Migration to OpenModelica 1.25 and FMUs Generation

CoSimulation/simulate_aida_coupled_FMUSimX.py

@@ -0,0 +1,180 @@
+"""
+simulate_aida_coupled_interactive.py
+Interactive co-simulation of the AIDA Drone and Environment FMUs
+Choose at runtime between RunFlightPlan FMU or CSV-based flight plan.
+"""
+
+from pyfmi import load_fmu
+import numpy as np
+import pandas as pd
+import matplotlib.pyplot as plt
+import os
+
+# -----------------------------
+# 1. Ask the user
+# -----------------------------
+choice = input("Use CSV flight plan instead of RunFlightPlan FMU? (y/n): ").strip().lower()
+USE_CSV = choice == 'y'
+
+# -----------------------------
+# 2. Paths
+# -----------------------------
+FMU_PATH = r".\FMUs_SimulationX"
+
+fmu_drone = os.path.join(FMU_PATH, "AIDA_Drone_FMU.fmu")
+fmu_env   = os.path.join(FMU_PATH, "Environment.fmu")
+fmu_plan  = os.path.join(FMU_PATH, "RunFlightPlan.fmu")
+flight_plan_csv = os.path.join(FMU_PATH, "RunFlightPlan.csv")
+
+# -----------------------------
+# 3. Load FMUs
+# -----------------------------
+print("Loading FMUs...")
+drone = load_fmu(fmu_drone)
+env   = load_fmu(fmu_env)
+print("Drone and Environment FMUs loaded.")
+
+if USE_CSV:
+    print("Using CSV-based flight plan...")
+
+    # Load CSV
+    plan_df = pd.read_csv(flight_plan_csv)
+
+    # Optional: reset index after filtering
+    plan_df = plan_df.reset_index(drop=True)
+
+    # Extract time and consign values
+    time_points = plan_df['Time'].values
+    x_consign = plan_df['runFlightPlan1_Drone_Position_Consign_1'].values
+    y_consign = plan_df['runFlightPlan1_Drone_Position_Consign_2'].values
+    z_consign = plan_df['runFlightPlan1_Drone_Position_Consign_3'].values
+
+else:
+    print("Using RunFlightPlan FMU...")
+    plan = load_fmu(fmu_plan)
+    time_points = np.arange(0.0, 250.0, 0.002)
+
+
+
+# -----------------------------
+# 4. Initialize FMUs
+# -----------------------------
+start_time = float(time_points[0])
+stop_time  = float(time_points[-1])
+step_size  = np.mean(np.diff(time_points))
+
+drone.initialize(start_time, stop_time)
+env.initialize(start_time, stop_time)
+if not USE_CSV:
+    plan.initialize(time_points[0], time_points[-1])
+
+pos_x, pos_y, pos_z = [], [], []
+
+print("Starting co-simulation...")
+
+# -----------------------------
+# 5. Simulation loop
+# -----------------------------
+for i, t in enumerate(time_points):
+    # 1. Get position consigns
+    if USE_CSV:
+        pos_consign = [x_consign[i], y_consign[i], z_consign[i]]
+    else:
+        pos_consign = plan.get([
+            "runFlightPlan1.Drone_Position_Consign[1]",
+            "runFlightPlan1.Drone_Position_Consign[2]",
+            "runFlightPlan1.Drone_Position_Consign[3]",
+        ])
+
+    # 2. Send consigns to drone
+    drone.set([
+        "controlPosition1.Drone_position_consign[1]",
+        "controlPosition1.Drone_position_consign[2]",
+        "controlPosition1.Drone_position_consign[3]"
+    ], pos_consign)
+
+    # 3. Get feedback from environment
+    pos_feedback = env.get([
+        "generatePositioningSignal1.Positioning_signal[1]",
+        "generatePositioningSignal1.Positioning_signal[2]",
+        "generatePositioningSignal1.Positioning_signal[3]",
+        "generatePositioningSignal1.Positioning_signal[4]"
+    ])
+
+    # 4. Send feedback to drone
+    drone.set([
+        "acquirePositioningSignal1.Positioning_signal[1]",
+        "acquirePositioningSignal1.Positioning_signal[2]",
+        "acquirePositioningSignal1.Positioning_signal[3]",
+        "acquirePositioningSignal1.Positioning_signal[4]"
+    ], pos_feedback)
+
+    # 5. Step simulation
+    drone.do_step(current_t=t, step_size=step_size, new_step=True)
+    try:
+        pos_cmd = drone.get([
+            "controlPosition1.Position_command[1]",
+            "controlPosition1.Position_command[2]",
+            "controlPosition1.Position_command[3]"
+        ])
+    except Exception as e:
+        if USE_CSV:
+            if i == 0:
+                print(f"Warning: could not read drone outputs at t={t:.2f}s (likely not initialized yet).")
+            # Use fallback zero values until valid output exists
+            pos_cmd = [0.0, 0.0, 0.0]
+        else:
+            raise  # Re-raise the error if it's unexpected in FMU mode
+
+    env.set([
+        "trajectoryManagement1.Position_Command[1]",
+        "trajectoryManagement1.Position_Command[2]",
+        "trajectoryManagement1.Position_Command[3]"
+    ], pos_cmd)
+    env.do_step(current_t=t, step_size=step_size, new_step=True)
+
+    if not USE_CSV:
+        plan.do_step(current_t=t, step_size=step_size, new_step=True)
+
+    # 6. Store results
+    pos_x.append(pos_cmd[0])
+    pos_y.append(pos_cmd[1])
+    pos_z.append(pos_cmd[2])
+
+print("Simulation finished.")
+
+# -----------------------------
+# 6. Terminate FMUs
+# -----------------------------
+drone.terminate()
+env.terminate()
+if not USE_CSV:
+    plan.terminate()
+
+# -----------------------------
+# 7. Plot results
+# -----------------------------
+plt.figure(figsize=(12, 5))
+
+# Time evolution
+plt.subplot(1, 2, 1)
+plt.plot(time_points, pos_x, label="X command")
+plt.plot(time_points, pos_y, label="Y command")
+plt.plot(time_points, pos_z, label="Z command")
+plt.xlabel("Time (s)")
+plt.ylabel("Position command")
+plt.title("Position commands over time")
+plt.legend()
+plt.grid(True)
+
+# 2D trajectory
+plt.subplot(1, 2, 2)
+plt.plot(pos_y, pos_z, linewidth=2, color='tab:blue')
+plt.xlabel("X position command")
+plt.ylabel("Y position command")
+plt.title("Drone 2D Trajectory (Y vs X)")
+plt.axis('equal')
+plt.grid(True)
+
+plt.tight_layout()
+plt.show()

CoSimulation/simulate_aida_coupled_FMUs_OM125.py

@@ -0,0 +1,158 @@
+"""
+simulate_aida_coupled_interactive.py
+Interactive co-simulation of the AIDA Drone and Environment FMUs
+Choose at runtime between RunFlightPlan FMU or CSV-based flight plan.
+"""
+
+from pyfmi import load_fmu
+import numpy as np
+import pandas as pd
+import matplotlib.pyplot as plt
+import os
+
+
+# -----------------------------
+# 2. Paths
+# -----------------------------
+FMU_PATH = r".\FMUs_OpenModelica_1.25"
+
+fmu_drone = os.path.join(FMU_PATH, "QuadcopterModel.fmu")
+fmu_wind   = os.path.join(FMU_PATH, "WindProfile.fmu")
+fmu_remote  = os.path.join(FMU_PATH, "RemoteControl.fmu")
+fmu_control_navigation = os.path.join(FMU_PATH, "ControlDroneNavigation.fmu")
+fmu_LowLevelFlightControlSystem = os.path.join(FMU_PATH, "LowLevelFlightControlSystem.fmu")
+
+
+# -----------------------------
+# 3. Load FMUs
+# -----------------------------
+print("Loading FMUs...")
+drone = load_fmu(fmu_drone)
+wind   = load_fmu(fmu_wind)
+remote = load_fmu(fmu_remote)
+control_navigation = load_fmu(fmu_control_navigation)
+low_level_fcs = load_fmu(fmu_LowLevelFlightControlSystem)
+print("All system FMUs loaded.")
+
+FMUS = {
+    "drone": drone,
+    "wind": wind,
+    "remote": remote,
+    "control_navigation": control_navigation,
+    "low_level_fcs": low_level_fcs,
+}
+
+
+# -----------------------------
+# 4. Initialize FMUs
+# -----------------------------
+start_time = float(0)
+stop_time  = float(250)
+step_size  = 0.1
+
+drone.initialize(start_time, stop_time)
+wind.initialize(start_time, stop_time)
+remote.initialize(start_time, stop_time)
+control_navigation.initialize(start_time, stop_time)
+low_level_fcs.initialize(start_time, stop_time)
+
+time_points = np.arange(start_time, stop_time + 0.5 * step_size, step_size)
+
+def safe_get(fmu, names, default=None):
+    if isinstance(names, str):
+        names = [names]
+    try:
+        vals = fmu.get(names)
+        return vals
+    except Exception as e:
+        print(f"[WARN] get from {fmu.get_name()} failed for {names}: {e}")
+        if default is None:
+            return [0.0] * len(names)
+        return default
+
+def safe_set(fmu, names, values):
+    if isinstance(names, str):
+        names = [names]
+        values = [values]
+    try:
+        fmu.set(names, values)
+    except Exception as e:
+        print(f"[WARN] set on {fmu.get_name()} failed for {names}: {e}")
+
+
+# -----------------------------
+# 5. Initial values (t = 0)
+# -----------------------------
+wind_Fx, wind_Fy = safe_get(wind, ["Fx", "Fy"], default=[0.0, 0.0])
+
+# Quadcopter states
+# Assuming exported as Position[1..3], Speed[1..3], Attitude[1..3], AngularVelocities[1..3]
+quad_pos = safe_get(drone, ["Position[1]", "Position[2]", "Position[3]"], default=[0.0, 0.0, 0.0])
+quad_speed = safe_get(drone, ["Speed[1]", "Speed[2]", "Speed[3]"], default=[0.0, 0.0, 0.0])
+quad_att = safe_get(drone, ["Attitude[1]", "Attitude[2]", "Attitude[3]"], default=[0.0, 0.0, 0.0])
+quad_ang = safe_get(drone, ["AngularVelocities[1]", "AngularVelocities[2]", "AngularVelocities[3]"],
+                    default=[0.0, 0.0, 0.0])
+
+# Remote control commands
+rc_names = ["RollCommand", "PitchCommand", "VerticalSpeedCommand",
+            "YawCommand", "ControlMode", "IndicatorYawConsign"]
+rc_vals = safe_get(remote, rc_names, default=[0.0] * len(rc_names))
+(rc_roll, rc_pitch, rc_vspeed, rc_yaw, rc_mode, rc_ind_yaw) = rc_vals
+
+# Navigation consigns
+nav_pos_consign = safe_get(control_navigation,
+    ["DronPositionConsign[1]", "DronPositionConsign[2]", "DronPositionConsign[3]"],
+    default=[0.0, 0.0, 0.0],
+)
+nav_yaw_consign = safe_get(control_navigation, ["YawConsign"], default=[0.0])[0]
+nav_selected_mode = safe_get(control_navigation, ["SelectedControlMode"], default=[0.0])[0]
+
+
+# -----------------------------
+# 6. Logging buffers
+# -----------------------------
+times = []
+pos_x = []
+pos_y = []
+pos_z = []
+yaw_log = []
+
+# -----------------------------
+# 7. Simulation loop
+# -----------------------------
+print("Starting co-simulation...")
+current_time = start_time
+
+for i, t in enumerate(time_points):
+    # 7.1 Step RemoteControl
+    remote.do_step(current_t=current_time, step_size=step_size, new_step=True)
+    rc_vals = safe_get(remote, rc_names, default=rc_vals)
+    (rc_roll, rc_pitch, rc_vspeed, rc_yaw, rc_mode, rc_ind_yaw) = rc_vals
+
+    # 8.2 Feed RemoteControl -> ControlDroneNavigation
+    #   connect(remoteControl1.ControlMode, controlDroneNavigation1.APEngagement)
+    #   connect(remoteControl1.IndicatorYawConsign, controlDroneNavigation1.IndicatorYawConsign)
+    safe_set(control_navigation,
+             ["APEngagement", "IndicatorYawConsign"],
+             [rc_mode, rc_ind_yaw])
+
+    # Quadcopter yaw feedback to navigation (connect(controlDroneNavigation1.Yaw, quadcopterModel1.Attitude[3]))
+    yaw_feedback = quad_att[2]  # Attitude[3]
+    control_navigation.set("Yaw", yaw_feedback)
+
+    # 8.3 Step ControlDroneNavigation
+    control_navigation.do_step(current_t=current_time, step_size=step_size, new_step=True)
+
+
+# -----------------------------
+# 8. Terminate FMUs
+# -----------------------------
+drone.terminate()
+control_navigation.terminate()
+low_level_fcs.terminate()
+remote.terminate()
+wind.terminate()
+
+# -----------------------------
+# 9. Plot results
+# -----------------------------

CoSimulation/test_pyfmi.py

@@ -0,0 +1,6 @@
+# test_pyfmi.py
+from pyfmi.examples import fmi_bouncing_ball_cs
+
+print("Testing PyFMI installation...")
+fmi_bouncing_ball_cs.run_demo()
+print("✅ PyFMI and FMI Library work correctly!")

SimulationModels/AIDAModel-integrationProSivic_reference.mo

@@ -1,91 +0,0 @@
-model AIDA_System "AIDAModel-integrationProSivic_reference.isx"
-AIDAModelica.QuadcopterModel quadcopterModel1(
-  rigidBodyKinematicModel1(
-    computeDronePosition1(
-      integrator10(initType = Modelica.Blocks.Types.Init.SteadyState, y_start = -0.29), 
-      integrator11(initType = Modelica.Blocks.Types.Init.InitialOutput), 
-      integrator12(initType = Modelica.Blocks.Types.Init.InitialOutput))), 
-  rigidBodyDynamicModel1(
-    computeDroneVelocity1(
-      integrator4(initType = Modelica.Blocks.Types.Init.SteadyState)))) annotation(
-    Placement(visible = true, transformation(extent = {{29, -8}, {49, 17}}, rotation = 0)));
-  
-AIDAModelica.LowLevelFlightControlSystem lowLevelFlightControlSystem1(
-  controlAltitude1(computeAltitudeConsign1(
-    PID1(k = 30, Ti = 1, Td = 0.1, Nd = 10, initType=Modelica.Blocks.Types.InitPID.InitialOutput)), 
-      pID_2(k = 25, Ti = 0.5, Td = 0.08, initType=Modelica.Blocks.Types.InitPID.InitialOutput)), 
-  attitudeControl1(Test_CstMomentumActiv = false, Test_open_loop = {false, false, false},
-    controlRollAngle1(xAngularSpeedErrorModel1(Kwphi = 1.5), 
-      PID(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput, 
-      Add(k1 = 1, k2 = 1, k3 = 1))), 
-    controlPitchAngle1(yAngularSpeedErrorModel1(Kwteta = 1.5, RTStepConsign = false), 
-      PID1(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput, 
-      Add(k1 = 1, k2 = 1, k3 = 1))), 
-    controlYawAngle1(zAngularSpeedErrorModel1(Kwyaw = 2), 
-      PID2(k = 0.04, Ti = 20, Td = 0.5, Nd = 2.5,initType=Modelica.Blocks.Types.InitPID.InitialOutput, 
-      Add(k1 = 1, k2 = 1, k3 = 1)))), 
-
-  positionControl1(
-    controlSpeed1(
-      PID(k = 0.8, Ti = 1,initType=Modelica.Blocks.Types.InitPID.InitialOutput),
-      PID2(k = 0.8, Ti = 1,initType=Modelica.Blocks.Types.InitPID.InitialOutput),
-      PID1(k = 30, Ti = 1, Td=0.1,initType=Modelica.Blocks.Types.InitPID.InitialOutput)))) annotation(
-    Placement(visible = true, transformation(extent = {{-37, -6}, {-12, 19}}, rotation = 0)));
-  AIDAModelica.ControlDroneNavigation controlDroneNavigation1 annotation(
-    Placement(visible = true, transformation(extent = {{-79, -3}, {-59, 17}}, rotation = 0)));
-  AIDAModelica.RemoteControl remoteControl1(
-    VS_cmd=-0.5,
-	VS_cmd_t={0.1,5},
-	Pitch_cmd=0.02,
-	Pitch_cmd_t={6,12},
-	Yaw_cmd_t={15,19},
-	Roll_cmd=0.02,
-	Roll_cmd_t={3,9},
-	Auto_Ctl_t=0.2) annotation(
-    Placement(visible = true, transformation(extent = {{-57, 49}, {-32, 69}}, rotation = 0)));
-equation
-  connect(lowLevelFlightControlSystem1.AngularSpeed, quadcopterModel1.AngularVelocities) annotation(
-    Line(points = {{-33, -6}, {-33, -30}, {81.1667, -30}, {81.1667, 12}, {49.1667, 12}}, color = {0, 0, 127}));
-  connect(lowLevelFlightControlSystem1.Attitude, quadcopterModel1.Attitude) annotation(
-    Line(points = {{-29, -6}, {-29, -26}, {69.3333, -26}, {69.3333, 8}, {49.3333, 8}}, color = {0, 0, 127}));
-  connect(lowLevelFlightControlSystem1.Position, quadcopterModel1.Position) annotation(
-    Line(points = {{-24.5, -6}, {-24.5, -22}, {61.5, -22}, {61.5, 4}, {49.5, 4}}, color = {0, 0, 127}));
-  connect(lowLevelFlightControlSystem1.Speed, quadcopterModel1.Speed) annotation(
-    Line(points = {{-21, -6}, {-17.6667, -6}, {-17.6667, -18}, {57.3333, -18}, {57.3333, 0}, {49.3333, 0}}, color = {0, 0, 127}));
-  connect(lowLevelFlightControlSystem1.Accelerations, quadcopterModel1.Accelerations) annotation(
-    Line(points = {{-17, -6}, {-13.8333, -6}, {-13.8333, -16.0333}, {54.9167, -16.0333}, {54.9167, -4.0333}, {48.4167, -4.0333}}, color = {0, 0, 127}));
-  connect(quadcopterModel1.ThrottleCommand1, lowLevelFlightControlSystem1.ThrottleCommand1) annotation(
-    Line(points = {{29, 10.75}, {1, 10.75}, {1, 14}, {-12, 14}}, color = {0, 0, 127}, thickness = 0.015625));
-  connect(lowLevelFlightControlSystem1.ThrottleCommand2, quadcopterModel1.ThrottleCommand2) annotation(
-    Line(points = {{-12, 9}, {8.5, 9}, {8.5, 7}, {29, 7}}, color = {0, 0, 127}, thickness = 0.015625));
-  connect(quadcopterModel1.ThrottleCommand3, lowLevelFlightControlSystem1.ThrottleCommand3) annotation(
-    Line(points = {{29, 2.41667}, {12.5, 2.41667}, {12.5, 4}, {-12, 4}}, color = {0, 0, 127}, thickness = 0.015625));
-  connect(lowLevelFlightControlSystem1.ThrottleCommand4, quadcopterModel1.ThrottleCommand4) annotation(
-    Line(points = {{-12, -1}, {26, -1}, {26, -2}, {29, -2}}, color = {0, 0, 127}, thickness = 0.015625));
-  connect(quadcopterModel1.Speed[:], lowLevelFlightControlSystem1.Speed[:]) annotation(
-    Line);
-  connect(controlDroneNavigation1.YawConsign, lowLevelFlightControlSystem1.YawConsign) annotation(
-    Line(points = {{-59, 7}, {-34, 7}, {-34, 4}, {-37, 4}}, color = {0, 0, 127}, thickness = 0.0625));
-  connect(controlDroneNavigation1.DronPositionConsign[:], lowLevelFlightControlSystem1.DronePositionConsign[:]) annotation(
-    Line(points = {{-59, 12}, {-48, 12}, {-48, 14}, {-37, 14}}, color = {0, 0, 127}, thickness = 0.0625));
-  connect(lowLevelFlightControlSystem1.SelectedControlMode, controlDroneNavigation1.SelectedControlMode) annotation(
-    Line(points = {{-37, -1}, {-54, -1}, {-54, 2}, {-59, 2}}, color = {255, 0, 255}, thickness = 0.0625));
-  connect(lowLevelFlightControlSystem1.RCVerticalSpeedCommand, remoteControl1.VerticalSpeedCommand) annotation(
-    Line(points = {{-31, 19}, {-52.75, 19}, {-52.75, 49}}, color = {0, 0, 127}));
-  connect(lowLevelFlightControlSystem1.RCYawCommand, remoteControl1.YawCommand) annotation(
-    Line(points = {{-22, 19}, {-36.4167, 19}, {-36.4167, 51}, {-35.4167, 51}, {-35.4167, 49}, {-36.4167, 49}}, color = {0, 0, 127}));
-  connect(remoteControl1.RollCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[1]) annotation(
-    Line(points = {{-47, 49}, {-47, 22}, {-27, 22}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625));
-  connect(remoteControl1.PitchCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[2]) annotation(
-    Line(points = {{-42, 49}, {-42, 22}, {-27, 22}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625));
-  connect(remoteControl1.IndicatorYawConsign, controlDroneNavigation1.IndicatorYawConsign) annotation(
-    Line(points = {{-57, 59}, {-94, 59}, {-94, 6}, {-80, 6}, {-80, 8}, {-78, 8}, {-78, 8}, {-78, 8}}, color = {255, 0, 255}));
-  connect(remoteControl1.ControlMode, controlDroneNavigation1.APEngagement) annotation(
-    Line(points = {{-57, 54}, {-84, 54}, {-84, 12}, {-79, 12}}, color = {255, 0, 255}, thickness = 0.015625));
-  connect(controlDroneNavigation1.Yaw, quadcopterModel1.Attitude[3]) annotation(
-    Line(points = {{-79, 2}, {-87, 2}, {-87, -36}, {91, -36}, {91, 8}, {49, 8}, {49, 8}, {49, 8}, {49, 8}}, color = {0, 0, 127}));
-  annotation(
-    Icon(coordinateSystem(grid = {3, 2})),
-    experiment(StartTime = 0, StopTime = 30, Tolerance = 1e-06, Interval = 0.002),
-  __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS"));
-end AIDA_System;

SimulationModels/AIDAModelica/RemoteControl.mo

@@ -1,215 +0,0 @@
-within AIDAModelica;
-// CP: 65001
-// SimulationX Version: 3.8.2.45319 x64
-
-model RemoteControl "RemoteControl"
-	Real VerticalSpeedCommand_i(start=0) "commande interne non filtree";
-	Modelica.Blocks.Interfaces.RealOutput VerticalSpeedCommand(
-		quantity="Mechanics.Translation.Velocity",
-		displayUnit="m/s") "'output Real' as connector" annotation(Placement(
-		transformation(extent={{12,28},{32,48}}),
-		iconTransformation(
-			origin={-75,-100},
-			extent={{-10,-10},{10,10}},
-			rotation=-90)));
-	Real RollCommand_i(start=0) "commande interne non filtree";
-	Modelica.Blocks.Interfaces.RealOutput RollCommand(
-		quantity="Mechanics.Rotation.Angle",
-		displayUnit="rad") "'output Real' as connector" annotation(Placement(
-		transformation(extent={{56,8},{76,28}}),
-		iconTransformation(
-			origin={-25,-100},
-			extent={{-10,-10},{10,10}},
-			rotation=-90)));
-	Real PitchCommand_i(start=0) "commande interne non filtree";
-	Modelica.Blocks.Interfaces.RealOutput PitchCommand(
-		quantity="Mechanics.Rotation.Angle",
-		displayUnit="rad") "'output Real' as connector" annotation(Placement(
-		transformation(extent={{-38,-46},{-18,-26}}),
-		iconTransformation(
-			origin={25,-100},
-			extent={{-10,-10},{10,10}},
-			rotation=-90)));
-	Real YawCommand_i(start=0) "commande interne non filtree";
-	Modelica.Blocks.Interfaces.RealOutput YawCommand(
-		quantity="Mechanics.Rotation.Angle",
-		displayUnit="rad") "'output Real' as connector" annotation(Placement(
-		transformation(extent={{18,-52},{38,-32}}),
-		iconTransformation(
-			origin={75,-100},
-			extent={{-10,-10},{10,10}},
-			rotation=-90)));
-	Modelica.Blocks.Interfaces.BooleanOutput ControlMode "'output Boolean' as connector" annotation(Placement(
-		transformation(extent={{-10,-10},{10,10}}),
-		iconTransformation(
-			origin={-125,-50},
-			extent={{-10,-10},{10,10}},
-			rotation=180)));
-	Modelica.Blocks.Interfaces.BooleanOutput IndicatorYawConsign "'output Boolean' as connector" annotation(Placement(
-		transformation(
-			origin={-45,45},
-			extent={{-17,-17},{17,17}}),
-		iconTransformation(
-			origin={-125,0},
-			extent={{-10,-10},{10,10}},
-			rotation=-180)));
-	parameter Real VS_cmd=0.5;
-	parameter Real[2] VS_cmd_t={3, 5} "Instants de démarrage et fin du step";
-	parameter Real Pitch_cmd=0.03;
-	parameter Real[2] Pitch_cmd_t={1, 4} "Instants de démarrage et fin du step, après stabilisation verticale";
-	parameter Real Yaw_cmd=0.5;
-	parameter Real[2] Yaw_cmd_t={6, 8} "Instants de démarrage et fin du step";
-	parameter Real Roll_cmd=0.2 "Amplitude step ";
-	parameter Real Roll_cmd_t[2]={1, 100} "Instants de démarrage et fin du step";
-	parameter Real Tcst=0.1 "constante de temps pour filter les sorties du remote ctl";
-	Boolean Auto_Ctl_Enabled(start=true);
-	parameter Real Auto_Ctl_t=0.1 "Instant de déclenchement du mode auto";
-	initial equation
-		PitchCommand = 0;
-		RollCommand = 0;
-		YawCommand = 0;
-		VerticalSpeedCommand = 0;
-		PitchCommand_i = 0;
-		RollCommand_i = 0;
-		YawCommand_i = 0;
-		VerticalSpeedCommand_i = 0;
-		ControlMode = false;
-		IndicatorYawConsign = false;
-		Auto_Ctl_Enabled=true;
-	algorithm
-		
-        when time > Auto_Ctl_t and Auto_Ctl_Enabled==true then
-    		ControlMode:=true;
-  		end when;
-		
-		when time > VS_cmd_t[1] then
-		    VerticalSpeedCommand_i := VS_cmd;
-		    ControlMode:=false;
-		    Auto_Ctl_Enabled:=false;
-		 end when;
-		  when time > VS_cmd_t[2] then
-		    VerticalSpeedCommand_i := 0;
-		  end when;
-		  when time > VS_cmd_t[2]+ Pitch_cmd_t[1] then
-		    PitchCommand_i := Pitch_cmd;
-		    ControlMode:=false;
-		  end when;
-		  when time > VS_cmd_t[2]+ Pitch_cmd_t[2] then
-		    PitchCommand_i := 0;
-		  end when;
-		  when time > VS_cmd_t[2]+ Roll_cmd_t[1] then
-		    RollCommand_i := Roll_cmd;
-		    ControlMode:=false;
-		  end when;
-		  when time > VS_cmd_t[2]+ Roll_cmd_t[2] then
-		    RollCommand_i := 0;
-		  end when;
-		//Yaw command
-		  when time > VS_cmd_t[2]+ Yaw_cmd_t[1] then
-		    YawCommand_i := Yaw_cmd;
-		    ControlMode:=false;
-		    IndicatorYawConsign:=true;
-		  end when;
-		//IndicatorYawConsign := true;
-		  when time > VS_cmd_t[2]+ Yaw_cmd_t[2] then
-		    YawCommand_i := 0;
-		  end when;
-		//IndicatorYawConsign := false;
-		/*if time>Yaw_cmd_t[2] then
-				 
-				  int_yaw := 0;
-				  IndicatorYawConsign := false;
-				  
-				elseif time>Yaw_cmd_t[1] then
-				 
-				  int_yaw := DYaw_cmd;
-				  IndicatorYawConsign := true;
-				  
-				else
-				  
-				  int_yaw := 0;
-				  IndicatorYawConsign := false;
-				  
-				end if;*/
-	equation
-		  // remote control filter with Tcst time constant
-		  der(VerticalSpeedCommand) = (VerticalSpeedCommand_i - VerticalSpeedCommand) / Tcst;
-		  der(RollCommand) = (RollCommand_i - RollCommand) / Tcst;
-		  der(PitchCommand) = (PitchCommand_i - PitchCommand) / Tcst;
-		  der(YawCommand) = (YawCommand_i - YawCommand) / Tcst;
-		/* initial code of Andrii VAKULKO, destined to be used with manual button included in the SimulationX interface
-						if VSCommand1 > 0 then
-							VerticalSpeedCommand = -1;
-						elseif VSCommand2 > 0 then
-							VerticalSpeedCommand = -0.8;
-						elseif VSCommand3 > 0 then
-							VerticalSpeedCommand = -0.6;
-						elseif VSCommand4 > 0 then
-							VerticalSpeedCommand = -0.4;
-						elseif VSCommand5 > 0 then
-							VerticalSpeedCommand = -0.2;
-						elseif VSCommand6 > 0 then
-							VerticalSpeedCommand = 0.2;
-						elseif VSCommand7 > 0 then
-							VerticalSpeedCommand = 0.4;
-						elseif VSCommand8 > 0 then
-							VerticalSpeedCommand = 0.6;
-						elseif VSCommand9 > 0 then
-							VerticalSpeedCommand = 0.8;
-						elseif VSCommand10 > 0 then
-							VerticalSpeedCommand = 1;
-						else
-							VerticalSpeedCommand = 0;
-						end if;
-						
-						if YCommandP > 0 then
-							der(YawCommand) = 0.01;
-							//IndicatorYawConsign = true;
-						elseif YCommandM > 0 then
-							der(YawCommand) = -0.01;
-							//IndicatorYawConsign = true;
-						else
-							YawCommand = 0;
-							//IndicatorYawConsign = false;
-						end if;
-						
-						if RCommandP > 0 then
-							RollCommand = 0.0261799; //15 deg
-						elseif RCommandM > 0 then
-							RollCommand = -0.0261799;
-						else
-							RollCommand = 0;
-						end if;
-						
-						if PCommandP > 0 then
-							PitchCommand = 0.0261799;
-						elseif PCommandM > 0 then
-							PitchCommand = -0.0261799;
-						else
-							PitchCommand = 0;
-						end if;*/
-	annotation(
-		VerticalSpeedCommand(flags=2),
-		RollCommand(flags=2),
-		PitchCommand(flags=2),
-		YawCommand(flags=2),
-		ControlMode(flags=2),
-		IndicatorYawConsign(flags=2),
-		Icon(
-			coordinateSystem(extent={{-125,-100},{125,100}}),
-			graphics={
-				Rectangle(
-					fillColor={255,255,255},
-					fillPattern=FillPattern.Solid,
-					extent={{-123.3,100},{123.3,-100}}),
-				Text(
-					textString="%name",
-					fillPattern=FillPattern.None,
-					extent={{-86,20},{86,-20}},
-					origin={-2,6})}),
-		experiment(
-			StopTime=10,
-			StartTime=0,
-			Interval=0.02,
-			MaxInterval="0.001"));
-end RemoteControl;

SimulationModels/OpenModelica 1.11/AIDAModel-integrationProSivic_reference.mo

@@ -0,0 +1,78 @@
+model AIDA_System "AIDAModel-integrationProSivic_reference.isx"
+  AIDAModelica.QuadcopterModel quadcopterModel1(rigidBodyKinematicModel1(computeDronePosition1(integrator10(initType = Modelica.Blocks.Types.Init.SteadyState, y_start = -0.29), integrator11(initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 39), integrator12(initType = Modelica.Blocks.Types.Init.InitialOutput))), rigidBodyDynamicModel1(computeDroneVelocity1(integrator4(initType = Modelica.Blocks.Types.Init.SteadyState)))) annotation(
+    Placement(visible = true, transformation(origin = {16.4, 7.25}, extent = {{-10.6, -13.25}, {10.6, 13.25}}, rotation = 0)));
+  AIDAModelica.LowLevelFlightControlSystem lowLevelFlightControlSystem1(controlAltitude1(computeAltitudeConsign1(PID1(k = 30, Ti = 1, Td = 0.1, Nd = 10, initType = Modelica.Blocks.Types.InitPID.InitialOutput)), pID_2(k = 25, Ti = 0.5, Td = 0.08, initType = Modelica.Blocks.Types.InitPID.InitialOutput)), attitudeControl1(Test_CstMomentumActiv = false, Test_open_loop = {false, false, false}, controlRollAngle1(xAngularSpeedErrorModel1(Kwphi = 1.5), PID(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1, initType = Modelica.Blocks.Types.InitPID.InitialOutput, Add(k1 = 1, k2 = 1, k3 = 1))), controlPitchAngle1(yAngularSpeedErrorModel1(Kwteta = 1.5, RTStepConsign = false), PID1(k = 0.07, Ti = 30, Td = 0.02, Nd = 0.1, initType = Modelica.Blocks.Types.InitPID.InitialOutput, Add(k1 = 1, k2 = 1, k3 = 1))), controlYawAngle1(zAngularSpeedErrorModel1(Kwyaw = 2), PID2(k = 0.04, Ti = 20, Td = 0.5, Nd = 2.5, initType = Modelica.Blocks.Types.InitPID.InitialOutput, Add(k1 = 1, k2 = 1, k3 = 1)))), positionControl1(controlSpeed1(PID(k = 0.8, Ti = 1, initType = Modelica.Blocks.Types.InitPID.InitialOutput), PID2(k = 0.8, Ti = 1, initType = Modelica.Blocks.Types.InitPID.InitialOutput), PID1(k = 30, Ti = 1, Td = 0.1, initType = Modelica.Blocks.Types.InitPID.InitialOutput)))) annotation(
+    Placement(visible = true, transformation(origin = {-2.96, 1.52}, extent = {{-34.04, -5.52}, {-11.04, 17.48}}, rotation = 0)));
+  AIDAModelica.ControlDroneNavigation controlDroneNavigation1 annotation(
+    Placement(visible = true, transformation(origin = {15.9, 0.3}, extent = {{-86.9, -3.3}, {-64.9, 18.7}}, rotation = 0)));
+  AIDAModelica.RemoteControl remoteControl1(VS_cmd = -0.5, Pitch_cmd = 0.02, VS_cmd_t = {1000, 1001}, Roll_cmd_t = {1000, 1001}, Pitch_cmd_t = {1000, 1001}, Yaw_cmd_t = {1000, 1001}, Auto_Ctl_t = 0.1) annotation(
+    Placement(visible = true, transformation(extent = {{-37, 29}, {-12, 49}}, rotation = 0)));
+  AIDAModelica.WindProfile windProfile1 annotation(
+    Placement(visible = true, transformation(origin = {16, 40}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+  Requirements.StabilityRequirement stabilityRequirement1 annotation(
+    Placement(visible = true, transformation(origin = {-44, -32}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+equation
+  connect(windProfile1.Fy, quadcopterModel1.Fy) annotation(
+    Line(points = {{21, 29}, {22, 29}, {22, 22}}, color = {0, 0, 127}));
+  connect(windProfile1.Fx, quadcopterModel1.Fx) annotation(
+    Line(points = {{11, 29}, {11, 26.5}, {12, 26.5}, {12, 22}}, color = {0, 0, 127}));
+  connect(remoteControl1.RollCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[1]) annotation(
+    Line(points = {{-27, 29}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(remoteControl1.PitchCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[2]) annotation(
+    Line(points = {{-22, 29}, {-22, 22}, {-27, 22}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(lowLevelFlightControlSystem1.RCVerticalSpeedCommand, remoteControl1.VerticalSpeedCommand) annotation(
+    Line(points = {{-31, 19}, {-31.75, 19}, {-31.75, 29}, {-32, 29}}, color = {0, 0, 127}));
+  connect(remoteControl1.YawCommand, lowLevelFlightControlSystem1.RCYawCommand) annotation(
+    Line(points = {{-17, 29}, {-18, 29}, {-18, 20}, {-24, 20}, {-24, 18}}, color = {0, 0, 127}));
+  connect(remoteControl1.ControlMode, controlDroneNavigation1.APEngagement) annotation(
+    Line(points = {{-37, 34}, {-76, 34}, {-76, 14}, {-71, 14}}, color = {255, 0, 255}, thickness = 0.015625));
+  connect(remoteControl1.IndicatorYawConsign, controlDroneNavigation1.IndicatorYawConsign) annotation(
+    Line(points = {{-37, 39}, {-78, 39}, {-78, 8}, {-71, 8}}, color = {255, 0, 255}));
+  connect(quadcopterModel1.Attitude[3], stabilityRequirement1.yaw) annotation(
+    Line(points = {{28, 12}, {44, 12}, {44, -31}, {-34, -31}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.YawConsign, stabilityRequirement1.yawConsign) annotation(
+    Line(points = {{-50, 8}, {-48, 8}, {-48, -22}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Position[1], stabilityRequirement1.posX) annotation(
+    Line(points = {{28, 8}, {48, 8}, {48, -26}, {-34, -26}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Position[2], stabilityRequirement1.posY) annotation(
+    Line(points = {{28, 8}, {48, 8}, {48, -38}, {-34, -38}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.DronPositionConsign[1], stabilityRequirement1.DronePositionConsign[1]) annotation(
+    Line(points = {{-50, 14}, {-44, 14}, {-44, -22}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.DronPositionConsign[2], stabilityRequirement1.DronePositionConsign[2]) annotation(
+    Line(points = {{-50, 14}, {-44, 14}, {-44, -22}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.DronPositionConsign[3], stabilityRequirement1.DronePositionConsign[3]) annotation(
+    Line(points = {{-50, 14}, {-44, 14}, {-44, -22}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.Yaw, quadcopterModel1.Attitude[3]) annotation(
+    Line(points = {{-71, 3}, {-75, 3}, {-75, -18}, {39, -18}, {39, 12}, {28, 12}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Speed[:], lowLevelFlightControlSystem1.Speed[:]) annotation(
+    Line);
+  connect(lowLevelFlightControlSystem1.ThrottleCommand1, quadcopterModel1.ThrottleCommand1) annotation(
+    Line(points = {{-14, 14}, {6, 14}}, color = {0, 0, 127}));
+  connect(lowLevelFlightControlSystem1.ThrottleCommand2, quadcopterModel1.ThrottleCommand2) annotation(
+    Line(points = {{-14, 10}, {-5.5, 10}, {-5.5, 9}, {6, 9}}, color = {0, 0, 127}));
+  connect(lowLevelFlightControlSystem1.ThrottleCommand3, quadcopterModel1.ThrottleCommand3) annotation(
+    Line(points = {{-14, 6}, {-5, 6}, {-5, 5}, {6, 5}}, color = {0, 0, 127}));
+  connect(lowLevelFlightControlSystem1.ThrottleCommand4, quadcopterModel1.ThrottleCommand4) annotation(
+    Line(points = {{-14, 0}, {-3.5, 0}, {-3.5, 1}, {6, 1}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Accelerations, lowLevelFlightControlSystem1.Accelerations) annotation(
+    Line(points = {{28, -1}, {30, -1}, {30, -8}, {-18, -8}, {-18, -4}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Speed, lowLevelFlightControlSystem1.Speed) annotation(
+    Line(points = {{28, 3}, {32, 3}, {32, -10}, {-22, -10}, {-22, -4}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Position, lowLevelFlightControlSystem1.Position) annotation(
+    Line(points = {{28, 7}, {34, 7}, {34, -12}, {-26, -12}, {-26, -4}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Attitude, lowLevelFlightControlSystem1.Attitude) annotation(
+    Line(points = {{28, 12}, {36, 12}, {36, -14}, {-29, -14}, {-29, -4}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.AngularVelocities, lowLevelFlightControlSystem1.AngularSpeed) annotation(
+    Line(points = {{28, 16}, {42, 16}, {42, -16}, {-33, -16}, {-33, -4}}, color = {0, 0, 127}));
+  connect(controlDroneNavigation1.YawConsign, lowLevelFlightControlSystem1.YawConsign) annotation(
+    Line(points = {{-49, 8}, {-45, 8}, {-45, 5}, {-37, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(controlDroneNavigation1.DronPositionConsign[:], lowLevelFlightControlSystem1.DronePositionConsign[:]) annotation(
+    Line(points = {{-49, 14}, {-37, 14}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(lowLevelFlightControlSystem1.SelectedControlMode, controlDroneNavigation1.SelectedControlMode) annotation(
+    Line(points = {{-37, 1}, {-43, 1}, {-43, 3}, {-49, 3}}, color = {255, 0, 255}, thickness = 0.0625));
+  annotation(
+    Icon(coordinateSystem(grid = {3, 2})),
+    experiment(StartTime = 0, StopTime = 30, Tolerance = 1e-06, Interval = 0.002),
+    __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS"),
+    uses(Modelica(version = "3.2.2")));
+end AIDA_System;

SimulationModels/OpenModelica 1.11/AIDAModelica/ControlMotor.mo

@@ -12,6 +12,7 @@ model ControlMotor "[SF1.1/2/3/4.1] Control motor"
 equation
 // enter your equations here
   ComdKD = (DAngVel - wb) / cR;
+ 
   annotation(
     Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {103.3, -100}}), Text(origin = {-7, 44}, extent = {{-39, 12}, {39, -12}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)));
 end ControlMotor;

SimulationModels/OpenModelica 1.11/AIDAModelica/RemoteControl.mo

@@ -0,0 +1,164 @@
+within AIDAModelica;
+
+model RemoteControl "RemoteControl"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Real VerticalSpeedCommand_i(start = 0) "commande interne non filtree";
+  Modelica.Blocks.Interfaces.RealOutput VerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{12, 28}, {32, 48}}), iconTransformation(origin = {-75, -100}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Real RollCommand_i(start = 0) "commande interne non filtree";
+  Modelica.Blocks.Interfaces.RealOutput RollCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{56, 8}, {76, 28}}), iconTransformation(origin = {-25, -100}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Real PitchCommand_i(start = 0) "commande interne non filtree";
+  Modelica.Blocks.Interfaces.RealOutput PitchCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{-38, -46}, {-18, -26}}), iconTransformation(origin = {25, -100}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Real YawCommand_i(start = 0) "commande interne non filtree";
+  Modelica.Blocks.Interfaces.RealOutput YawCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{18, -52}, {38, -32}}), iconTransformation(origin = {75, -100}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Modelica.Blocks.Interfaces.BooleanOutput ControlMode "'output Boolean' as connector" annotation(
+    Placement(transformation(extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-125, -50}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
+  Modelica.Blocks.Interfaces.BooleanOutput IndicatorYawConsign "'output Boolean' as connector" annotation(
+    Placement(transformation(origin = {-45, 45}, extent = {{-17, -17}, {17, 17}}), iconTransformation(origin = {-125, 0}, extent = {{-10, -10}, {10, 10}}, rotation = -180)));
+  parameter Real VS_cmd = 0.5;
+  parameter Real[2] VS_cmd_t = {3, 5} "Instants de démarrage et fin du step";
+  parameter Real Pitch_cmd = 0.03;
+  parameter Real[2] Pitch_cmd_t = {1, 4} "Instants de démarrage et fin du step, après stabilisation verticale";
+  parameter Real Yaw_cmd = 0.5;
+  parameter Real[2] Yaw_cmd_t = {6, 8} "Instants de démarrage et fin du step";
+  parameter Real Roll_cmd = 0.2 "Amplitude step ";
+  parameter Real Roll_cmd_t[2] = {1, 100} "Instants de démarrage et fin du step";
+  parameter Real Tcst = 0.1 "constante de temps pour filter les sorties du remote ctl";
+  Boolean Auto_Ctl_Enabled(start = true);
+  parameter Real Auto_Ctl_t = 0.1 "Instant de déclenchement du mode auto";
+initial equation
+  PitchCommand = 0;
+  RollCommand = 0;
+  YawCommand = 0;
+  VerticalSpeedCommand = 0;
+  PitchCommand_i = 0;
+  RollCommand_i = 0;
+  YawCommand_i = 0;
+  VerticalSpeedCommand_i = 0;
+  ControlMode = false;
+  IndicatorYawConsign = false;
+  Auto_Ctl_Enabled = true;
+algorithm
+  when time > Auto_Ctl_t and Auto_Ctl_Enabled == true then
+    ControlMode := true;
+  end when;
+  when time > VS_cmd_t[1] then
+    VerticalSpeedCommand_i := VS_cmd;
+    ControlMode := false;
+    Auto_Ctl_Enabled := false;
+  end when;
+  when time > VS_cmd_t[2] then
+    VerticalSpeedCommand_i := 0;
+  end when;
+  when time > VS_cmd_t[2] + Pitch_cmd_t[1] then
+    PitchCommand_i := Pitch_cmd;
+    ControlMode := false;
+  end when;
+  when time > VS_cmd_t[2] + Pitch_cmd_t[2] then
+    PitchCommand_i := 0;
+  end when;
+  when time > VS_cmd_t[2] + Roll_cmd_t[1] then
+    RollCommand_i := Roll_cmd;
+    ControlMode := false;
+  end when;
+  when time > VS_cmd_t[2] + Roll_cmd_t[2] then
+    RollCommand_i := 0;
+  end when;
+//Yaw command
+  when time > VS_cmd_t[2] + Yaw_cmd_t[1] then
+    YawCommand_i := Yaw_cmd;
+    ControlMode := false;
+    IndicatorYawConsign := true;
+  end when;
+//IndicatorYawConsign := true;
+  when time > VS_cmd_t[2] + Yaw_cmd_t[2] then
+    YawCommand_i := 0;
+  end when;
+//IndicatorYawConsign := false;
+/*if time>Yaw_cmd_t[2] then
+				 
+				  int_yaw := 0;
+				  IndicatorYawConsign := false;
+				  
+				elseif time>Yaw_cmd_t[1] then
+				 
+				  int_yaw := DYaw_cmd;
+				  IndicatorYawConsign := true;
+				  
+				else
+				  
+				  int_yaw := 0;
+				  IndicatorYawConsign := false;
+				  
+				end if;*/
+equation
+// remote control filter with Tcst time constant
+  der(VerticalSpeedCommand) = (VerticalSpeedCommand_i - VerticalSpeedCommand) / Tcst;
+  der(RollCommand) = (RollCommand_i - RollCommand) / Tcst;
+  der(PitchCommand) = (PitchCommand_i - PitchCommand) / Tcst;
+  der(YawCommand) = (YawCommand_i - YawCommand) / Tcst;
+/* initial code of Andrii VAKULKO, destined to be used with manual button included in the SimulationX interface
+						if VSCommand1 > 0 then
+							VerticalSpeedCommand = -1;
+						elseif VSCommand2 > 0 then
+							VerticalSpeedCommand = -0.8;
+						elseif VSCommand3 > 0 then
+							VerticalSpeedCommand = -0.6;
+						elseif VSCommand4 > 0 then
+							VerticalSpeedCommand = -0.4;
+						elseif VSCommand5 > 0 then
+							VerticalSpeedCommand = -0.2;
+						elseif VSCommand6 > 0 then
+							VerticalSpeedCommand = 0.2;
+						elseif VSCommand7 > 0 then
+							VerticalSpeedCommand = 0.4;
+						elseif VSCommand8 > 0 then
+							VerticalSpeedCommand = 0.6;
+						elseif VSCommand9 > 0 then
+							VerticalSpeedCommand = 0.8;
+						elseif VSCommand10 > 0 then
+							VerticalSpeedCommand = 1;
+						else
+							VerticalSpeedCommand = 0;
+						end if;
+						
+						if YCommandP > 0 then
+							der(YawCommand) = 0.01;
+							//IndicatorYawConsign = true;
+						elseif YCommandM > 0 then
+							der(YawCommand) = -0.01;
+							//IndicatorYawConsign = true;
+						else
+							YawCommand = 0;
+							//IndicatorYawConsign = false;
+						end if;
+						
+						if RCommandP > 0 then
+							RollCommand = 0.0261799; //15 deg
+						elseif RCommandM > 0 then
+							RollCommand = -0.0261799;
+						else
+							RollCommand = 0;
+						end if;
+						
+						if PCommandP > 0 then
+							PitchCommand = 0.0261799;
+						elseif PCommandM > 0 then
+							PitchCommand = -0.0261799;
+						else
+							PitchCommand = 0;
+						end if;*/
+  annotation(
+    VerticalSpeedCommand(flags = 2),
+    RollCommand(flags = 2),
+    PitchCommand(flags = 2),
+    YawCommand(flags = 2),
+    ControlMode(flags = 2),
+    IndicatorYawConsign(flags = 2),
+    Icon(coordinateSystem(extent = {{-125, -100}, {125, 100}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-123.3, 100}, {123.3, -100}}), Text(origin = {-12, 10}, extent = {{-78, 18}, {86, -20}}, textString = "RemoteControl")}),
+    experiment(StopTime = 10, StartTime = 0, Interval = 0.02, MaxInterval = "0.001"));
+end RemoteControl;

SimulationModels/OpenModelica 1.11/AIDAModelica/WindProfile.mo

@@ -0,0 +1,19 @@
+within AIDAModelica;
+
+model WindProfile
+  Modelica.Blocks.Sources.Constant const(k = 0)  annotation(
+    Placement(visible = true, transformation(origin = {-54, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Modelica.Blocks.Sources.Constant const1(k = 0)  annotation(
+    Placement(visible = true, transformation(origin = {50, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Modelica.Blocks.Interfaces.RealOutput Fx annotation(
+    Placement(visible = true, transformation(origin = {-50, -110}, extent = {{-10, -10}, {10, 10}}, rotation = -90), iconTransformation(origin = {-50, -110}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+  Modelica.Blocks.Interfaces.RealOutput Fy annotation(
+    Placement(visible = true, transformation(origin = {50, -110}, extent = {{-10, -10}, {10, 10}}, rotation = -90), iconTransformation(origin = {50, -110}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+equation
+  connect(const.y, Fx) annotation(
+    Line(points = {{-54, -41}, {-54, -75.5}, {-50, -75.5}, {-50, -110}}, color = {0, 0, 127}));
+  connect(const1.y, Fy) annotation(
+    Line(points = {{50, -41}, {50, -110}}, color = {0, 0, 127}));
+
+annotation(
+    Icon(graphics = {Rectangle(extent = {{-100, 100}, {100, -100}}), Text(origin = {-23, 18}, extent = {{57, -26}, {-11, 4}}, textString = "WindProfile")}));end WindProfile;

SimulationModels/OpenModelica 1.11/AIDAModelica/package.order

@@ -68,3 +68,4 @@ YAngularSpeedErrorModel
 YawConsignProducing
 ZAngularSpeedErrorModel
 ModelicaLicense2
+WindProfile

SimulationModels/OpenModelica 1.11/Requirements/StabilityRequirement.mo

@@ -0,0 +1,102 @@
+within Requirements;
+
+model StabilityRequirement
+ "SR-WIND-02: The UAS shall maintain lateral and yaw stability under wind disturbance and recover within limits"
+
+  // ---- System-level parameters (traceable to SR-WIND-02) ----
+  parameter Real hoverTolerance = 2.5 
+    "Maximum allowed lateral deviation during hover [m]";
+  parameter Real yawTolerance = 5 
+    "Maximum allowed yaw error [deg]";
+  parameter Real recoveryBand = 0.5 
+    "Position error band for recovery after disturbance [m]";
+  parameter Real recoveryTime = 3 
+    "Time to remain within recovery band [s]";
+
+  // ---- Inputs from the system ----
+  Modelica.Blocks.Interfaces.RealInput posX 
+    "Measured X position [m]" annotation(
+      Placement(transformation(extent={{120,40},{80,80}})));
+  Modelica.Blocks.Interfaces.RealInput posY 
+    "Measured Y position [m]" annotation(
+      Placement(transformation(extent={{120,-80},{80,-40}})));
+  Modelica.Blocks.Interfaces.RealInput yaw 
+    "Measured yaw angle [deg]" annotation(
+      Placement(transformation(extent={{120,-10},{80,30}})));
+  Modelica.Blocks.Interfaces.RealInput DronePositionConsign[3] 
+    "Commanded reference position [m]" annotation(
+      Placement(transformation(extent={{-20,120},{20,80}}, rotation=-90)));
+  Modelica.Blocks.Interfaces.RealInput yawConsign 
+    "Commanded yaw angle [deg]" annotation(
+      Placement(transformation(extent={{-60,120},{-20,80}}, rotation=-90)));
+
+  // ---- Outputs for monitoring ----
+  Modelica.Blocks.Interfaces.RealOutput lateralError 
+    "2D lateral position error magnitude [m]" annotation(
+      Placement(transformation(extent={{-90,50},{-110,70}})));
+  Modelica.Blocks.Interfaces.RealOutput yawError 
+    "Yaw error magnitude [deg]" annotation(
+      Placement(transformation(extent={{-90,20},{-110,40}})));
+  Modelica.Blocks.Interfaces.BooleanOutput withinHoverLimit 
+    "true if lateralError < hoverTolerance" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -10}, {-90, 10}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput withinYawLimit 
+    "true if yawError < yawTolerance" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -40}, {-90, -20}}, rotation = 0), iconTransformation(origin = {-100, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput recovered 
+    "true if position remains within recoveryBand for recoveryTime" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -70}, {-90, -50}}, rotation = 0), iconTransformation(origin = {-100, -60}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.BooleanOutput pass 
+    "true if all criteria are satisfied" annotation(
+      Placement(visible = true, transformation(extent = {{-110, -100}, {-90, -80}}, rotation = 0), iconTransformation(origin = {-100, -90}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
+
+protected 
+  Real t_within(start=0) "Timer for recovery criterion";
+equation
+  // --- Lateral and yaw errors ---
+  lateralError = sqrt((posX - DronePositionConsign[1])^2 + 
+                      (posY - DronePositionConsign[2])^2);
+  yawError = abs(yaw - yawConsign);
+
+  withinHoverLimit = lateralError < hoverTolerance;
+  withinYawLimit   = yawError < yawTolerance;
+
+  // --- Recovery logic (after gust disturbance) ---
+  der(t_within) = if lateralError < recoveryBand then 1 else 0;
+  
+   // Reset timer whenever the drone leaves the recovery band
+  when lateralError > recoveryBand then
+    reinit(t_within, 0);
+  end when;
+  
+  recovered = t_within >= recoveryTime;
+
+  // --- Overall requirement pass flag ---
+  //pass = withinHoverLimit and withinYawLimit and recovered;
+  pass = withinHoverLimit and withinYawLimit;
+annotation(
+  Documentation(info="
+  <html>
+  <h4>SR-WIND-02 – Performance in Wind</h4>
+  <p>
+  Source: EASA Means of Compliance Light-UAS.2512, 
+  ISO 21384-3 (Clause 10 – Operational limitations).
+  </p>
+  <p>
+  <b>Requirement:</b><br>
+  Under a steady 8 m/s wind with 12 m/s gusts, the UAS shall:
+  <ul>
+    <li>Maintain lateral position error ≤ 1.5 m (95th percentile) during hover.</li>
+    <li>Maintain yaw pointing error ≤ 5° (95th percentile).</li>
+    <li>Recover to within 0.5 m position error within 3 s after gust disturbance.</li>
+  </ul>
+  </p>
+  <p>
+  <b>Simulation Inputs:</b> Connect to AIDA_System position, yaw, and 
+  reference signals.
+  </p>
+  </html>"),
+  uses(Modelica(version="3.2.2")),
+  Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "SR-WIND-02"), Rectangle(extent = {{-104, -2}, {-104, -2}}), Rectangle(origin = {0, -1}, extent = {{-100, 101}, {100, -99}})}, coordinateSystem(initialScale = 0.1)));
+ 
+end StabilityRequirement;

SimulationModels/OpenModelica 1.11/Requirements/package.mo

@@ -0,0 +1,3 @@
+package Requirements
+
+end Requirements;