,"out : Drone attitude rate MON",null,{"$f":"IF(NOT(ISBLANK(E321)),E321,F320)","v":34},null,{"$f":"IF(F320=F321,H320,G321)","v":{"$error":"#VALUE!"}},null,null,"34.3","1-to-n"]
[null,"[SF7.1.1] Measure drone acceleration MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E322)),E322,F321)","v":34},null,{"$f":"IF(F321=F322,H321,G322)","v":{"$error":"#VALUE!"}},"folded model component"]
[null,"[SF7.1.2] Measure drone rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E323)),E323,F322)","v":34},null,{"$f":"IF(F322=F323,H322,G323)","v":{"$error":"#VALUE!"}},"folded model component"]
[null,"[SF7.1.3] Measure magnetic north direction MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E324)),E324,F323)","v":34},null,{"$f":"IF(F323=F324,H323,G324)","v":{"$error":"#VALUE!"}},"folded model component"]
[null,"[SF7.1.4] Estimate X and Y rates MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E325)),E325,F324)","v":34},null,{"$f":"IF(F324=F325,H324,G325)","v":{"$error":"#VALUE!"}},"folded model component"]
[null,"[SF7.1.5] Estimate Z rate MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E326)),E326,F325)","v":34},null,{"$f":"IF(F325=F326,H325,G326)","v":{"$error":"#VALUE!"}},"folded model component"]
[null,"[SF7.1.6] Compute pitch, roll, yaw rates and angles MON","[SF7.1] Compute drone attitude MON",null,34,{"$f":"IF(NOT(ISBLANK(E327)),E327,F326)","v":34},null,{"$f":"IF(F326=F327,H326,G327)","v":{"$error":"#VALUE!"}},"folded model component"]
["RPL Compute drone altitude","[SF7.2] Compute drone altitude MON","[SF7] Monitor drone control",null,35,{"$f":"IF(NOT(ISBLANK(E328)),E328,F327)","v":35},"x",{"$f":"IF(F327=F328,H327,G328)","v":"x"},"1-to-n","REC/RPL cohérent, donc tous les ports sont auto. Avec sous-fonctions masquées",null,null,null,"ok",null,null,null,"SF72_ComputeAltitudeMON","RPL InOutFunction/Compute altitude"]
[null,null,null,"in : Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E329)),E329,F328)","v":35},null,{"$f":"IF(F328=F329,H328,G329)","v":"x"},null,null,"35.1","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"in : Ground distance MON",null,{"$f":"IF(NOT(ISBLANK(E330)),E330,F329)","v":35},null,{"$f":"IF(F329=F330,H329,G330)","v":"x"},null,null,"35.2","*-to-0","Physical stimuli, cannot have dysfunctional status","ok"]
[null,null,null,"in : Pressure MON",null,{"$f":"IF(NOT(ISBLANK(E331)),E331,F330)","v":35},null,{"$f":"IF(F330=F331,H330,G331)","v":"x"},null,null,"35.3","*-to-0"]
[null,null,null,"out : Altitude MON",null,{"$f":"IF(NOT(ISBLANK(E332)),E332,F331)","v":35},null,{"$f":"IF(F331=F332,H331,G332)","v":"x"},null,null,"35.4","1-to-n","Same dysfunctional status","ok","by RPL (standard)","ok","output"]
[null,null,null,"out : Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(E333)),E333,F332)","v":35},null,{"$f":"IF(F332=F333,H332,G333)","v":"x"},null,null,"35.4","1-to-n"]
[null,null,null,"out : Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(E334)),E334,F333)","v":35},null,{"$f":"IF(F333=F334,H333,G334)","v":"x"},null,null,"35.5","1-to-n"]
[null,"[SF7.2.1] Measure ambient pressure MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E335)),E335,F334)","v":35},null,{"$f":"IF(F334=F335,H334,G335)","v":"x"},"folded model component"]
[null,"[SF7.2.2] Compute barometric altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E336)),E336,F335)","v":35},null,{"$f":"IF(F335=F336,H335,G336)","v":"x"},"folded model component"]
[null,"[SF7.2.3] Measure telemetric signal MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E337)),E337,F336)","v":35},null,{"$f":"IF(F336=F337,H336,G337)","v":"x"},"folded model component"]
[null,"[SF7.2.4] Compute ground altitude MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E338)),E338,F337)","v":35},null,{"$f":"IF(F337=F338,H337,G338)","v":"x"},"folded model component"]
[null,"[SF7.2.5] Compute altitude and vertical speed MON","[SF7.2] Compute drone altitude MON",null,35,{"$f":"IF(NOT(ISBLANK(E339)),E339,F338)","v":35},null,{"$f":"IF(F338=F339,H338,G339)","v":"x"},"folded model component"]
[null,"[SF7.3] Control attitude and altitude MON","[SF7] Monitor drone control",null,36,{"$f":"IF(NOT(ISBLANK(E340)),E340,F339)","v":36},null,{"$f":"IF(F339=F340,H339,G340)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"SF73_ControlAttitudeAndAltitudeMON"]
["RPL Compute total thrust","[SF7.3.1] Compute total thrust MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(E341)),E341,#REF!)","v":37},"x",{"$f":"IF(F340=F341,H340,G341)","v":"x"},"1-to-n","La réplique n’est pas identique à la classe donc pas utilisable en synchro (cependant les rec/rpl système/safety sont cohérent au niveau du périmètre). Les flux compléter car copier/coller du tableau de synhcro des REC et avec l’aide du shéma safety pour remonter d’un niveau",null,null,null,"ok by REC/RPL to be renamed see rec","by RPL","ok",null,"SF731_2_ControlAltitudeMON","RPL SF242"]
[null,null,null,"in: Drone roll",null,{"$f":"IF(NOT(ISBLANK(E342)),E342,F341)","v":37},null,{"$f":"IF(F341=F342,H341,G342)","v":"x"},null,null,"37.1","1-to-n",null,"ok",null,null,"in : Attitude"]
[null,null,null,"in: Drone pitch",null,{"$f":"IF(NOT(ISBLANK(E343)),E343,F342)","v":37},null,{"$f":"IF(F342=F343,H342,G343)","v":"x"},null,null,"37.1","1-to-n"]
[null,null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(E344)),E344,F343)","v":37},null,{"$f":"IF(F343=F344,H343,G344)","v":"x"},null,null,"37.2","1-to-1",null,"ok",null,null,"in : Altitude"]
[null,null,null,"in: Altitude consign",null,{"$f":"IF(NOT(ISBLANK(E345)),E345,F344)","v":37},null,{"$f":"IF(F344=F345,H344,G345)","v":"x"},null,null,"37.3","1-to-1",null,"ok",null,null,"in : AltitudeConsign",null," "]
["RPL Select total thrust consign","[SF7.3.2] Select total thrust consign MON","[SF7.3] Control attitude and altitude MON",null,37,{"$f":"IF(NOT(ISBLANK(E346)),E346,F345)","v":37},null,{"$f":"IF(F345=F346,H345,G346)","v":"x"},"1-to-n"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E347)),E347,F346)","v":37},null,{"$f":"IF(F346=F347,H346,G347)","v":"x"},null,null,"37.8","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"in: T AP",null,{"$f":"IF(NOT(ISBLANK(E348)),E348,F347)","v":37},null,{"$f":"IF(F347=F348,H347,G348)","v":"x"},null,null,"37.9","1-to-1",null,"ok",null,null,"in T_AP"]
[null,null,null,"out: T MON",null,{"$f":"IF(NOT(ISBLANK(E349)),E349,F346)","v":37},null,{"$f":"IF(F346=F349,H346,G349)","v":"x"},null,null,"37.4","1-to-1","name diff","ok","by RPL","ok","out : T"]
["RPL Select attitude consign","[SF7.3.3] Select attitude consign MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E350)),E350,F349)","v":38},"x",{"$f":"IF(F349=F350,H349,G350)","v":"x"},"1-to-n","le rec/rpl est cohérent. Attention, il y a en fait un niveau de plus dans le modèle safety",{"$nulls":4},"by RPL","ok",null,"SF733_6_ControlAttitudeMON","RPL SF232"]
[null,null,null,"in: AP engagement",null,{"$f":"IF(NOT(ISBLANK(E351)),E351,F350)","v":38},null,{"$f":"IF(F350=F351,H350,G351)","v":"x"},null,null,"38.1","1-to-1",null,"ok",null,null,"in : APEngagement"]
[null,null,null,"in: Attitude AP consigns",null,{"$f":"IF(NOT(ISBLANK(E352)),E352,F351)","v":38},null,{"$f":"IF(F351=F352,H351,G352)","v":"x"},null,null,"38.3","1-to-1",null,"ok",null,null,"in : AttitudeConsign"]
[null,null,null,"in: Attitude manual consigns",null,{"$f":"IF(NOT(ISBLANK(E353)),E353,F352)","v":38},null,{"$f":"IF(F352=F353,H352,G353)","v":"x"},null,null,"38.4","1-to-1",null,"ok",null,null,"in : AttitudeAPConsign"]
[null,null,null,"out: Roll consign MON",null,{"$f":"IF(NOT(ISBLANK(E354)),E354,F351)","v":38},null,{"$f":"IF(F351=F354,H351,G354)","v":"x"},null,null,"38.2","*-to-0","Unlooping (Safety hypothesis Nb02)","ok",{"$nulls":4}," "]
[null,null,null,"out: Pitch consign MON",null,{"$f":"IF(NOT(ISBLANK(E355)),E355,F354)","v":38},null,{"$f":"IF(F354=F355,H354,G355)","v":"x"},null,null,"38.2","*-to-0"]
["RPL Control pitch angle","[SF7.3.4] Control pitch angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E356)),E356,F355)","v":38},null,{"$f":"IF(F355=F356,H355,G356)","v":"x"},"1-to-n"]
[null,null,null,"out: Ptheta",null,{"$f":"IF(NOT(ISBLANK(E357)),E357,F356)","v":38},null,{"$f":"IF(F356=F357,H356,G357)","v":"x"},null,null,"38.5","1-to-n","Same dysfunctional status","ok","by RPL (safety)","ok","out : P"]
["RPL Control roll angle","[SF7.3.5] Control roll angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E358)),E358,F357)","v":38},null,{"$f":"IF(F357=F358,H357,G358)","v":"x"},"1-to-n"]
[null,null,null,"out: Pphi",null,{"$f":"IF(NOT(ISBLANK(E359)),E359,F358)","v":38},null,{"$f":"IF(F358=F359,H358,G359)","v":"x"},null,null,"38.5","1-to-n"]
["RPL Control yaw angle","[SF7.3.6] Control yaw angle MON","[SF7.3] Control attitude and altitude MON",null,38,{"$f":"IF(NOT(ISBLANK(E360)),E360,F359)","v":38},null,{"$f":"IF(F359=F360,H359,G360)","v":"x"},"1-to-n"]
[null,null,null,"out: Ppsi",null,{"$f":"IF(NOT(ISBLANK(E361)),E361,F360)","v":38},null,{"$f":"IF(F360=F361,H360,G361)","v":"x"},null,null,"38.5","1-to-n"]
["RPL Compute thrust","[SF7.3.7] Compute thrust MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(E362)),E362,F361)","v":39},"x",{"$f":"IF(F361=F362,H361,G362)","v":"x"},"N-to-n","@system : not the same outputs in REC and RPL",{"$nulls":5},"ok",null,"SF737_All_Needed","RPL ComputeThrustAndRate AllNeeded+InOutFunction"]
[{"$nulls":4},39,{"$f":"IF(NOT(ISBLANK(E363)),E363,F362)","v":39},null,{"$f":"IF(F362=F363,H362,G363)","v":"x"},"N-to-n",{"$nulls":8},"SF737_8_ControlThrust"]
[null,null,null,"in: Ptheta",null,{"$f":"IF(NOT(ISBLANK(E364)),E364,F363)","v":39},null,{"$f":"IF(F363=F364,H363,G364)","v":"x"},null,null,"39.1","1-to-n","Gather 3 torque consigns projected by axis","ok",null,null,"SF737_All_Needed.input1"]
[null,null,null,"in: Pphi",null,{"$f":"IF(NOT(ISBLANK(E365)),E365,F364)","v":39},null,{"$f":"IF(F364=F365,H364,G365)","v":"x"},null,null,"39.1","1-to-n"]
[null,null,null,"in: Ppsi",null,{"$f":"IF(NOT(ISBLANK(E366)),E366,F365)","v":39},null,{"$f":"IF(F365=F366,H365,G366)","v":"x"},null,null,"39.1","1-to-n"]
[null,null,null,"in: T MON",null,{"$f":"IF(NOT(ISBLANK(E367)),E367,F366)","v":39},null,{"$f":"IF(F366=F367,H366,G367)","v":"x"},null,null,"39.1","1-to-1",null,"ok",null,null,"SF737_All_Needed.input2"]
["RPL Compute motor rate","[SF7.3.8] Compute motor rate MON","[SF7.3] Control attitude and altitude MON",null,39,{"$f":"IF(NOT(ISBLANK(E368)),E368,F367)","v":39},null,{"$f":"IF(F367=F368,H367,G368)","v":"x"},"N-to-n"]
[null,null,null,"out: Motor 1 rate MON",null,{"$f":"IF(NOT(ISBLANK(E369)),E369,F368)","v":39},null,{"$f":"IF(F368=F369,H368,G369)","v":"x"},null,null,"39.2","1-to-n","Gather 4 motor rates in one structured type. Same cone","ok","by safety RPL (standard)","ok","SF737_8_ControlThrust.output"]
[null,null,null,"out: Motor 2 rate MON",null,{"$f":"IF(NOT(ISBLANK(E370)),E370,F369)","v":39},null,{"$f":"IF(F369=F370,H369,G370)","v":"x"},null,null,"39.2","1-to-n"]
[null,null,null,"out: Motor 3 rate MON",null,{"$f":"IF(NOT(ISBLANK(E371)),E371,F370)","v":39},null,{"$f":"IF(F370=F371,H370,G371)","v":"x"},null,null,"39.2","1-to-n"]
[null,null,null,"out: Motor 4 rate MON",null,{"$f":"IF(NOT(ISBLANK(E372)),E372,F371)","v":39},null,{"$f":"IF(F371=F372,H371,G372)","v":"x"},null,null,"39.2","1-to-n"]
[null,"[SF7.4] Monitor drone parameters","[SF7] Monitor drone control",null,40,{"$f":"IF(NOT(ISBLANK(E373)),E373,F372)","v":40},null,{"$f":"IF(F372=F373,H372,G373)","v":0},"1-to-1",{"$nulls":8},"SF74_MonitorParameters"]
[null,"[SF7.4.1] Compare drone attitude","[SF7.4] Monitor drone parameters",null,41,{"$f":"IF(NOT(ISBLANK(E374)),E374,F373)","v":41},"x",{"$f":"IF(F373=F374,H373,G374)","v":"x"},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.","ok",null,"SF741_MonitorAttitude","REC Comparator"]
[null,null,null,"in: Drone attitude MON",null,{"$f":"IF(NOT(ISBLANK(E375)),E375,F374)","v":41},null,{"$f":"IF(F374=F375,H374,G375)","v":"x"},null,null,"41.1","1-to-n","Gather attitute and attitude rate","ok",null,null,"input"]
[null,null,null,"in: Drone attitude rate MON",null,{"$f":"IF(NOT(ISBLANK(E376)),E376,F375)","v":41},null,{"$f":"IF(F375=F376,H375,G376)","v":"x"},null,null,"41.1","1-to-n",null,"ok"]
[null,null,null,"in: Drone attitude",null,{"$f":"IF(NOT(ISBLANK(E377)),E377,F376)","v":41},null,{"$f":"IF(F376=F377,H376,G377)","v":"x"},null,null,"41.2","1-to-n","Gather attitute and attitude rate","ok",null,null,"input"]
[null,null,null,"in: Drone attitude rate",null,{"$f":"IF(NOT(ISBLANK(E378)),E378,F377)","v":41},null,{"$f":"IF(F377=F378,H377,G378)","v":"x"},null,null,"41.2","1-to-n",null,"ok"]
[null,null,null,"out: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E379)),E379,F378)","v":41},null,{"$f":"IF(F378=F379,H378,G379)","v":"x"},null,null,"41.3","1-to-1",null,"ok","Whole cone, see behavior review file","ok","output"]
[null,"[SF7.4.2] Compare drone altitude","[SF7.4] Monitor drone parameters",null,42,{"$f":"IF(NOT(ISBLANK(E380)),E380,F378)","v":42},"x",{"$f":"IF(F378=F380,H378,G380)","v":"x"},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF742_MonitorAltitude","RPL Comparator"]
[null,null,null,"in: Ground altitude MON",null,{"$f":"IF(NOT(ISBLANK(E381)),E381,F380)","v":42},null,{"$f":"IF(F380=F381,H380,G381)","v":"x"},null,null,"42.1","1-to-n","The gathering is coherent with the gathering at source (SF72)","ok",null,null,"input"]
[null,null,null,"in: Vertical speed MON",null,{"$f":"IF(NOT(ISBLANK(E382)),E382,F381)","v":42},null,{"$f":"IF(F381=F382,H381,G382)","v":"x"},null,null,"42.1","1-to-n"]
[null,null,null,"in: Altitude MON",null,{"$f":"IF(NOT(ISBLANK(E383)),E383,F382)","v":42},null,{"$f":"IF(F382=F383,H382,G383)","v":"x"},null,null,"42.1","1-to-n"]
[null,null,null,"in: Altitude",null,{"$f":"IF(NOT(ISBLANK(E384)),E384,F383)","v":42},null,{"$f":"IF(F383=F384,H383,G384)","v":"x"},null,null,"42.2","1-to-n","The gathering is coherent with the gathering at source (SF32)","ok",null,null,"input"]
[null,null,null,"in: Vertical speed",null,{"$f":"IF(NOT(ISBLANK(E385)),E385,F384)","v":42},null,{"$f":"IF(F384=F385,H384,G385)","v":"x"},null,null,"42.2","1-to-n"]
[null,null,null,"in: Ground altitude",null,{"$f":"IF(NOT(ISBLANK(E386)),E386,F385)","v":42},null,{"$f":"IF(F385=F386,H385,G386)","v":"x"},null,null,"42.2","1-to-n"]
[null,null,null,"out: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E387)),E387,F386)","v":42},null,{"$f":"IF(F386=F387,H386,G387)","v":"x"},null,null,"41.3","1-to-1",null,"ok","by RLP","ok","output"]
[null,"[SF7.4.3] Compare drone motor consigns","[SF7.4] Monitor drone parameters",null,43,{"$f":"IF(NOT(ISBLANK(E388)),E388,F386)","v":43},"x",{"$f":"IF(F386=F388,H386,G388)","v":"x"},"1-to-1",{"$nulls":4},"REC/RPL approach is ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF743_MonitorMotorConsign","RPL Comparator"]
[null,null,null,"in: Motors rate",null,{"$f":"IF(NOT(ISBLANK(E389)),E389,F388)","v":43},null,{"$f":"IF(F388=F389,H388,G389)","v":"x"},null,null,"43.2","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"in: Motors rate MON",null,{"$f":"IF(NOT(ISBLANK(E390)),E390,F389)","v":43},null,{"$f":"IF(F389=F390,H389,G390)","v":"x"},null,null,"43.3","1-to-1",null,"ok",null,null,"input"]
[null,null,null,"out: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(E391)),E391,F390)","v":43},null,{"$f":"IF(F390=F391,H390,G391)","v":"x"},null,null,"43.1","1-to-1",null,"ok","by RPL","ok","output"]
[null,"[SF7.4.4] Compare drone motor rate","[SF7.4] Monitor drone parameters",null,44,{"$f":"IF(NOT(ISBLANK(E392)),E392,F390)","v":44},"x",{"$f":"IF(F390=F392,H390,G392)","v":"x"},"1-to-1","@system : use REC/RPL to show that the 4 lines are the same would be a good idea",null,null,null,"ok","SF7.4 has failure modes as a whole. SF7.4 failure modes are modeled in SF7.4.5. As a consequence SF7.4.1, SF7.4.2, SF7.4.3 and SF7.4.4 are modeled without failure modes.",null,null,"SF744_MonitorMotorRate"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E393)),E393,F392)","v":44},null,{"$f":"IF(F392=F393,H392,G393)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate1 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E394)),E394,F393)","v":44},null,{"$f":"IF(F393=F394,H393,G394)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate2 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E395)),E395,F394)","v":44},null,{"$f":"IF(F394=F395,H394,G395)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate3 (subfunction)"]
[{"$nulls":4},44,{"$f":"IF(NOT(ISBLANK(E396)),E396,F395)","v":44},null,{"$f":"IF(F395=F396,H395,G396)","v":"x"},"folded model component",{"$nulls":8},"MonitorMotorRate4 (subfunction)"]
[null,null,null,"in: Motors rate",null,{"$f":"IF(NOT(ISBLANK(E397)),E397,F396)","v":44},null,{"$f":"IF(F396=F397,H396,G397)","v":"x"},null,null,"44.1","1-to-1",null,"ok",null,null,"In : MotorRate"]
[null,null,null,"in: Motors rate measured",null,{"$f":"IF(NOT(ISBLANK(E398)),E398,F397)","v":44},null,{"$f":"IF(F397=F398,H397,G398)","v":"x"},null,null,"44.2","1-to-1","Record/Gather type including 4 rates","ok",null,null,"In : MotorRateMeasured"]
[null,null,null,"out : Motor 1 runaway",{"$nulls":6},"44.3","1-to-1",null,null,"Cone = {Motor rate, Motor 1 rate measured}. Non standard behavior, see behavior review file","ok","out : Motor1Runaway"]
[null,null,null,"out : Motor 2 runaway",{"$nulls":6},"44.4","1-to-1",null,null,"Cone = {Motor rate, Motor 2 rate measured}. Same behavior as Motor1Runaway","ok","out : Motor2Runaway"]
[null,null,null,"out : Motor 3 runaway",{"$nulls":6},"44.5","1-to-1",null,null,"Cone = {Motor rate, Motor 3 rate measured}. Same behavior as Motor1Runaway","ok","out : Motor3Runaway"]
[null,null,null,"out : Motor 4 runaway",{"$nulls":6},"44.6","1-to-1",null,null,"Cone = {Motor rate, Motor 4 rate measured}. Same behavior as Motor1Runaway","ok","out : Motor4Runaway"]
[null,"[SF7.4.5] Disable drone motor","[SF7.4] Monitor drone parameters",null,59,{"$f":"IF(NOT(ISBLANK(E403)),E403,F398)","v":59},"x",{"$f":"IF(F398=F403,H398,G403)","v":"x"},"1-to-n","@system : use REC/RPL to show that the 4 lines are the same would be a good idea",null,null,null,"ok",null,null,null,"SF745_DisableDroneMotor"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"FailureModesOfSF74"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"FMPropagation1"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"FMPropagation2"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"FMPropagation3"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"FMPropagation4"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"OR1"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"OR2"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"OR3"]
[{"$nulls":4},59,null,null,null,"folded model component",{"$nulls":7},"OR4"]
[null,null,null,"in: Attitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E413)),E413,F404)","v":0},null,{"$f":"IF(F404=F413,H404,G413)","v":0},null,null,"59.1","1-to-1","name diff justified. In failure means detected failure, in safety is an event and can exist in model whereas it is not detected by system",null,null,null,"AttitudeFailureDetected"]
[null,null,null,"in: Altitude measurement failure",null,{"$f":"IF(NOT(ISBLANK(E414)),E414,F413)","v":0},null,{"$f":"IF(F413=F414,H413,G414)","v":0},null,null,"59.2","1-to-1","name diff, idem",null,null,null,"AltitudeComparison"]
[null,null,null,"in: Motor consign failure",null,{"$f":"IF(NOT(ISBLANK(E415)),E415,F414)","v":0},null,{"$f":"IF(F414=F415,H414,G415)","v":0},null,null,"59.3","1-to-1","name diff, idem",null,null,null,"MotorConsignComparison"]
[null,null,null,"in : Motor 1 runaway",{"$nulls":6},"59.4","1-to-1",null,"ok",null,null,"Motor1Runaway"]
[null,null,null,"in : Motor 2 runaway",{"$nulls":6},"59.5","1-to-1",null,"ok",null,null,"Motor2Runaway"]
[null,null,null,"in : Motor 3 runaway",{"$nulls":6},"59.6","1-to-1",null,"ok",null,null,"Motor3Runaway"]
[null,null,null,"in : Motor 4 runaway",{"$nulls":6},"59.7","1-to-1",null,"ok",null,null,"Motor4Runaway"]
[null,null,null,"out: Motor 1 disabled",null,{"$f":"IF(NOT(ISBLANK(E420)),E420,F415)","v":0},null,{"$f":"IF(F415=F420,H415,G420)","v":0},null,null,"59.8","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Non standard behavior, see behavior review file","ok","MotorDisabled^Motor1"]
[null,null,null,"out: Motor 2 disabled",null,{"$f":"IF(NOT(ISBLANK(E421)),E421,F420)","v":0},null,{"$f":"IF(F420=F421,H420,G421)","v":0},null,null,"59.8","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor2"]
[null,null,null,"out: Motor 3 disabled",null,{"$f":"IF(NOT(ISBLANK(E422)),E422,F421)","v":0},null,{"$f":"IF(F421=F422,H421,G422)","v":0},null,null,"59.8","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor3"]
[null,null,null,"out: Motor 4 disabled",null,{"$f":"IF(NOT(ISBLANK(E423)),E423,F422)","v":0},null,{"$f":"IF(F422=F423,H422,G423)","v":0},null,null,"59.8","1-to-n",null,"ok","Cone = {Attitude and Altitude measurement failures, Motor consign failure, Motor 1 runaway}. Same behavior as Motor 1 disabled","ok","MotorDisabled^Motor4"]
[null,"[Env] Create lift and drag forces and torques","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E424)),E424,F423)","v":50},null,{"$f":"IF(F423=F424,H423,G424)","v":0},"*-to-0","not necessary to safety modeling and not considered in failure"]
[null,"[Env] Stimulate acceleration sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E425)),E425,F424)","v":50},null,{"$f":"IF(F424=F425,H424,G425)","v":0},"*-to-0"]
[null,"[Env] Stimulate rate sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E426)),E426,F425)","v":50},null,{"$f":"IF(F425=F426,H425,G426)","v":0},"*-to-0"]
[null,"[Env] Stimulate magnetic sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E427)),E427,F426)","v":50},null,{"$f":"IF(F426=F427,H426,G427)","v":0},"*-to-0"]
[null,"[Env] Stimulate pressure sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E428)),E428,F427)","v":50},null,{"$f":"IF(F427=F428,H427,G428)","v":0},"*-to-0"]
[null,"[Env] Stimulate telemetric sensors","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E429)),E429,F428)","v":50},null,{"$f":"IF(F428=F429,H428,G429)","v":0},"*-to-0"]
[null,"[Env] Simulate ground video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E430)),E430,F429)","v":50},null,{"$f":"IF(F429=F430,H429,G430)","v":0},"*-to-0"]
[null,"[Pos] Generate positioning signal","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E431)),E431,F430)","v":50},null,{"$f":"IF(F430=F431,H430,G431)","v":0},"*-to-0"]
[null,"[A/C] Stimulate payload video camera","Root Physical Function",null,50,{"$f":"IF(NOT(ISBLANK(E432)),E432,F431)","v":50},null,{"$f":"IF(F431=F432,H431,G432)","v":0},"*-to-0"]
[null,"[Pil] Manually control AIDA","Root Physical Function",null,51,{"$f":"IF(NOT(ISBLANK(E433)),E433,F432)","v":51},"x",{"$f":"IF(F432=F433,H432,G433)","v":"x"},"1-to-n",{"$nulls":8},"PilotDetection"]
[null,null,null,"out : Pilot control mode",null,{"$f":"IF(NOT(ISBLANK(E434)),E434,F433)","v":51},null,{"$f":"IF(F433=F434,H433,G434)","v":"x"},null,null,"51.1","1-to-n",{"$nulls":4},"Out :PilotManualControl"]
[null,null,null,"out : Manual payload control",null,{"$f":"IF(NOT(ISBLANK(E435)),E435,F434)","v":51},null,{"$f":"IF(F434=F435,H434,G435)","v":"x"},null,null,"51.2","*-to-0","?"]
[null,null,null,"out: Pilot orders",null,{"$f":"IF(NOT(ISBLANK(E436)),E436,F435)","v":51},null,{"$f":"IF(F435=F436,H435,G436)","v":"x"},null,null,"51.3","*-to-0","Supposed always correct in safety"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E437)),E437,F436)","v":51},null,{"$f":"IF(F436=F437,H436,G437)","v":"x"},null,null,"51.4","*-to-0","safety modeling artefact",null,null,null,"Out : PilotInconsistentControl"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E438)),E438,F437)","v":51},null,{"$f":"IF(F437=F438,H437,G438)","v":"x"},null,null,"51.5","*-to-0","safety modeling artefact to model visual detection",null,null,null,"in : inputFlightPlan"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E439)),E439,F438)","v":51},null,{"$f":"IF(F438=F439,H438,G439)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputPosition"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E440)),E440,F439)","v":51},null,{"$f":"IF(F439=F440,H439,G440)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputSpeed"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E441)),E441,F440)","v":51},null,{"$f":"IF(F440=F441,H440,G441)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputControlPosition"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E442)),E442,F441)","v":51},null,{"$f":"IF(F441=F442,H441,G442)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputLostHElixesControl"]
[{"$nulls":5},{"$f":"IF(NOT(ISBLANK(E443)),E443,F442)","v":51},null,{"$f":"IF(F442=F443,H442,G443)","v":"x"},null,null,"51.5","*-to-0",{"$nulls":4},"in : inputSelectedMode"]
[null,"[Pil] Manually control the drone","[Pil] Manually control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(E444)),E444,F443)","v":51},null,{"$f":"IF(F443=F444,H443,G444)","v":"x"},"folded model component"]
[null,"[Pil] Manually control the drone payload","Root Physical Function",null,51,{"$f":"IF(NOT(ISBLANK(E445)),E445,F444)","v":51},null,{"$f":"IF(F444=F445,H444,G445)","v":"x"},"folded model component"]
[null,"[Pil] Enter a control mode",null,null,51,null,null,null,"folded model component"]
[null,"[Pil] Automaticallly control AIDA",null,null,51,null,null,null,"1-to-n"]
[null,null,null,"in : Control mode"]
[null,null,null,"in : Flight plan progress"]
[null,null,null,"in : Flight aerial view"]
[null,null,null,"out : aircraft position validation"]
[null,null,null,"out : aircraft type"]
[null,null,null,"out : exclusion zones"]
[null,null,null,"out : Flight domain"]
[null,null,null,"out : Flight plan validation"]
[null,null,null,"out : Pilot control consigns"]
[null,"[Pil] Enter control consigns"]
[null,"[Pil] Check AIDA control mode","[Pil] Automatically control AIDA",null,51,{"$f":"IF(NOT(ISBLANK(E458)),E458,F445)","v":51},null,{"$f":"IF(F445=F458,H445,G458)","v":"x"},"folded model component","to be modeled"]
[null,"[Pil] Set and adjust flight plan","[Pil] Automatically control AIDA",null,52,{"$f":"IF(NOT(ISBLANK(E459)),E459,F458)","v":52},null,{"$f":"IF(F458=F459,H458,G459)","v":0},"*-to-0"]
[null,null,null,"in : Flight zone aerial view"]
[]
[null,"[Pil] analyse mission results","Root Physical Function",null,52,{"$f":"IF(NOT(ISBLANK(E462)),E462,F459)","v":52},null,{"$f":"IF(F459=F462,H459,G462)","v":0},"*-to-0"]
[null,"[Pil] Analyse and validate the report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(E463)),E463,F462)","v":52},null,{"$f":"IF(F462=F463,H462,G463)","v":0},"folded model component"]
[null,"[Pil] Read report","[Pil] analyse mission results",null,52,{"$f":"IF(NOT(ISBLANK(E464)),E464,F463)","v":52},null,{"$f":"IF(F463=F464,H463,G464)","v":0},"folded model component"]
[null,"[DB] Exchange data with AIDA","Root Physical Function",null,60,{"$f":"IF(NOT(ISBLANK(E465)),E465,F464)","v":60},null,{"$f":"IF(F464=F465,H464,G465)","v":0},"transparent"]
[null,"[DB] Download mission results","[DB] Exchange data with AIDA",null,61,{"$f":"IF(NOT(ISBLANK(E466)),E466,F465)","v":61},null,{"$f":"IF(F465=F466,H465,G466)","v":0},"*-to-0"]
[null,"[DB] Upload mission description and former mission data",null,null,61,null,null,null,"*-to-0"]
[null,"[DB] Upload predefine flight zone boarders","[DB] Exchange data with AIDA",null,62,{"$f":"IF(NOT(ISBLANK(E468)),E468,F466)","v":62},null,{"$f":"IF(F466=F468,H466,G468)","v":0},"1-to-1",{"$nulls":4},"ok",null,null,null,"EXT_Database_UploadPredefinedFlightZoneBoarders"]
[null,null,null,"out : Predefined flight zone boarders",{"$nulls":6},"62.1","1-to-1",null,"ok","[STD] Whole cone, standard failure modes, standard combination","ok","output"]

{"sheet":"Feuille6","index":5,"n_rows":218,"n_cols":27,"rows_kept":218,"cut":false,"hidden":false,"merged":[]}
[2,{"$nulls":4},"Total SF",null,"Identique 1-to-1","Suppression *-to0 + folded + folder","Modif 1-to-n + N-to-n",null,"Ajouté dans la safety (Lien 1-n/N-n/folded, pas de SF)",{"$nulls":7},"Ports système","identique","supprimé","Modif"]
[3,{"$nulls":4},"[SF1] Control drone helixes",null,"1-to-1","[SF2.1.1] Control position","[SF1.1.1] Control motor 1",null,"SF1i1_5_PerfectSelectorLOST",{"$nulls":7},"in: Motor 1 rate","1-to-1","*-to-0","1-to-n"]
[47,{"$nulls":4},"[SF1.1] Control helix 1",null,"1-to-1","[SF2.1.2] Select speed consign","[SF1.1.2] Create motion 1",null,"SF212_SelectSpeedConsign",{"$nulls":7},"in: Motor i shut down","1-to-1","*-to-0","1-to-n"]
[47,{"$nulls":4},"[SF1.1.1] Control motor 1",null,"1-to-1","[SF2.1.3] Control speed","[SF1.1.4] Measure motor 1 position",null,"AND1",null,"System functions",90,{"$f":"O4/$O$4","v":1},null,null,null,"out: Motor i motion","1-to-1","*-to-0","1-to-n",null,"System ports",271,{"$f":"Z4/$Z$4","v":1}]
[47,{"$nulls":4},"[SF1.1.2] Create motion 1",null,"1-to-1","[SF2.1.4] Compute thrust and attitude consign","[SF1.1.5] Compute motor 1 rate",null,"AND2",null,"Present and structurally identical",39,{"$f":"O5/$O$4","v":0.433333333333333},null,null,null,"out: Motor 1 rate measured","1-to-1","*-to-0","1-to-n",null,"Present and structurally identical",78,{"$f":"Z5/$Z$4","v":0.287822878228782}]
[47,{"$nulls":4},"[SF1.1.4] Measure motor 1 position",null,"1-to-1","[SF2.2.1] Acquire pitch order","[SF2.3.2] Select attitude consign",null,"AND3",null,"Structurally different",16,{"$f":"O6/$O$4","v":0.177777777777778},null,null,null,"in: Motor 1 disabled","1-to-1","*-to-0","1-to-n",null,"Structurally different",107,{"$f":"Z6/$Z$4","v":0.394833948339483}]
[47,{"$nulls":4},"[SF1.1.5] Compute motor 1 rate",null,"1-to-1","[SF2.2.2] Acquire roll order","[SF2.3.3] Control pitch angle",null,"AND4",null,"Absent",35,{"$f":"O7/$O$4","v":0.388888888888889},null,null,null,"out: Motor i shut down","1-to-1","*-to-0","1-to-n",null,"Absent",32,{"$f":"Z7/$Z$4","v":0.118081180811808}]
[48,{"$nulls":4},"[SF1.1.6] Depower motor 1",null,"1-to-1","[SF2.2.3] Acquire yaw order","[SF2.3.4] Control roll angle",null,"AND1",null,"Added safety bricks",39,{"$nulls":4},"in: Motor i motion","1-to-1","*-to-0","1-to-n",null,"Added safety ports",0]
[49,{"$nulls":4},"[SF1.1.3] Create thrust and torque at helix 1",null,"1-to-1","[SF2.2.4] Acquire altitude order","[SF2.3.5] Control yaw angle",null,"AND2",{"$nulls":7},"out: Helix 1 thrust","1-to-1","*-to-0","1-to-n"]
[4,{"$nulls":4},"[SF2] Control drone attitude and position",null,"1-to-1","[SF2.3] Control attitude","[SF2.4.2] Compute total thrust",null,"SF232_SelectAttitudeConsign",{"$nulls":7},"out: Helix 1 torque","1-to-1","*-to-0","1-to-n"]
["4 by RPL",{"$nulls":4},"[SF2.1] Automatically control drone position",null,"1-to-1","[SF2.4] Control altitude","[SF2.4.3] Select total thrust consign",null,"ControlAttitudeState",{"$nulls":7},"in : Motor 1 disabled","1-to-1","*-to-0","1-to-n"]
["4 by RPL",{"$nulls":4},"[SF2.1.1] Control position",null,"1-to-1","[SF2.5.1] Compute thrust","[SF2.5] Control thrust",null,"ControlAltitudeState",{"$nulls":7},"in : motor 1 rate","1-to-1","*-to-0","1-to-n"]
["4 by RPL",{"$nulls":4},"[SF2.1.2] Select speed consign",null,"1-to-1","[SF2.5.2] Compute motor rate","[SF3.3.2] Compute ground speed",null,"SF243_SelectTotalThrustConsign",{"$nulls":7},"out : Motor 1 rate measured","1-to-1","*-to-0","1-to-n"]
["4 by RPL",{"$nulls":4},"[SF2.1.3] Control speed",null,"1-to-1","[SF3.1.1] Measure drone acceleration","[SF5.2] Control camera orientation",null,"AND1",{"$nulls":7},"out : helix 1 thrust","1-to-1","*-to-0","1-to-n"]
["4 by RPL",{"$nulls":4},"[SF2.1.4] Compute thrust and attitude consign",null,"1-to-1","[SF3.1.2] Measure drone rate","[SF5.3] Make photos and videos",null,"AND2",{"$nulls":7},"out : helix 1 Torque","1-to-1","*-to-0","1-to-n"]
["4 by RPL",null,{"$f":"SUM(IF(A1:A157<>\"\",1/COUNTIF(A1:A157,A1:A157)))","v":59},null,null,"[SF2.2] Acquire pilot orders",null,"1-to-1","[SF3.1.3] Measure magnetic north direction","[SF5.4] Digitise photos and videos",null,"SF25_ControlThrust",{"$nulls":7},"in : Drone position","1-to-1","*-to-0","1-to-n"]
[5,{"$nulls":4},"[SF2.2.1] Acquire pitch order",null,"1-to-1","[SF3.1.4] Estimate X and Y rates","[SF7.4.5] Disable drone motor",null,"SF332_AllNeeded",{"$nulls":7},"in : Vertical speed","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.2.2] Acquire roll order",null,"1-to-1","[SF3.1.5] Estimate Z rate",null,null,"SF421_Choice",{"$nulls":7},"in : Ground speed","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.2.3] Acquire yaw order",null,"1-to-1","[SF3.1.6] Compute pitch, roll, yaw rates and angles",null,null,"SF421_Compute",{"$nulls":7},"in: Drone pitch","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.2.4] Acquire altitude order",null,"1-to-1","[SF3.2.1] Measure ambient pressure",null,null,"SF421_AND1",{"$nulls":7},"in: Drone roll","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.3] Control attitude",null,"1-to-1","[SF3.2.2] Compute barometric altitude",null,null,"SF421_FlightPlanInterruption",{"$nulls":7},"in : Drone yaw","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.3.1] Compute yaw consign",null,"1-to-1","[SF3.2.3] Measure telemetric signal",null,null,"SF421_MissionCompleted",{"$nulls":7},"in : Drone position consign","1-to-1","*-to-0","1-to-n"]
["5 by RPL",{"$nulls":4},"[SF2.3.2] Select attitude consign",null,"1-to-1","[SF3.2.4] Compute ground altitude",null,null,"transtypage",{"$nulls":7},"in : Drone speed consign","1-to-1","*-to-0","1-to-n"]
[6,{"$nulls":4},"[SF2.3.3] Control pitch angle",null,"1-to-1","[SF3.2.5] Compute altitude and vertical speed",null,null,"AcquireControlMode",{"$nulls":7},"in : Selected AP mode","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.3.4] Control roll angle",null,"1-to-1","[SF3.4.1] Acquire positioning signal",null,null,"AcquireControlConsigns",{"$nulls":7},"out : Attitude AP consigns","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.3.5] Control yaw angle",null,"1-to-1","[SF3.4.2] Compute position and time",null,null,"SF64_ControlMode",{"$nulls":7},"out : T AP","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.4] Control altitude",null,"1-to-1","[SF6.1.1] Set flight zone borders",null,null,"SF64_FlightPlanProgress",{"$nulls":7},"in : Pitch order","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.4.1] Compute altitude consign",null,"1-to-1","[SF6.1.2] Map the flight zone",null,null,"MonitorMotorRate1 (subfunction)",{"$nulls":7},"in: Roll order","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.4.2] Compute total thrust",null,"1-to-1","[SF6.1.3] Detect aircraft position",null,null,"MonitorMotorRate2 (subfunction)",{"$nulls":7},"in: Yaw rate order","1-to-1","*-to-0","1-to-n"]
["6 by RPL",{"$nulls":4},"[SF2.4.3] Select total thrust consign",null,"1-to-1","[SF6.1.4] Detect obstacles",null,null,"MonitorMotorRate3 (subfunction)",{"$nulls":7},"in: Vertical speed order","1-to-1","*-to-0","1-to-n"]
[7,{"$nulls":4},"[SF2.5] Control thrust",null,"1-to-1","[SF6.1.5] Compute the flight plan",null,null,"MonitorMotorRate4 (subfunction)",{"$nulls":7},"out : Pitch consign","1-to-1","*-to-0","1-to-n"]
[8,{"$nulls":4},"[SF2.5.1] Compute thrust",null,"1-to-1","[SF6.2] Store data",null,null,"FailureModesOfSF74",{"$nulls":7},"out : Roll consign","1-to-1","*-to-0","1-to-n"]
[8,{"$nulls":4},"[SF2.5.2] Compute motor rate",null,"1-to-1","[SF6.3] Analyse drone measurement",null,null,"FMPropagation1",{"$nulls":7},"out : Yaw rate consign","1-to-1","*-to-0","1-to-n"]
[8,{"$nulls":4},"[SF3] Compute drone position and speed",null,"1-to-1","[SF6.3.1] Analyse measurement manually",null,null,"FMPropagation2",{"$nulls":7},"out : Vertical speed consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1] Compute drone attitude",null,"1-to-1","[SF6.3.2] Analyse mission automatically",null,null,"FMPropagation3",{"$nulls":7},"in : Yaw rate consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.1] Measure drone acceleration",null,"1-to-1","[SF6.3.3] Generate mission report",null,null,"FMPropagation4",{"$nulls":7},"out : Yaw consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.2] Measure drone rate",null,"1-to-1",null,null,null,"OR1",{"$nulls":7},"in: 232.Pitch consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.3] Measure magnetic north direction",null,"1-to-1",null,null,null,"OR2",{"$nulls":7},"in: 232.Roll consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.4] Estimate X and Y rates",null,"1-to-1",null,null,null,"OR3",{"$nulls":7},"in: 232.Yaw consign","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.5] Estimate Z rate",null,"1-to-1",null,null,null,"OR4",{"$nulls":7},"in: 233. Drone pitch ","1-to-1",null,"1-to-n"]
[8,{"$nulls":4},"[SF3.1.6] Compute pitch, roll, yaw rates and angles",{"$nulls":13},"in: 233.Drone pitch rate","1-to-1",null,"1-to-n"]
[9,{"$nulls":4},"[SF3.2] Compute drone altitude",{"$nulls":13},"in: 234.Drone roll","1-to-1",null,"1-to-n"]
[9,{"$nulls":4},"[SF3.2.1] Measure ambient pressure",{"$nulls":13},"in: 234.Drone roll rate","1-to-1",null,"1-to-n"]
[9,{"$nulls":4},"[SF3.2.2] Compute barometric altitude",{"$nulls":13},"in: 235.Drone yaw","1-to-1",null,"1-to-n"]
[9,{"$nulls":4},"[SF3.2.3] Measure telemetric signal",{"$nulls":13},"in: 235.Drone yaw rate","1-to-1",null,"1-to-n"]
[9,{"$nulls":4},"[SF3.2.4] Compute ground altitude",{"$nulls":13},"in : 232.Attitude AP consigns","1-to-1",null,"1-to-n"]
[10,{"$nulls":4},"[SF3.2.5] Compute altitude and vertical speed",{"$nulls":13},"in : 232.AP engagement","1-to-1",null,"1-to-n"]
[56,{"$nulls":4},"[SF3.3] Compute drone speed",{"$nulls":13},"out : Pphi","1-to-1",null,"1-to-n"]
[57,{"$nulls":4},"[SF3.3.1] Film ground",{"$nulls":13},"out : Ppsi","1-to-1",null,"1-to-n"]
[57,{"$nulls":4},"[SF3.3.2] Compute ground speed",{"$nulls":13},"out : Ptheta","1-to-1",null,"1-to-n"]
[57,{"$nulls":4},"[SF3.4] Compute drone position and time",{"$nulls":13},"out: 232.Pitch consign","1-to-1",null,"1-to-n"]
[57,{"$nulls":4},"[SF3.4.1] Acquire positioning signal",{"$nulls":13},"out : 232.Roll consign","1-to-1",null,"1-to-n"]
[11,{"$nulls":4},"[SF3.4.2] Compute position and time",{"$nulls":13},"in : Vertical speed consign","1-to-1",null,"1-to-n"]
[54,{"$nulls":4},"[SF4] Control drone navigation",{"$nulls":13},"out : Altitude consign","1-to-1",null,"1-to-n"]
[55,{"$nulls":4},"[SF4.1] Acquire and store flight plan",{"$nulls":13},"in : Altitude","1-to-1",null,"1-to-n"]
[55,{"$nulls":4},"[SF4.2] Run automatic control",{"$nulls":13},"in: Drone roll","1-to-1",null,"1-to-n"]
[12,{"$nulls":4},"[SF4.2.1] Run flight plan",{"$nulls":13},"in: Drone pitch","1-to-1",null,"1-to-n"]
[12,{"$nulls":4},"[SF4.2.2] Run speed control",{"$nulls":13},"in : Altitude consign","1-to-1",null,"1-to-n"]
[13,{"$nulls":4},"[SF4.2.3] Select automatic payload control",{"$nulls":13},"in : AP engagement","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF4.3] Select control mode",{"$nulls":13},"in : T AP","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF4.3.1] Select drone control mode",{"$nulls":13},"out : T","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF4.3.2] Passivate engagement oscillation",{"$nulls":13},"in : Ptheta","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF4.3.3] Indicate control mode",{"$nulls":13},"in : Pphi","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF4.4] Acquire pilot control consigns and mode",{"$nulls":13},"in : Ppsi","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF5] Make and record video",{"$nulls":13},"in : T","1-to-1",null,"1-to-n"]
[14,{"$nulls":4},"[SF5.1] Select camera control",{"$nulls":13},"out : Motor 1 rate","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF5.2] Control camera orientation",{"$nulls":13},"out: Motor 2 rate","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF5.3] Make photos and videos",{"$nulls":13},"out: Motor 3 rate","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF5.4] Digitise photos and videos",{"$nulls":13},"out: Motor 4 rate","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF5.5] Acquire manual payload control",{"$nulls":13},"in : Acceleration","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF6] Manage mission",{"$nulls":13},"in : North direction","1-to-1",null,"1-to-n"]
[15,{"$nulls":4},"[SF6.1] Compute flight plan and flight zone",{"$nulls":13},"in : Rate","1-to-1",null,"1-to-n"]
[16,{"$nulls":4},"[SF6.1.1] Set flight zone borders",{"$nulls":13},"in : Pitch consign","1-to-1",null,"1-to-n"]
[17,{"$nulls":4},"[SF6.1.2] Map the flight zone",{"$nulls":13},"in: Roll consign","1-to-1",null,"1-to-n"]
[18,{"$nulls":4},"[SF6.1.3] Detect aircraft position",{"$nulls":13},"out : Drone pitch","1-to-1",null,"1-to-n"]
[18,{"$nulls":4},"[SF6.1.4] Detect obstacles",{"$nulls":13},"out: Drone roll","1-to-1",null,"1-to-n"]
[19,{"$nulls":4},"[SF6.1.5] Compute the flight plan",{"$nulls":13},"out: Drone yaw","1-to-1",null,"1-to-n"]
[19,{"$nulls":4},"[SF6.2] Store data",{"$nulls":13},"out : Drone pitch rate","1-to-1",null,"1-to-n"]
[19,{"$nulls":4},"[SF6.3] Analyse drone measurement",{"$nulls":13},"out: Drone roll rate","1-to-1",null,"1-to-n"]
[20,{"$nulls":4},"[SF6.3.1] Analyse measurement manually",{"$nulls":13},"out: Drone yaw rate",null,null,"1-to-n"]
[21,{"$nulls":4},"[SF6.3.2] Analyse mission automatically",{"$nulls":13},"in:Drone pitch",null,null,"1-to-n"]
[22,{"$nulls":4},"[SF6.3.3] Generate mission report",{"$nulls":13},"in: Drone roll",null,null,"1-to-n"]
[58,{"$nulls":4},"[SF6.4] Display drone follow-up data",{"$nulls":13},"in: Drone yaw",null,null,"1-to-n"]
[59,{"$nulls":4},"[SF7] Monitor drone control",{"$nulls":13},"in : Ground distance",null,null,"1-to-n"]
[60,{"$nulls":4},"[SF7.3] Control attitude and altitude MON",{"$nulls":13},"in : Pressure",null,null,"1-to-n"]
[23,{"$nulls":4},"[SF7.4] Monitor drone parameters",{"$nulls":13},"out : Altitude",null,null,"1-to-n"]
[24,{"$nulls":4},"[SF7.4.1] Compare drone attitude",{"$nulls":13},"out : Ground altitude",null,null,"1-to-n"]
[25,{"$nulls":4},"[SF7.4.2] Compare drone altitude",{"$nulls":13},"out : Vertical speed",null,null,"1-to-n"]
[26,{"$nulls":4},"[SF7.4.3] Compare drone motor consigns",{"$nulls":13},"in: Vertical sight",null,null,"1-to-n"]
[45,{"$nulls":4},"[SF7.4.4] Compare drone motor rate",{"$nulls":13},"out: Video flux",null,null,"1-to-n"]
[45,{"$nulls":4},"[SF7.4.5] Disable drone motor",{"$nulls":13},"in: Video flux",null,null,"1-to-n"]
[45,{"$nulls":18},"in: Ground altitude",null,null,"1-to-n"]
[45,{"$nulls":18},"out: Ground speed",null,null,"1-to-n"]
[27,{"$nulls":18},"in : Positionning signal",null,null,"1-to-n"]
[28,{"$nulls":18},"out : Drone position",null,null,"1-to-n"]
[29,{"$nulls":18},"out : Time",null,null,"1-to-n"]
[29,{"$nulls":18},"in: Flight plan",null,null,"1-to-n"]
[29,{"$nulls":18},"in: Flight zone",null,null,"1-to-n"]
[46,{"$nulls":18},"out: Flight plan",null,null,"1-to-n"]
[58,{"$nulls":18},"out: Flight zone",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Drone position",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Time",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Flight plan",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Flight zone",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Automatic control start",null,null,"1-to-n"]
[31,{"$nulls":18},"in: Flight plan interruption",null,null,"1-to-n"]
[65,{"$nulls":18},"out: Flight plan payload control",null,null,"1-to-n"]
[32,{"$nulls":18},"out: Drone position consign",null,null,"1-to-n"]
[32,{"$nulls":18},"out: Flight plan progress"]
[32,{"$nulls":18},"out: Mission completed"]
[32,{"$nulls":18},"in: Automatic control start"]
[64,{"$nulls":18},"in: Pilot control consigns"]
[64,{"$nulls":18},"out: Progammed payload control"]
[64,{"$nulls":18},"out: Drone speed consign"]
[33,{"$nulls":18},"in: Selected AP mode"]
[34,{"$nulls":18},"in: Flight plan payload control"]
[34,{"$nulls":18},"in: Progammed payload control"]
[34,{"$nulls":18},"out: Automatic payload control"]
[34,{"$nulls":18},"in: Mission completed"]
[34,{"$nulls":18},"in: Pilot control mode"]
[34,{"$nulls":18},"in: Pitch consign"]
[34,{"$nulls":18},"in: Roll consign"]
[35,{"$nulls":18},"in: Vertical speed consign"]
[35,{"$nulls":18},"in: Yaw rate consign"]
[35,{"$nulls":18},"out: Selected control mode"]
[35,{"$nulls":18},"out: Selected AP mode"]
[35,{"$nulls":18},"in: Selected control mode"]
[35,{"$nulls":18},"out: Flight plan interruption"]
[36,{"$nulls":18},"out: AP engagement"]
[37,{"$nulls":18},"in: Selected AP Mode"]
[37,{"$nulls":18},"in: AP engagement"]
[38,{"$nulls":18},"out: Control mode"]
[38,{"$nulls":18},"in: Pilot control mode"]
[38,{"$nulls":18},"in: Pilot control consigns"]
[38,{"$nulls":18},"in: Automatic control start"]
[39,{"$nulls":18},"out: Automatic control start"]
[39,{"$nulls":18},"out: Pilot control consigns"]
[39,{"$nulls":18},"out: Pilot control mode"]
[40,{"$nulls":18},"in: Manual payload control"]
[41,{"$nulls":18},"in: Automatic payload control"]
[42,{"$nulls":18},"out: Camera position consign"]
[43,{"$nulls":18},"out: Photo and video control"]
[44,{"$nulls":18},"out: File storage format"]
[44,{"$nulls":18},"in: Photo and video control"]
[44,{"$nulls":18},"in: Camera position consign"]
[44,{"$nulls":18},"in : File storage format"]
[44,{"$nulls":18},"in: Aircraft sight"]
[59,{"$nulls":18},"out: PhotosAndVideosFiles"]
[59,{"$nulls":18},"in: Manual payload control"]
[59,{"$nulls":18},"out: Manual payload control"]
[59,{"$nulls":18},"in : Aircraft position validation"]
[59,{"$nulls":18},"in : Aircraft type"]
[59,{"$nulls":18},"in : Exclusion zones"]
[59,{"$nulls":18},"in : Flight domain"]
[59,{"$nulls":18},"in : Flight plan validation"]
[59,{"$nulls":18},"in : Mapping data"]
[59,{"$nulls":18},"in: Mission flight data"]
[{"$nulls":19},"in : Predefined flight zone borders"]
[{"$nulls":19},"out : Aircraft type"]
[{"$nulls":19},"out : Flight zone"]
[{"$nulls":19},"out : Flight plan"]
[{"$nulls":19},"out : Flight aerial view"]
[{"$nulls":19},"in: Control mode"]
[{"$nulls":19},"in: Flight plan progress"]
[{"$nulls":19},"out: Control mode"]
[{"$nulls":19},"out: Flight plan progress"]
[{"$nulls":19},"in: Drone pitch MON"]
[{"$nulls":19},"in: Drone roll MON"]
[{"$nulls":19},"in: Drone yaw MON"]
[{"$nulls":19},"in: Drone pitch rate MON"]
[{"$nulls":19},"in: Drone roll rate MON"]
[{"$nulls":19},"in: Drone yaw rate MON"]
[{"$nulls":19},"in: Drone pitch"]
[{"$nulls":19},"in: Drone roll"]
[{"$nulls":19},"in: Drone yaw"]
[{"$nulls":19},"in: Drone pitch rate"]
[{"$nulls":19},"in: Drone roll rate"]
[{"$nulls":19},"in: Drone yaw rate"]
[{"$nulls":19},"out: Attitude measurement failure"]
[{"$nulls":19},"in: Ground altitude MON"]
[{"$nulls":19},"in: Vertical speed MON"]
[{"$nulls":19},"in: Altitude MON"]
[{"$nulls":19},"in: Altitude"]
[{"$nulls":19},"in: Vertical speed"]
[{"$nulls":19},"in: Ground altitude"]
[{"$nulls":19},"out: Altitude measurement failure"]
[{"$nulls":19},"in: Motor 1 rate"]
[{"$nulls":19},"in: Motor 2 rate"]
[{"$nulls":19},"in: Motor 3 rate"]
[{"$nulls":19},"in: Motor 4 rate"]
[{"$nulls":19},"in: Motor 1 rate MON"]
[{"$nulls":19},"in: Motor 2 rate MON"]
[{"$nulls":19},"in: Motor 3 rate MON"]
[{"$nulls":19},"in: Motor 4 rate MON"]
[{"$nulls":19},"out: Motor consign failure"]
[{"$nulls":19},"in: Motor 1 rate"]
[{"$nulls":19},"in: Motor 2 rate"]
[{"$nulls":19},"in: Motor 3 rate"]
[{"$nulls":19},"in: Motor 4 rate"]
[{"$nulls":19},"in: Motor 1 rate measured"]
[{"$nulls":19},"in: Motor 2 rate measured"]
[{"$nulls":19},"in: Motor 3 rate measured"]
[{"$nulls":19},"in: Motor 4 rate measured"]
[{"$nulls":19},"out : Motor 1 runaway"]
[{"$nulls":19},"out : Motor 2 runaway"]
[{"$nulls":19},"out : Motor 3 runaway"]
[{"$nulls":19},"out : Motor 4 runaway"]
[{"$nulls":19},"in: Attitude measurement failure"]
[{"$nulls":19},"in: Altitude measurement failure"]
[{"$nulls":19},"in: Motor consign failure"]
[{"$nulls":19},"in : Motor 1 runaway"]
[{"$nulls":19},"in : Motor 2 runaway"]
[{"$nulls":19},"in : Motor 3 runaway"]
[{"$nulls":19},"in : Motor 4 runaway"]
[{"$nulls":19},"out: Motor 1 disabled"]
[{"$nulls":19},"out: Motor 2 disabled"]
[{"$nulls":19},"out: Motor 3 disabled"]
[{"$nulls":19},"out: Motor 4 disabled"]