AIDASimulation/SimulationModels/AIDAModelica/ProSIVICToSimXInterface.mo

// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model ProSIVICToSimXInterface "Pro-SIVIC to Simulation X Interface"
	Modelica.Blocks.Interfaces.RealInput roll(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "IMU roll" annotation(Placement(
		transformation(extent={{-140,15},{-100,55}}),
		iconTransformation(
			origin={-275,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput pitch(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "IMU pitch" annotation(Placement(
		transformation(extent={{-105,15},{-65,55}}),
		iconTransformation(
			origin={-175,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput yaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "IMU yaw" annotation(Placement(
		transformation(extent={{-135,-10},{-95,30}}),
		iconTransformation(
			origin={-225,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput rollRate(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "IMU roll rate" annotation(Placement(
		transformation(extent={{-70,15},{-30,55}}),
		iconTransformation(
			origin={-125,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput pitchRate(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "IMU pitch rate" annotation(Placement(
		transformation(extent={{-35,15},{5,55}}),
		iconTransformation(
			origin={-75,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput yawRate(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "IMU yaw rate" annotation(Placement(
		transformation(extent={{-65,-10},{-25,30}}),
		iconTransformation(
			origin={-25,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput accelerationX(
		quantity="Mechanics.Translation.Accel",
		displayUnit="m/s²") "IMU acceleration X" annotation(Placement(
		transformation(extent={{5,-15},{45,25}}),
		iconTransformation(
			origin={25,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput accelerationY(
		quantity="Mechanics.Translation.Accel",
		displayUnit="m/s²") "IMU acceleration Y" annotation(Placement(
		transformation(extent={{35,-15},{75,25}}),
		iconTransformation(
			origin={75,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput accelerationZ(
		quantity="Mechanics.Translation.Accel",
		displayUnit="m/s²") "IMU acceleration Z" annotation(Placement(
		transformation(extent={{15,-40},{55,0}}),
		iconTransformation(
			origin={125,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput accurateLatitude(
		quantity="Geometry.Angle",
		displayUnit="deg") "GPS accurate latitude" annotation(Placement(
		transformation(extent={{70,-15},{110,25}}),
		iconTransformation(
			origin={175,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput accurateLongitude(
		quantity="Geometry.Angle",
		displayUnit="deg") "GPS accurate longitude" annotation(Placement(
		transformation(extent={{100,-40},{140,0}}),
		iconTransformation(
			origin={225,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealInput distance(
		quantity="Geometry.Length",
		displayUnit="m") "Lidar distance" annotation(Placement(
		transformation(extent={{110,-15},{150,25}}),
		iconTransformation(
			origin={275,-100},
			extent={{-20,-20},{20,20}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealOutput Attitude[3](
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'output Real' as connector" annotation(Placement(
		transformation(extent={{-80,70},{-60,90}}),
		iconTransformation(
			origin={-225,100},
			extent={{-10,-10},{10,10}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3](
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'output Real' as connector" annotation(Placement(
		transformation(extent={{-10,70},{10,90}}),
		iconTransformation(
			origin={-75,100},
			extent={{-10,-10},{10,10}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealOutput Speed[3](
		quantity="Mechanics.Translation.Velocity",
		displayUnit="m/s") "'output Real' as connector" annotation(Placement(
		transformation(extent={{50,70},{70,90}}),
		iconTransformation(
			origin={225,100},
			extent={{-10,-10},{10,10}},
			rotation=90)));
	Modelica.Blocks.Interfaces.RealOutput Position[3](
		quantity="Mechanics.Translation.Displace",
		displayUnit="m") "'output Real' as connector" annotation(Placement(
		transformation(extent={{150,70},{170,90}}),
		iconTransformation(
			origin={75,100},
			extent={{-10,-10},{10,10}},
			rotation=90)));
	AccelerationToSpeed accelerationToSpeed1 annotation(Placement(transformation(extent={{40,30},{60,50}})));
	PositionConvector positionConvector1 annotation(Placement(transformation(extent={{110,30},{130,50}})));
	equation
		connect(roll,Attitude[1]) annotation(
			Line(
				points={{-120,35},{-115,35},{-100,35},{-100,80},{-70,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(pitch,Attitude[2]) annotation(
			Line(
				points={{-85,35},{-80,35},{-90,35},{-90,80},{-70,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(yaw,Attitude[3]) annotation(
			Line(
				points={{-115,10},{-110,10},{-95,10},{-95,80},{-70,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(rollRate,AngularVelocities[1]) annotation(
			Line(
				points={{-50,35},{-45,35},{-30,35},{-30,80},{0,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(pitchRate,AngularVelocities[2]) annotation(
			Line(
				points={{-15,35},{-10,35},{-20,35},{-20,80},{0,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(yawRate,AngularVelocities[3]) annotation(
			Line(
				points={{-45,10},{-40,10},{-25,10},{-25,80},{0,80}},
				color={0,0,127},
				thickness=0.0625));
		connect(accelerationToSpeed1.Speed[:],Speed[:]) annotation(Line(
			points={{50,50},{50,55},{50,80},{55,80},{60,80}},
			color={0,0,127},
			thickness=0.0625));
		connect(accelerationX,accelerationToSpeed1.Acceleration[1]) annotation(Line(
			points={{25,5},{30,5},{49.3,5},{49.3,25},{49.3,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(accelerationY,accelerationToSpeed1.Acceleration[2]) annotation(Line(
			points={{55,5},{50,5},{50,25},{50,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(accelerationZ,accelerationToSpeed1.Acceleration[3]) annotation(Line(
			points={{35,-20},{40,-20},{50.3,-20},{50.3,25},{50.3,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(accurateLatitude,positionConvector1.Latitude) annotation(Line(
			points={{90,5},{95,5},{115,5},{115,25},{115,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(accurateLongitude,positionConvector1.Longitude) annotation(Line(
			points={{120,-20},{125,-20},{125,25},{125,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(positionConvector1.XCoordinate,Position[1]) annotation(Line(
			points={{115,50},{115,55},{115,80},{155,80},{160,80}},
			color={0,0,127},
			thickness=0.0625));
		connect(positionConvector1.YCoordinate,Position[2]) annotation(Line(
			points={{125,50},{125,55},{125,80},{155,80},{160,80}},
			color={0,0,127},
			thickness=0.0625));
		connect(distance,Position[3]) annotation(
			Line(
				points={{130,5},{150,5},{150,42.3},{150,80},{160,80}},
				color={0,0,127},
				thickness=0.0625));
	annotation(
		roll(flags=2),
		pitch(flags=2),
		yaw(flags=2),
		rollRate(flags=2),
		pitchRate(flags=2),
		yawRate(flags=2),
		accelerationX(flags=2),
		accelerationY(flags=2),
		accelerationZ(flags=2),
		accurateLatitude(flags=2),
		accurateLongitude(flags=2),
		distance(flags=2),
		Attitude(flags=2),
		AngularVelocities(flags=2),
		Speed(flags=2),
		Position(flags=2),
		accelerationToSpeed1(
			Acceleration(flags=2),
			Speed(flags=2)),
		Icon(
			coordinateSystem(extent={{-325,-100},{325,100}}),
			graphics={
				Rectangle(
					fillColor={255,255,255},
					fillPattern=FillPattern.Solid,
					extent={{-326,100},{326.7,-100}})}),
		experiment(
			StopTime=1,
			StartTime=0,
			Interval=0.001));
end ProSIVICToSimXInterface;