Migration to OpenModelica 1.25 and FMUs Generation

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;

SimulationModels/OpenModelica 1.25/AIDAModel-integrationProSivic_reference.mo

@@ -0,0 +1,76 @@
+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.Init.InitialOutput)), pID_2(k = 25, Ti = 0.5, Td = 0.08, initType = Modelica.Blocks.Types.Init.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.Init.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.Init.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.Init.InitialOutput, Add(k1 = 1, k2 = 1, k3 = 1)))), positionControl1(controlSpeed1(PID(k = 0.8, Ti = 1, initType = Modelica.Blocks.Types.Init.InitialOutput), PID2(k = 0.8, Ti = 1, initType = Modelica.Blocks.Types.Init.InitialOutput), PID1(k = 30, Ti = 1, Td = 0.1, initType = Modelica.Blocks.Types.Init.InitialOutput)))) annotation(
+    Placement(visible = true, transformation(origin = {-2.96, 1.52}, extent = {{-34.04, -5.52}, {-11.04, 17.48}}, rotation = 0)));
+  AIDAModelica.ControlDroneNavigation Control_Navigation annotation(
+    Placement(transformation(origin = {-8.1, 6.3}, extent = {{-86.9, -3.3}, {-64.9, 18.7}})));
+  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(transformation(origin = {-2, 10}, extent = {{-37, 29}, {-12, 49}})));
+  Requirements.StabilityRequirement stabilityRequirement1(hoverTolerance = 1.5)  annotation(
+    Placement(transformation(origin = {-46, -38}, extent = {{-10, -10}, {10, 10}})));
+  AIDAModelica.WindProfile windProfile annotation(
+    Placement(transformation(origin = {16, 44}, extent = {{-10, -10}, {10, 10}})));
+equation
+  connect(remoteControl1.RollCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[1]) annotation(
+    Line(points = {{-29, 39}, {-29, 29}, {-27, 29}, {-27, 19}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(remoteControl1.PitchCommand, lowLevelFlightControlSystem1.RCAttitudeCommands[2]) annotation(
+    Line(points = {{-24, 39}, {-24, 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, 39}, {-34, 39}}, color = {0, 0, 127}));
+  connect(remoteControl1.YawCommand, lowLevelFlightControlSystem1.RCYawCommand) annotation(
+    Line(points = {{-19, 39}, {-19, 31}, {-18, 31}, {-18, 20}, {-24, 20}, {-24, 18}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Attitude[3], stabilityRequirement1.yaw) annotation(
+    Line(points = {{28, 12}, {44, 12}, {44, -38}, {-34, -38}}, color = {0, 0, 127}));
+  connect(Control_Navigation.YawConsign, stabilityRequirement1.yawConsign) annotation(
+    Line(points = {{-44, 14}, {-44, -26}, {-52, -26}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Position[1], stabilityRequirement1.posX) annotation(
+    Line(points = {{28, 8}, {48, 8}, {48, -32}, {-34, -32}}, color = {0, 0, 127}));
+  connect(quadcopterModel1.Position[2], stabilityRequirement1.posY) annotation(
+    Line(points = {{28, 8}, {48, 8}, {48, -44}, {-34, -44}}, color = {0, 0, 127}));
+  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(Control_Navigation.YawConsign, lowLevelFlightControlSystem1.YawConsign) annotation(
+    Line(points = {{-44, 14}, {-45, 14}, {-45, 5}, {-37, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(Control_Navigation.DronPositionConsign[:], lowLevelFlightControlSystem1.DronePositionConsign[:]) annotation(
+    Line(points = {{-49, 14}, {-37, 14}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(lowLevelFlightControlSystem1.SelectedControlMode, Control_Navigation.SelectedControlMode) annotation(
+    Line(points = {{-37, 1}, {-43, 1}, {-43, 6}, {-44, 6}}, color = {255, 0, 255}, thickness = 0.0625));
+  connect(quadcopterModel1.Attitude[3], Control_Navigation.Yaw) annotation(
+    Line(points = {{28, 12}, {40, 12}, {40, 5}, {-98, 5}}, color = {0, 0, 127}));
+  connect(Control_Navigation.DronPositionConsign[1], stabilityRequirement1.DronePositionConsign[1]) annotation(
+    Line(points = {{-44, 22}, {-44, -3}, {-40, -3}, {-40, -26}}, color = {0, 0, 127}, thickness = 0.5));
+  connect(Control_Navigation.DronPositionConsign[2], stabilityRequirement1.DronePositionConsign[2]) annotation(
+    Line(points = {{-44, 22}, {-44, -3}, {-40, -3}, {-40, -26}}, color = {0, 0, 127}, thickness = 0.5));
+  connect(Control_Navigation.DronPositionConsign[3], stabilityRequirement1.DronePositionConsign[3]) annotation(
+    Line(points = {{-44, 22}, {-44, -3}, {-40, -3}, {-40, -26}}, color = {0, 0, 127}, thickness = 0.5));
+  connect(windProfile.Fx, quadcopterModel1.Fx) annotation(
+    Line(points = {{10, 33}, {10, 31.5}, {8, 31.5}, {8, 22}}, color = {0, 0, 127}));
+  connect(windProfile.Fy, quadcopterModel1.Fy) annotation(
+    Line(points = {{23, 33}, {24, 33}, {24, 22}}, color = {0, 0, 127}));
+  connect(remoteControl1.ControlMode, Control_Navigation.APEngagement) annotation(
+    Line(points = {{-38, 44}, {-112, 44}, {-112, 22}, {-98, 22}}, color = {255, 0, 255}));
+  connect(remoteControl1.IndicatorYawConsign, Control_Navigation.IndicatorYawConsign) annotation(
+    Line(points = {{-38, 50}, {-116, 50}, {-116, 14}, {-98, 14}}, color = {255, 0, 255}));
+  annotation(
+    Icon(coordinateSystem(grid = {3, 2})),
+    experiment(StartTime = 0, StopTime = 240, Tolerance = 1e-06, Interval = 0.002),
+    __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS"),
+    uses(Modelica(version = "4.0.0")));
+end AIDA_System;

SimulationModels/OpenModelica 1.25/AIDAModelica/AIDAModelica.mo_old

@@ -0,0 +1,4 @@
+within; 
+package AIDAModelica "AIDA Modelica Libraries"
+	annotation(dateModified="2018-04-03 09:30:06Z");
+end AIDAModelica;

SimulationModels/OpenModelica 1.25/AIDAModelica/AccelerationToSpeed.mo

@@ -0,0 +1,32 @@
+within AIDAModelica;
+
+model AccelerationToSpeed "Acceleration to speed convector"
+  Modelica.Blocks.Interfaces.RealInput Acceleration[3](each quantity = "Mechanics.Translation.Accel", each displayUnit = "m/s²") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-26, -30}, extent = {{-120, 10}, {-80, 50}}), iconTransformation(origin = {0, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
+  Modelica.Blocks.Interfaces.RealOutput Speed[3](each quantity = "Mechanics.Translation.Velocity", each displayUnit = "m/s") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {104, -30}, extent = {{-5, 20}, {15, 40}}), iconTransformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
+  Modelica.Blocks.Continuous.Integrator integrator1 annotation(
+    Placement(transformation(origin = {20, 10}, extent = {{-60, 50}, {-40, 70}})));
+  Modelica.Blocks.Continuous.Integrator integrator2 annotation(
+    Placement(transformation(origin = {20, -30}, extent = {{-60, 20}, {-40, 40}})));
+  Modelica.Blocks.Continuous.Integrator integrator3 annotation(
+    Placement(transformation(origin = {20, -72}, extent = {{-60, -10}, {-40, 10}})));
+equation
+  connect(integrator1.u, Acceleration[1]) annotation(
+    Line(points = {{-42, 70}, {-95, 70}, {-95, 0}, {-126, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator2.u, Acceleration[2]) annotation(
+    Line(points = {{-42, 0}, {-126, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator3.u, Acceleration[3]) annotation(
+    Line(points = {{-42, -72}, {-94, -72}, {-94, 0}, {-126, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator1.y, Speed[1]) annotation(
+    Line(points = {{-19, 70}, {0, 70}, {0, 0}, {109, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator2.y, Speed[2]) annotation(
+    Line(points = {{-19, 0}, {109, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator3.y, Speed[3]) annotation(
+    Line(points = {{-19, -72}, {35, -72}, {35, 0}, {109, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    Acceleration(flags = 2),
+    Speed(flags = 2),
+    Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}})}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.001));
+end AccelerationToSpeed;

SimulationModels/OpenModelica 1.25/AIDAModelica/AcquirePositioningSignal.mo

@@ -0,0 +1,230 @@
+within AIDAModelica;
+model AcquirePositioningSignal "Acquire Positioning Signal"
+	Modelica.Blocks.Interfaces.RealOutput Measured_positioning_signal[4] "'output Real' as connector" annotation(Placement(
+		transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}),
+		iconTransformation(extent={{90,-10},{110,10}})));
+	Modelica.Blocks.Interfaces.RealInput Positioning_signal[4] "'input Real' as connector" annotation(Placement(
+		transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}),
+		iconTransformation(extent={{-120,-20},{-80,20}})));
+	equation
+// enter your equations here
+		Measured_positioning_signal = Positioning_signal;
+	annotation(Icon(graphics={
+			Rectangle(
+				fillColor={255,255,255},
+				fillPattern=FillPattern.Solid,
+				extent={{-100,100},{100,-100}}),
+			Bitmap(
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+uryBtgAAAABJRU5ErkJggg==",
+				extent={{-100,-100},{100,100}})}));
+end AcquirePositioningSignal;

SimulationModels/OpenModelica 1.25/AIDAModelica/AllocationControl.mo

@@ -0,0 +1,58 @@
+within AIDAModelica;
+
+model AllocationControl "Allocation Coltrol Model"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput TotalThrustAP(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-46, 20}, extent = {{-95, 40}, {-55, 80}}), iconTransformation(extent = {{-120, 55}, {-80, 95}})));
+  Modelica.Blocks.Interfaces.RealInput TotalThrustManual(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-48, -18}, extent = {{-95, 0}, {-55, 40}}), iconTransformation(extent = {{-120, 5}, {-80, 45}})));
+  Modelica.Blocks.Interfaces.RealInput MomentumsConsign[3](each quantity = "Mechanics.Rotation.Torque", each displayUnit = "Nm") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-90, -46}, extent = {{-50, -15}, {-10, 25}}), iconTransformation(extent = {{-120, -45}, {-80, -5}})));
+  Modelica.Blocks.Interfaces.RealOutput Motor1Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {66, 26}, extent = {{35, 45}, {55, 65}}), iconTransformation(extent = {{90, 65}, {110, 85}})));
+  Modelica.Blocks.Interfaces.RealOutput Motor2Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {64, 0}, extent = {{35, 30}, {55, 50}}), iconTransformation(extent = {{90, 15}, {110, 35}})));
+  Modelica.Blocks.Interfaces.RealOutput Motor3Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {66, -60}, extent = {{35, 10}, {55, 30}}), iconTransformation(extent = {{90, -35}, {110, -15}})));
+  Modelica.Blocks.Interfaces.RealOutput Motor4Rate(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {66, -86}, extent = {{35, -5}, {55, 15}}), iconTransformation(extent = {{90, -85}, {110, -65}})));
+  Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "'input Boolean' as connector" annotation(
+    Placement(transformation(origin = {-26, 0}, extent = {{-115, 20}, {-75, 60}}), iconTransformation(extent = {{-120, -95}, {-80, -55}})));
+  AIDAModelica.ComputeMotorRate computeMotorRate1 annotation(
+    Placement(visible = true, transformation(extent = {{-5, 20}, {15, 45}}, rotation = 0)));
+  Modelica.Blocks.Logical.Switch SelectTotalThrustConsign annotation(
+    Placement(transformation(extent = {{-50, 30}, {-30, 50}})));
+equation
+  connect(SelectTotalThrustConsign.y, computeMotorRate1.TotalThrust) annotation(
+    Line(points = {{-29, 40}, {-5, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeMotorRate1.Motor4Rate, Motor4Rate) annotation(
+    Line(points = {{15, 25}, {40, 25}, {40, -81}, {111, -81}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeMotorRate1.Motor3Rate, Motor3Rate) annotation(
+    Line(points = {{15, 30}, {40, 30}, {40, -40}, {111, -40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeMotorRate1.Motor2Rate, Motor2Rate) annotation(
+    Line(points = {{15, 35}, {40, 35}, {40, 40}, {109, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeMotorRate1.Motor1Rate, Motor1Rate) annotation(
+    Line(points = {{15, 40}, {40, 40}, {40, 81}, {111, 81}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeMotorRate1.MomentumConsign[:], MomentumsConsign[:]) annotation(
+    Line(points = {{-5, 25}, {-25, 25}, {-25, 5}, {-30, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(SelectTotalThrustConsign.u1, TotalThrustAP) annotation(
+    Line(points = {{-52, 48}, {-70, 48}, {-70, 80}, {-121, 80}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(SelectTotalThrustConsign.u2, SelectedControlMode) annotation(
+    Line(points = {{-52, 40}, {-121, 40}}, color = {255, 0, 255}, thickness = 0.0625));
+  connect(SelectTotalThrustConsign.u3, TotalThrustManual) annotation(
+    Line(points = {{-52, 32}, {-70, 32}, {-70, 2}, {-123, 2}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    TotalThrustAP(flags = 2),
+    TotalThrustManual(flags = 2),
+    MomentumsConsign(flags = 2),
+    Motor1Rate(flags = 2),
+    Motor2Rate(flags = 2),
+    Motor3Rate(flags = 2),
+    Motor4Rate(flags = 2),
+    SelectedControlMode(flags = 2),
+    computeMotorRate1(TotalThrust(flags = 2), MomentumConsign(flags = 2), Motor1Rate(flags = 2), Motor2Rate(flags = 2), Motor3Rate(flags = 2), Motor4Rate(flags = 2), P4(flags = 2), M4(flags = 2), AngVelVector(flags = 2), TMomVector(flags = 2), ParamCosSin(flags = 2)),
+    SelectTotalThrustConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)),
+    Icon(coordinateSystem(extent = {{-100, -125}, {100, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 126.7}, {100, -126.7}}), Text(origin = {-57, 21}, extent = {{-11, 5}, {105, -39}}, textString = "AllocationControl")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
+end AllocationControl;

SimulationModels/OpenModelica 1.25/AIDAModelica/AttitudeControl.mo

@@ -0,0 +1,94 @@
+within AIDAModelica;
+
+model AttitudeControl "Attitude Control Model"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  parameter Boolean Test_CstMomentumActiv = false;
+  parameter Boolean Test_open_loop[3] = {false, false, false} "parameter";
+  parameter Real Test_CstMomentumValues[3] = {0.0, 0.0, 0.0};
+  Modelica.Blocks.Interfaces.RealInput AttitudeConsignAP[2](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "Desired phi and teta angles input" annotation(
+    Placement(visible = true, transformation(extent = {{-166, 23}, {-126, 63}}, rotation = 0), iconTransformation(origin = {-50, 100}, extent = {{-20, -20}, {20, 20}}, rotation = 270)));
+  Modelica.Blocks.Interfaces.RealInput AttitudeRCConsign[2](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "Desired phi and teta angles input sac" annotation(
+    Placement(visible = true,transformation(extent = {{-163, -45}, {-123, -5}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0)));
+  Modelica.Blocks.Interfaces.RealInput YawConsign(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "Desired yaw angle input" annotation(
+    Placement(transformation(extent = {{-80, -70}, {-40, -30}}), iconTransformation(extent = {{-120, -70}, {-80, -30}})));
+  Modelica.Blocks.Interfaces.RealInput AngularSpeed[3](each quantity = "Mechanics.Rotation.RotVelocity", each displayUnit = "rad/s") "Real angular velocities feedback input" annotation(
+    Placement(transformation(origin = {-50, 2}, extent = {{-89.7, 58}, {-49.7, 98}}), iconTransformation(origin = {-50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
+  Modelica.Blocks.Interfaces.RealInput Attitude[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "Real attitude feedback input" annotation(
+    Placement(transformation(origin = {-122, -124}, extent = {{-40, 45}, {0, 85}}), iconTransformation(origin = {0, -100}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
+  Modelica.Blocks.Interfaces.RealOutput MomentumsConsign[3](each quantity = "Mechanics.Rotation.Torque", each displayUnit = "Nm") "Desired moments output" annotation(
+    Placement(transformation(origin = {10, 4}, extent = {{90, -15}, {110, 5}}), iconTransformation(extent = {{90, -10}, {110, 10}})));
+  Modelica.Blocks.Interfaces.RealInput RCYawCommand(quantity = "Mechanics.Rotation.Angle", displayUnit = "rad") "RC yaw angle input" annotation(
+    Placement(transformation(extent = {{-80, -100}, {-40, -60}}), iconTransformation(origin = {-100, 50}, extent = {{-20, -20}, {20, 20}})));
+  Modelica.Blocks.Interfaces.BooleanInput SelectedControlMode "'input Boolean' as connector" annotation(
+    Placement(visible = true, transformation(extent = {{-164, -11}, {-124, 29}}, rotation = 0), iconTransformation(origin = {50, -100}, extent = {{-20, -20}, {20, 20}}, rotation = -270)));
+  AIDAModelica.ControlRollAngle controlRollAngle1(xAngularSpeedErrorModel1(Kwphi = 3), PID(k = 0.09, Ti = 1.5, Td = 0.03, Add(k1 = 1, k2 = 1, k3 = 1))) annotation(
+    Placement(visible = true, transformation(extent = {{49, -8}, {69, 12}}, rotation = 0)));
+  AIDAModelica.ControlPitchAngle controlPitchAngle1(yAngularSpeedErrorModel1(Kwteta = 1.5), PID1(Add(k1 = 1, k2 = 1, k3 = 1))) annotation(
+    Placement(visible = true, transformation(extent = {{49, 20}, {69, 40}}, rotation = 0)));
+  AIDAModelica.ControlYawAngle controlYawAngle1(PID2(k = 0.05, Ti = 2, Td = 0.03, Add(k1 = 1, k2 = 1, k3 = 1))) annotation(
+    Placement(visible = true, transformation(extent = {{48, -37}, {68, -17}}, rotation = 0)));
+  Modelica.Blocks.Logical.Switch SelectRollConsign annotation(
+    Placement(visible = true, transformation(extent = {{-56, -20}, {-36, 0}}, rotation = 0)));
+  Modelica.Blocks.Logical.Switch SelectPitchConsign annotation(
+    Placement(visible = true, transformation(extent = {{-56, 17}, {-36, 37}}, rotation = 0)));
+  Modelica.Blocks.Math.Add computeYawConsign annotation(
+    Placement(transformation(extent = {{-35, -75}, {-15, -55}})));
+equation
+  connect(SelectRollConsign.u1, AttitudeConsignAP[1]) annotation(
+    Line(points = {{-58, -2}, {-106, -2}, {-106, 43}, {-146, 43}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(SelectRollConsign.u2, SelectedControlMode) annotation(
+    Line(points = {{-58, -10}, {-78, -10}, {-78, 9}, {-144, 9}}, color = {255, 0, 255}, thickness = 0.0625));
+  connect(SelectRollConsign.u3, AttitudeRCConsign[1]) annotation(
+    Line(points = {{-58, -18}, {-94, -18}, {-94, -25}, {-143, -25}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(controlRollAngle1.RollConsign, SelectRollConsign.y) annotation(
+    Line(points = {{49, 7}, {8, 7}, {8, -10}, {-35, -10}}, color = {0, 0, 127}));
+  connect(SelectPitchConsign.u1, AttitudeConsignAP[2]) annotation(
+    Line(points = {{-58, 35}, {-106, 35}, {-106, 43}, {-146, 43}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(SelectPitchConsign.u2, SelectedControlMode) annotation(
+    Line(points = {{-58, 27}, {-78, 27}, {-78, 9}, {-144, 9}}, color = {255, 0, 255}, thickness = 0.0625));
+  connect(SelectPitchConsign.u3, AttitudeRCConsign[2]) annotation(
+    Line(points = {{-58, 19}, {-94, 19}, {-94, -25}, {-143, -25}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(controlPitchAngle1.PitchCosign, SelectPitchConsign.y) annotation(
+    Line(points = {{49, 35}, {22, 35}, {22, 27}, {-35, 27}}, color = {0, 0, 127}));
+  connect(controlYawAngle1.YawConsign, computeYawConsign.y) annotation(
+    Line(points = {{48, -22}, {-9, -22}, {-9, -65}, {-14, -65}}, color = {0, 0, 127}));
+// la sortie est soit celle caclulée par le contrôleur soit fixée selon la valeur du paramètre Test_CstMomentumActiv et Test_CstMomentumValues
+  MomentumsConsign[3] = if Test_CstMomentumActiv then Test_CstMomentumValues[3] else controlYawAngle1.MomentumZ;
+  MomentumsConsign[2] = if Test_CstMomentumActiv then Test_CstMomentumValues[2] else controlPitchAngle1.MomentumY;
+  MomentumsConsign[1] = if Test_CstMomentumActiv then Test_CstMomentumValues[1] else controlRollAngle1.MomentumX;
+  controlRollAngle1.AngularSpeedX = if Test_open_loop[1] then 0 else AngularSpeed[1] annotation(
+    Line(points = {{36, 18}, {-25, 18}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625));
+  controlRollAngle1.Roll = if Test_open_loop[1] then 0 else Attitude[1] annotation(
+    Line(points = {{36, 23}, {4, 23}, {4, 36}, {-4, 36}}, color = {0, 0, 127}));
+  controlYawAngle1.AngularSpeedZ = if Test_open_loop[3] then 0 else AngularSpeed[3] annotation(
+    Line(points = {{36, -34}, {-25, -34}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625));
+  controlYawAngle1.Yaw = if Test_open_loop[3] then 0 else Attitude[3] annotation(
+    Line(points = {{36, -29}, {2, -29}, {2, 36}, {-4, 36}}, color = {0, 0, 127}));
+  controlPitchAngle1.AngularSpeedY = if Test_open_loop[2] then 0 else AngularSpeed[2] annotation(
+    Line(points = {{36, -8}, {-25, -8}, {-25, 35}, {-30, 35}}, color = {0, 0, 127}, thickness = 0.0625));
+  controlPitchAngle1.Pitch = if Test_open_loop[2] then 0 else Attitude[2] annotation(
+    Line(points = {{36, -3}, {2, -3}, {2, 36}, {-4, 36}}, color = {0, 0, 127}));
+  connect(computeYawConsign.u2, RCYawCommand) annotation(
+    Line(points = {{-37, -71}, {-42, -71}, {-55, -71}, {-55, -80}, {-60, -80}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computeYawConsign.u1, YawConsign) annotation(
+    Line(points = {{-37, -59}, {-42, -59}, {-55, -59}, {-55, -50}, {-60, -50}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    AttitudeConsignAP(flags = 2),
+    AttitudeRCConsign(flags = 2),
+    YawConsign(flags = 2),
+    AngularSpeed(flags = 2),
+    Attitude(flags = 2),
+    MomentumsConsign(flags = 2),
+    RCYawCommand(flags = 2),
+    SelectedControlMode(flags = 2),
+    controlRollAngle1(RollConsign(flags = 2), Roll(flags = 2), AngularSpeedX(flags = 2), MomentumX(flags = 2), xAngularSpeedErrorModel1(RollConsign(flags = 2), Roll(flags = 2), AngularSpeedX(flags = 2), AngularSpeedXError(flags = 2), ephi(flags = 2), wxd(flags = 2)), PID(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))),
+    controlPitchAngle1(PitchCosign(flags = 2), Pitch(flags = 2), AngularSpeedY(flags = 2), MomentumY(flags = 2), yAngularSpeedErrorModel1(PitchCosign(flags = 2), Pitch(flags = 2), AngularSpeedY(flags = 2), AngularSpeedYError(flags = 2), eteta(flags = 2), wyd(flags = 2)), PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))),
+    controlYawAngle1(YawConsign(flags = 2), Yaw(flags = 2), AngularSpeedZ(flags = 2), MomentumZ(flags = 2), zAngularSpeedErrorModel1(YawCosign(flags = 2), Yaw(flags = 2), AngularSpeedZ(flags = 2), AngularSpeedZError(flags = 2), eyaw(flags = 2), wzd(flags = 2)), PID2(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)))),
+    SelectRollConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)),
+    SelectPitchConsign(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2)),
+    computeYawConsign(u1(flags = 2), u2(flags = 2), y(flags = 2)),
+    Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(textString = "Control Attitude", fillPattern = FillPattern.None, extent = {{-29, 11}, {29, -11}}, origin = {1, 3})}),
+    experiment(StopTime = 30, StartTime = 0, Interval = 0.002, Tolerance = 1e-06),
+  __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS"));
+end AttitudeControl;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputationAccelerationModel.mo

@@ -0,0 +1,35 @@
+within AIDAModelica;
+
+model ComputationAccelerationModel "Computation Acceleration Model"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-66, -14}, extent = {{-75, 15}, {-35, 55}}), iconTransformation(extent = {{-95, 5}, {-55, 45}})));
+  Modelica.Blocks.Interfaces.RealInput Attitude[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-66, 6}, extent = {{-75, 55}, {-35, 95}}), iconTransformation(origin = {-25, 75}, extent = {{-20, -20}, {20, 20}})));
+  Modelica.Blocks.Interfaces.RealOutput DroneAcceleration[3](each quantity = "Mechanics.Translation.Accel", each displayUnit = "m/s²") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {34, 26}, extent = {{65, -15}, {85, 5}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+  Modelica.Blocks.Interfaces.RealInput ExternalForce[3] "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-80, -20}, extent = {{-60, -40}, {-20, 0}}), iconTransformation(extent = {{-95, -45}, {-55, -5}})));
+  parameter Real m(quantity = "Basics.Mass", displayUnit = "kg") = 1.8 "Quadcopter mass";
+  parameter Real g(quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") = 9.8 "Parameter g";
+  parameter Real e3[3] = {0, 0, 1} "Unit vector";
+  Real Reb[3, 3] "From the ABCF to the EFCF rotation matrix";
+  Real Rz[3, 3] "Z rotation matrix";
+  Real Ry[3, 3] "Y rotation matrix";
+  Real Rx[3, 3] "X rotation matrix";
+equation
+// enter your equations here
+  Rz = {{cos(Attitude[3]), sin(Attitude[3]), 0}, {-sin(Attitude[3]), cos(Attitude[3]), 0}, {0, 0, 1}};
+  Ry = {{cos(Attitude[2]), 0, -sin(Attitude[2])}, {0, 1, 0}, {sin(Attitude[2]), 0, cos(Attitude[2])}};
+  Rx = {{1, 0, 0}, {0, cos(Attitude[1]), sin(Attitude[1])}, {0, -sin(Attitude[1]), cos(Attitude[1])}};
+  Reb = transpose(Rz) * transpose(Ry) * transpose(Rx);
+  DroneAcceleration = g * e3 - TotalThrust / m * Reb * e3 + ExternalForce / m;
+  annotation(
+    TotalThrust(flags = 2),
+    Attitude(flags = 2),
+    DroneAcceleration(flags = 2),
+    ExternalForce(flags = 2),
+    Icon(coordinateSystem(extent = {{-75, -75}, {75, 75}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 76.7}, {80, -76.7}}), Text(origin = {-6, 4}, extent = {{-12, 6}, {12, -6}}, textString = "%name")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
+end ComputationAccelerationModel;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputationAngularAccelerationModel.mo

@@ -0,0 +1,17 @@
+within AIDAModelica;
+
+  model ComputationAngularAccelerationModel "Computation Angular Acceleration Model"
+    import Modelica.Math;
+    Modelica.Blocks.Interfaces.RealInput Moments[3](each quantity = "Mechanics.Rotation.Torque", each displayUnit = "Nm") "'input Real' as connector" annotation(
+      Placement(transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -20}, {-55, 20}})));
+    Modelica.Blocks.Interfaces.RealOutput DroneAngularAcceleration[3](each quantity = "Mechanics.Rotation.RotAccel", each displayUnit = "rad/s²") "'output Real' as connector" annotation(
+      Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+    parameter Real J[3, 3] = {{0.009074, 0, 0}, {0, 0.009074, 0}, {0, 0, 0.013279}} "Diagonal matrix of inertia";
+    Real invJ[3, 3] "Inverse of matrix J";
+  equation
+// enter your equations here
+    invJ = Modelica.Math.Matrices.inv(J);
+    DroneAngularAcceleration = invJ * Moments;
+    annotation(
+      Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-5, 4}, extent = {{-11, 6}, {11, -6}}, textString = "%name")}));
+  end ComputationAngularAccelerationModel;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputationChangeAngleVelocity.mo

@@ -0,0 +1,27 @@
+within AIDAModelica;
+
+model ComputationChangeAngleVelocity "Computation ChangeAngle Velocity"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput DronAngularVelocities[3](each quantity = "Mechanics.Rotation.RotVelocity", each displayUnit = "rad/s") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-120, 60}, extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 5}, {-55, 45}})));
+  Modelica.Blocks.Interfaces.RealInput Attitude[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "'input Real' as connector" annotation(
+    Placement(transformation(origin = {-120, -60}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-75, -25}, extent = {{-20, -20}, {20, 20}})));
+  Modelica.Blocks.Interfaces.RealOutput ChangeAngleVelocity[3](each quantity = "Mechanics.Rotation.RotVelocity", each displayUnit = "rad/s") "'output Real' as connector" annotation(
+    Placement(transformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+  Real W[3, 3] "Matrix W";
+equation
+// enter your equations here
+  W[1, 1] = 1;
+  W[1, 2] = tan(Attitude[2]) * sin(Attitude[1]);
+  W[1, 3] = tan(Attitude[2]) * cos(Attitude[1]);
+  W[2, 1] = 0;
+  W[2, 2] = cos(Attitude[1]);
+  W[2, 3] = -sin(Attitude[1]);
+  W[3, 1] = 0;
+  W[3, 2] = sin(Attitude[1]) / cos(Attitude[2]);
+  W[3, 3] = cos(Attitude[1]) * cos(Attitude[2]);
+  ChangeAngleVelocity = W * DronAngularVelocities;
+  annotation(
+    Icon(coordinateSystem(extent = {{-75, -75}, {75, 75}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-80, 76.7}, {76.7, -76.7}}), Text(origin = {-5, 1}, extent = {{-19, 7}, {19, -7}}, textString = "%name")}));
+end ComputationChangeAngleVelocity;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeAltitudeConsign.mo

@@ -0,0 +1,40 @@
+within AIDAModelica;
+
+model ComputeAltitudeConsign "[SF2.4.1] Compute altitude consign"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "RC vertical speed consign" annotation(
+    Placement(transformation(origin = {10, 16}, extent = {{-150, 25}, {-110, 65}}), iconTransformation(extent = {{-120, 30}, {-80, 70}})));
+  Modelica.Blocks.Interfaces.RealInput VSpeed(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Real drone speed feedback" annotation(
+    Placement(transformation(origin = {10, -46}, extent = {{-150, -35}, {-110, 5}}), iconTransformation(extent = {{-120, -70}, {-80, -30}})));
+  Modelica.Blocks.Interfaces.RealOutput AccelerationConsign(quantity = "Mechanics.Translation.Accel", displayUnit = "m/s²") "Drone acceleration consign " annotation(
+    Placement(transformation(origin = {36, -36}, extent = {{65, 25}, {85, 45}}), iconTransformation(extent = {{90, -10}, {110, 10}})));
+  Modelica.Blocks.Continuous.PID PID1(k = 250, Ti = 1.5, Td = 0.02, initType = Modelica.Blocks.Types.Init.NoInit) annotation(
+    Placement(transformation(origin = {8, -36}, extent = {{15, 25}, {35, 45}})));
+  AIDAModelica.SpeedErrorModelSAC speedErrorModelSAC1 annotation(
+    Placement(transformation(origin = {14, -40}, extent = {{-55, 30}, {-35, 50}})));
+equation
+  connect(speedErrorModelSAC1.SpeedError, PID1.u) annotation(
+    Line(points = {{-21, 0}, {8, 0}, {8, -1}, {21, -1}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(RCVerticalSpeedCommand, speedErrorModelSAC1.SpeedConsign) annotation(
+    Line(points = {{-120, 61}, {-60, 61}, {-60, 0}, {-41, 0}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(VSpeed, speedErrorModelSAC1.Speed) annotation(
+    Line(points = {{-120, -61}, {-31, -61}, {-31, -10}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(PID1.y, AccelerationConsign) annotation(
+    Line(points = {{44, -1}, {111, -1}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    Speed(flags = 2),
+    RCVerticalSpeedCommand(flags = 2),
+    AccelerationConsign(flags = 2),
+    PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))),
+    speedErrorModelSAC1(SpeedConsign(flags = 2), Speed(flags = 2), SpeedError(flags = 2), vzd(flags = 2), vz(flags = 2), ASE(flags = 2)),
+    Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}})}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"),
+    Speed(flags = 2),
+    RCVerticalSpeedCommand(flags = 2),
+    AccelerationConsign(flags = 2),
+    PID1(u(flags = 2), y(flags = 2), P(u(flags = 2), y(flags = 2)), I(u(flags = 2), y(flags = 2)), D(u(flags = 2), y(flags = 2), x(flags = 2)), Gain(u(flags = 2), y(flags = 2)), Add(u1(flags = 2), u2(flags = 2), u3(flags = 2), y(flags = 2))),
+    speedErrorModelSAC1(SpeedConsign(flags = 2), Speed(flags = 2), SpeedError(flags = 2), vzd(flags = 2), vz(flags = 2), ASE(flags = 2)),
+    Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {-1, 4}, extent = {{-35, 10}, {35, -10}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
+end ComputeAltitudeConsign;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeDroneAngularsVelocities.mo

@@ -0,0 +1,39 @@
+within AIDAModelica;
+
+model ComputeDroneAngularsVelocities "[SimuD4 DM] Compute drone angulars velocities"
+  Modelica.Blocks.Interfaces.RealInput Moments[3](each quantity = "Mechanics.Rotation.Torque", each displayUnit = "Nm") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-120, 20}, {-80, 60}}), iconTransformation(extent = {{-95, -20}, {-55, 20}})));
+  Modelica.Blocks.Interfaces.RealOutput DroneAngularVelocities[3](each quantity = "Mechanics.Translation.Velocity", each displayUnit = "m/s") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{90, 30}, {110, 50}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+  ComputationAngularAccelerationModel computationAngularAccelerationModel1 annotation(
+    Placement(transformation(extent = {{-40, 35}, {-25, 45}})));
+  Modelica.Blocks.Continuous.Integrator integrator1 annotation(
+    Placement(transformation(extent = {{40, 60}, {60, 80}})));
+  Modelica.Blocks.Continuous.Integrator integrator2 annotation(
+    Placement(transformation(extent = {{40, 30}, {60, 50}})));
+  Modelica.Blocks.Continuous.Integrator integrator3 annotation(
+    Placement(transformation(extent = {{40, 0}, {60, 20}})));
+equation
+  connect(computationAngularAccelerationModel1.Moments[:], Moments[:]) annotation(
+    Line(points = {{-40, 40}, {-45, 40}, {-95, 40}, {-100, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator1.u, computationAngularAccelerationModel1.DroneAngularAcceleration[1]) annotation(
+    Line(points = {{38, 70}, {33, 70}, {-20.3, 70}, {-20.3, 40}, {-25.3, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator2.u, computationAngularAccelerationModel1.DroneAngularAcceleration[2]) annotation(
+    Line(points = {{38, 40}, {33, 40}, {-20.3, 40}, {-25.3, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator3.u, computationAngularAccelerationModel1.DroneAngularAcceleration[3]) annotation(
+    Line(points = {{38, 10}, {33, 10}, {-20.3, 10}, {-20.3, 40.3}, {-25.3, 40.3}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator1.y, DroneAngularVelocities[1]) annotation(
+    Line(points = {{61, 70}, {66, 70}, {95, 70}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator2.y, DroneAngularVelocities[2]) annotation(
+    Line(points = {{61, 40}, {66, 40}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator3.y, DroneAngularVelocities[3]) annotation(
+    Line(points = {{61, 10}, {66, 10}, {95, 10}, {95, 40}, {100, 40}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    Moments(flags = 2),
+    DroneAngularVelocities(flags = 2),
+    integrator1(u(flags = 2), y(flags = 2)),
+    integrator2(u(flags = 2), y(flags = 2)),
+    integrator3(u(flags = 2), y(flags = 2)),
+    Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-13, 4}, extent = {{-13, 4}, {13, -4}}, textString = "%name")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.001));
+end ComputeDroneAngularsVelocities;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeDroneAttitude.mo

@@ -0,0 +1,47 @@
+within AIDAModelica;
+
+model ComputeDroneAttitude "[SimuD6 KM] Compute drone attitude"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput DroneAngularVelocities[3](each quantity = "Mechanics.Rotation.RotVelocity", each displayUnit = "rad/s") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-135, 5}, {-95, 45}}), iconTransformation(extent = {{-95, -20}, {-55, 20}})));
+  Modelica.Blocks.Interfaces.RealInput AttitudeFB[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-135, -25}, {-95, 15}}), iconTransformation(origin = {-25, -50}, extent = {{-20, -20}, {20, 20}}, rotation = -270)));
+  Modelica.Blocks.Interfaces.RealOutput Attitude[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{75, 5}, {95, 25}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+  ComputationChangeAngleVelocity computationChangeAngleVelocity1 annotation(
+    Placement(transformation(extent = {{-60, 10}, {-45, 25}})));
+  Modelica.Blocks.Continuous.Integrator integrator7 annotation(
+    Placement(transformation(extent = {{10, 35}, {30, 55}})));
+  Modelica.Blocks.Continuous.Integrator integrator8 annotation(
+    Placement(transformation(extent = {{10, 5}, {30, 25}})));
+  Modelica.Blocks.Continuous.Integrator integrator9 annotation(
+    Placement(transformation(extent = {{10, -25}, {30, -5}})));
+equation
+  connect(computationChangeAngleVelocity1.DronAngularVelocities[:], DroneAngularVelocities[:]) annotation(
+    Line(points = {{-60, 20}, {-65, 20}, {-110, 20}, {-110, 25}, {-115, 25}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator7.u, computationChangeAngleVelocity1.ChangeAngleVelocity[1]) annotation(
+    Line(points = {{8, 45}, {3, 45}, {-40.3, 45}, {-40.3, 17.3}, {-45.3, 17.3}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator8.u, computationChangeAngleVelocity1.ChangeAngleVelocity[2]) annotation(
+    Line(points = {{8, 15}, {3, 15}, {-40.3, 15}, {-40.3, 17.3}, {-45.3, 17.3}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator9.u, computationChangeAngleVelocity1.ChangeAngleVelocity[3]) annotation(
+    Line(points = {{8, -15}, {3, -15}, {-40.3, -15}, {-40.3, 17.7}, {-45.3, 17.7}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator7.y, Attitude[1]) annotation(
+    Line(points = {{31, 45}, {36, 45}, {80, 45}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator8.y, Attitude[2]) annotation(
+    Line(points = {{31, 15}, {36, 15}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator9.y, Attitude[3]) annotation(
+    Line(points = {{31, -15}, {36, -15}, {80, -15}, {80, 15}, {85, 15}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computationChangeAngleVelocity1.Attitude[:], AttitudeFB[:]) annotation(
+    Line(points = {{-60, 15}, {-65, 15}, {-110, 15}, {-110, -5}, {-115, -5}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    DroneAngularVelocities(flags = 2),
+    AttitudeFB(flags = 2),
+    Attitude(flags = 2),
+    computationChangeAngleVelocity1(DronAngularVelocities(flags = 2), Attitude(flags = 2), ChangeAngleVelocity(flags = 2), W(flags = 2)),
+    integrator7(u(flags = 2), y(flags = 2)),
+    integrator8(u(flags = 2), y(flags = 2)),
+    integrator9(u(flags = 2), y(flags = 2)),
+    Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-3, 3}, extent = {{-13, 5}, {13, -5}}, textString = "%name")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
+end ComputeDroneAttitude;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeDronePosition.mo

@@ -0,0 +1,37 @@
+within AIDAModelica;
+
+model ComputeDronePosition "[SimuD5 KM] Compute drone position"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput DronVelocity[3](each quantity = "Mechanics.Translation.Velocity", each displayUnit = "m/s") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-125, -15}, {-85, 25}}), iconTransformation(extent = {{-95, -20}, {-55, 20}})));
+  Modelica.Blocks.Interfaces.RealOutput Position[3](each quantity = "Mechanics.Translation.Displace", each displayUnit = "m") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{50, -5}, {70, 15}}), iconTransformation(extent = {{61.7, -10}, {81.7, 10}})));
+  Modelica.Blocks.Continuous.Integrator integrator10(y_start = -0.5) annotation(
+    Placement(transformation(extent = {{-20, -35}, {0, -15}})));
+  Modelica.Blocks.Continuous.Integrator integrator11(y_start = 39) annotation(
+    Placement(transformation(extent = {{-20, -5}, {0, 15}})));
+  Modelica.Blocks.Continuous.Integrator integrator12 annotation(
+    Placement(transformation(extent = {{-20, 25}, {0, 45}})));
+equation
+  connect(integrator12.u, DronVelocity[1]) annotation(
+    Line(points = {{-22, 35}, {-27, 35}, {-100, 35}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator11.u, DronVelocity[2]) annotation(
+    Line(points = {{-22, 5}, {-27, 5}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator10.u, DronVelocity[3]) annotation(
+    Line(points = {{-22, -25}, {-27, -25}, {-100, -25}, {-100, 5}, {-105, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator12.y, Position[1]) annotation(
+    Line(points = {{1, 35}, {6, 35}, {55, 35}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator11.y, Position[2]) annotation(
+    Line(points = {{1, 5}, {6, 5}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator10.y, Position[3]) annotation(
+    Line(points = {{1, -25}, {6, -25}, {55, -25}, {55, 5}, {60, 5}}, color = {0, 0, 127}, thickness = 0.0625));
+  annotation(
+    DronVelocity(flags = 2),
+    Position(flags = 2),
+    integrator10(u(flags = 2), y(flags = 2)),
+    integrator11(u(flags = 2), y(flags = 2)),
+    integrator12(u(flags = 2), y(flags = 2)),
+    Icon(coordinateSystem(extent = {{-75, -50}, {75, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 50}, {76.7, -50}}), Text(origin = {-5, 1}, extent = {{-11, 5}, {11, -5}}, textString = "%name")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.001));
+end ComputeDronePosition;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeDroneVelocity.mo

@@ -0,0 +1,57 @@
+within AIDAModelica;
+
+model ComputeDroneVelocity "[SimuD3 DM] Compute drone velocity"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput TotalThrust(quantity = "Mechanics.Translation.Force", displayUnit = "N") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-75, 25}, {-35, 65}}), iconTransformation(extent = {{-120, 5}, {-80, 45}})));
+  Modelica.Blocks.Interfaces.RealOutput Accelerations[3] "Accelerations" annotation(
+    Placement(transformation(extent = {{70, -40}, {90, -20}}), iconTransformation(extent = {{90, -35}, {110, -15}})));
+  Modelica.Blocks.Interfaces.RealInput Attitude[3](each quantity = "Mechanics.Rotation.Angle", each displayUnit = "rad") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-75, -10}, {-35, 30}}), iconTransformation(origin = {0, 50}, extent = {{-20, -20}, {20, 20}}, rotation = -90)));
+  Modelica.Blocks.Interfaces.RealOutput DroneVelocity[3](each quantity = "Mechanics.Translation.Velocity", each displayUnit = "m/s") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{120, 20}, {140, 40}}), iconTransformation(extent = {{90, 15}, {110, 35}})));
+  Modelica.Blocks.Interfaces.RealInput ExternalForce[3] annotation(
+    Placement(transformation(extent = {{-75, -40}, {-35, 0}}), iconTransformation(extent = {{-120, -45}, {-80, -5}})));
+  ComputationAccelerationModel computationAccelerationModel1 annotation(
+    Placement(transformation(extent = {{5, 20}, {20, 35}})));
+  Modelica.Blocks.Continuous.Integrator integrator4 annotation(
+    Placement(transformation(extent = {{70, -10}, {90, 10}})));
+  Modelica.Blocks.Continuous.Integrator integrator5 annotation(
+    Placement(transformation(extent = {{70, 20}, {90, 40}})));
+  Modelica.Blocks.Continuous.Integrator integrator6 annotation(
+    Placement(transformation(extent = {{70, 50}, {90, 70}})));
+equation
+  connect(computationAccelerationModel1.Attitude[:], Attitude) annotation(
+    Line(points = {{10, 35}, {10, 40}, {-20, 40}, {-20, 10}, {-50, 10}, {-55, 10}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computationAccelerationModel1.TotalThrust, TotalThrust) annotation(
+    Line(points = {{5, 30}, {0, 30}, {-50, 30}, {-50, 45}, {-55, 45}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator6.u, computationAccelerationModel1.DroneAcceleration[1]) annotation(
+    Line(points = {{68, 60}, {63, 60}, {24.7, 60}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator5.u, computationAccelerationModel1.DroneAcceleration[2]) annotation(
+    Line(points = {{68, 30}, {63, 30}, {24.7, 30}, {24.7, 27.3}, {19.7, 27.3}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator4.u, computationAccelerationModel1.DroneAcceleration[3]) annotation(
+    Line(points = {{68, 0}, {63, 0}, {24.7, 0}, {24.7, 27.7}, {19.7, 27.7}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator6.y, DroneVelocity[1]) annotation(
+    Line(points = {{91, 60}, {96, 60}, {125, 60}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator5.y, DroneVelocity[2]) annotation(
+    Line(points = {{91, 30}, {96, 30}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(integrator4.y, DroneVelocity[3]) annotation(
+    Line(points = {{91, 0}, {96, 0}, {125, 0}, {125, 30}, {130, 30}}, color = {0, 0, 127}, thickness = 0.0625));
+  connect(computationAccelerationModel1.ExternalForce[:], ExternalForce[:]) annotation(
+    Line(points = {{5, 25}, {0, 25}, {-1, -20}, {-50, -20}, {-55, -20}}, color = {0, 0, 127}, thickness = 0.0625),
+    AutoRoute = false);
+  connect(computationAccelerationModel1.DroneAcceleration[:], Accelerations[:]) annotation(
+    Line(points = {{19.7, 27.3}, {24.7, 27.3}, {25, -30}, {75, -30}, {80, -30}}, color = {0, 0, 127}, thickness = 0.0625),
+    AutoRoute = false);
+  annotation(
+    TotalThrust(flags = 2),
+    Attitude(flags = 2),
+    DroneVelocity(flags = 2),
+    computationAccelerationModel1(TotalThrust(flags = 2), Attitude(flags = 2), DroneAcceleration(flags = 2), ExternalForce(flags = 2)),
+    integrator4(u(flags = 2), y(flags = 2)),
+    integrator5(u(flags = 2), y(flags = 2)),
+    integrator6(u(flags = 2), y(flags = 2)),
+    Icon(coordinateSystem(extent = {{-100, -50}, {100, 50}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 53.3}, {103.3, -53.3}}), Text(origin = {-5, -3}, extent = {{-15, 5}, {15, -5}}, textString = "%name")}),
+    experiment(StopTime = 1, StartTime = 0, Interval = 0.002, MaxInterval = "0.001"));
+end ComputeDroneVelocity;

SimulationModels/OpenModelica 1.25/AIDAModelica/ComputeMoments.mo

@@ -0,0 +1,28 @@
+within AIDAModelica;
+
+model ComputeMoments "[SimuD2 CEM] Compute moments"
+  // CP: 65001
+  // SimulationX Version: 3.8.2.45319 x64
+  Modelica.Blocks.Interfaces.RealInput Motor1AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 55}, {-55, 95}})));
+  Modelica.Blocks.Interfaces.RealInput Motor2AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, 5}, {-55, 45}})));
+  Modelica.Blocks.Interfaces.RealInput Motor3AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -45}, {-55, -5}})));
+  Modelica.Blocks.Interfaces.RealInput Motor4AngularVelocity(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") "'input Real' as connector" annotation(
+    Placement(transformation(extent = {{-20, -20}, {20, 20}}), iconTransformation(extent = {{-95, -95}, {-55, -55}})));
+  Modelica.Blocks.Interfaces.RealOutput Moments[3](each quantity = "Mechanics.Rotation.Torque", each displayUnit = "Nm") "'output Real' as connector" annotation(
+    Placement(transformation(extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{65, -35}, {85, -15}})));
+  parameter Real d(quantity = "Basics.Length", displayUnit = "m") = 0.33 "Distance from body centre mass to motor centre mass";
+  parameter Real cT(quantity = "Mechanics.Translation.Force", displayUnit = "N") = 3.438e-7 "Parameter cT";
+  parameter Real coef_cT(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") = 0.10471975511965977 "Parameter";
+  parameter Real cM(quantity = "Mechanics.Rotation.Torque", displayUnit = "Nm") = 5.7e-9 "Parameter cM";
+  parameter Real coef_cM(quantity = "Mechanics.Rotation.RotVelocity", displayUnit = "rpm") = 0.10471975511965977 "Parameter";
+equation
+// enter your equations here
+  Moments[1] = d * (cT / coef_cT ^ 2) * (sqrt(2) / 2) * (Motor1AngularVelocity ^ 2 - Motor2AngularVelocity ^ 2 - Motor3AngularVelocity ^ 2 + Motor4AngularVelocity ^ 2);
+  Moments[2] = d * (cT / coef_cT ^ 2) * (sqrt(2) / 2) * (Motor1AngularVelocity ^ 2 + Motor2AngularVelocity ^ 2 - Motor3AngularVelocity ^ 2 - Motor4AngularVelocity ^ 2);
+  Moments[3] = cM / coef_cM ^ 2 * (Motor1AngularVelocity ^ 2 - Motor2AngularVelocity ^ 2 + Motor3AngularVelocity ^ 2 - Motor4AngularVelocity ^ 2);
+  annotation(
+    Icon(coordinateSystem(extent = {{-75, -125}, {75, 125}}, initialScale = 0.1), graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-76.7, 126.7}, {73.3, -126.7}}), Text(origin = {-6, -6}, extent = {{-16, 8}, {16, -8}}, textString = "%name")}));
+end ComputeMoments;