Migration to OpenModelica 1.25 and FMUs Generation

SimulationModels/SimulationX/AIDA/ControlPosition_Simx.mo1

@@ -0,0 +1,262 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA;
+model ControlPosition_Simx "ControlPosition SimX Library"
+	Modelica.Blocks.Interfaces.RealInput Drone_position_consign[3] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-20,-20},{20,20}}),
+		iconTransformation(extent={{-120,30},{-80,70}})));
+	Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-20,-20},{20,20}}),
+		iconTransformation(extent={{-120,-70},{-80,-30}})));
+	Modelica.Blocks.Interfaces.RealOutput Position_command[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,-10},{110,10}})));
+	annotation(Icon(graphics={
+			Rectangle(
+				fillColor={255,255,255},
+				fillPattern=FillPattern.Solid,
+				extent={{-96.7,100},{100,-96.7}}),
+			Bitmap(
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+9jUAAAAASUVORK5CYII=",
+				extent={{-100,-60.9},{100,60.9}})}));
+end ControlPosition_Simx;

SimulationModels/SimulationX/AIDA/Drone_physical_model.mo1

@@ -0,0 +1,864 @@
+// CP: 65001
+// SimulationX Version: 3.8.4.46141 x64
+within AIDA;
+model Drone_physical_model "Drone_physical_model"
+	annotation(Icon(graphics={
+			Bitmap(
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+qIG5qami1958KwEYmOOJUwFnn/Oar7322qOgHOI1l2HsBuampqZB1MDc1FTRtr37E4RNONIrnN1v
+wpHwmsvkrwbmpqamidTA3NRU0XPrX+zee++9ca9ZOBuUS6+5BuVQL6+5tr+mpqamUANzU1MP7Tt4
+KAGYxyyc7X3pNfebP1v/c81rru2rqampKdTA3NTUQ5v3Hex+8pOfJADzmr3+/Oc/T3COJLBBwtll
+ElhtX01NTU2hBuampj469OprCcK85l7h7F7zZ3/729+ugvmex9+t7qupqamJGpibmvpo6/5DyUsG
+5QhnT+Q1e/xjTDxSC2U3MDc1NfVTA3NT0wQyf3Z4zTxkUC69ZkCOebNj4pEG5qampqmogbmpaQLt
+3n8gQdjQKZ4zSPOa8ySwF198cXyKzhzKDcxNTU2T1TFbXhp709TU1FOb9h3ofvjDHyYI9wpn5/Nn
+51DuCebKfpqampqogbmpaQDtf+nlca85srNLr9n82ccdd9xRYD7qQRYX/Ky6j6ampiZqYG5qGkT7
+D3Y//elPk3cMzoBsPu3ca96xY8dRUA41MDc1NQ2qBuampgHlcZBADMx5OBuk/c9rrkG5ecxNTU2T
+0TFbx/40NTVNrO37DiQYSwADYVDOw9nen3HGGROC2XzZte03NTU1UQNzU9OA2rR3f0ryAuKYbCTC
+2WYI+8EPftCtWbOmgbmpqWlaamBuapqE9h44mLxjYBa+1u/sYRfvvPNO9/rrr3cvvfRSd/LJJzcw
+NzU1TVkNzE1Nk9CLu/d1b7/9dho+pc/5u9/9bvfaa691hw4d6vbu3dvt3Lmze/jhh48A8xXX35Bg
+3MDc1NQ0iBqYm5omqRe3bkve8Ztvvtm9/PLLCcjbtm1Lc2avXLmye+qpp7ovf/nLR4DZ73I4l9ts
+ampqCjUwNzVNQRs3b0kw3rp1a7d69eo0P/ajjz7a3Xvvvd2tt97aXXnlld1nPvOZ7uyzzx4H872P
+v9vA3NTUNKEamJuapqj9+/d3S5cu7R555JHuzjvv7K6++uruvPPOS97yRRddlMY164tevnrN+G8C
+zvl2mpqamnI1MDc1TVE/+tnPuoMHD3arVq1KgH7iiSdSHzMYk+8PvPl29+izK4743Tcv+FkCdP5Z
+U1NTU6iBualpigLdgHAJ49r6TU1NTYOogbmpaRoC4gbjpqammVQDc1NTU1NT0xCpgbmpqampqWmI
+1MDc1NTU1NQ0RGpgbmpqampqGiI1MDc1NTU1NQ2RGpibmpqampqGSA3MTU1NTU1NQ6QG5qampqam
+piHSMdvG/jQ1NTU1NTUNhxqYm5qampqahkgNzE1NTU1NTUOkBuampqampqYhUgNzU1NTU1PTEKmB
+uampqampaWj0avf/B6i3mEVMBl2rAAAAAElFTkSuQmCC",
+				extent={{-100,-70.2},{100,70.2}})}));
+end Drone_physical_model;

SimulationModels/SimulationX/AIDA/RunFlightPlan/.~lock.Map_Flight-Plan-Y.csv#

@@ -0,0 +1 @@
+,IRT-AESE/sebastien.dube,,12.09.2017 14:04,file:///C:/Users/sebastien.dube/AppData/Roaming/LibreOffice/4;

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-X-2.csv

@@ -0,0 +1,17 @@
+0,1
+3.12047,1
+12.4757,1.00001
+18.2492,1.00001
+20.8781,1.00001
+23.4603,1.00003
+45.551,1.00006
+49.5237,1.00009
+59.2962,1.50005
+59.9463,0.500014
+60.235,1.59144e-5
+60.5237,-0.499982
+60.8124,-0.999981
+61.101,-1.49998
+61.3897,-1.99996
+61.6784,-2.49994
+61.967,-2.99993

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-X.csv

@@ -0,0 +1,18 @@
+Time(s),X
+0,1
+3.12047,1
+12.4757,1.00001
+18.2492,1.00001
+20.8781,1.00001
+23.4603,1.00003
+45.551,1.00006
+49.5237,1.00009
+59.2962,1.50005
+59.9463,0.500014
+60.235,1.59144e-5
+60.5237,-0.499982
+60.8124,-0.999981
+61.101,-1.49998
+61.3897,-1.99996
+61.6784,-2.49994
+61.967,-2.99993

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-Y-2.csv

@@ -0,0 +1,17 @@
+0,58
+3.12047,58
+12.4757,45
+18.2492,35
+20.8781,31
+23.4603,26.9995
+45.551,45.799
+49.5237,46
+59.2962,32.2004
+59.9463,32.1996
+60.235,32.1992
+60.5237,32.1988
+60.8124,32.1984
+61.101,32.198
+61.3897,32.1976
+61.6784,32.1792
+61.967,32.1968

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-Y.csv

@@ -0,0 +1,18 @@
+Time(s),Y
+0,58
+3.12047,58
+12.4757,45
+18.2492,35
+20.8781,31
+23.4603,26.9995
+45.551,45.799
+49.5237,46
+59.2962,32.2004
+59.9463,32.1996
+60.235,32.1992
+60.5237,32.1988
+60.8124,32.1984
+61.101,32.198
+61.3897,32.1976
+61.6784,32.1792
+61.967,32.1968

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-Z-2.csv

@@ -0,0 +1,17 @@
+0,0
+3.12047,5
+12.4757,5
+18.2492,5
+20.8781,7
+23.4603,9
+45.551,11
+49.5237,5.6
+59.2962,0.199999
+59.9463,0.200001
+60.235,0.200001
+60.5237,0.200002
+60.8124,0.200003
+61.101,0.200003
+61.3897,0.200004
+61.6784,0.200005
+61.967,0.200005

SimulationModels/SimulationX/AIDA/RunFlightPlan/Map_Flight-Plan-Z.csv

@@ -0,0 +1,18 @@
+Time(s),Z
+0,0
+3.12047,5
+12.4757,5
+18.2492,5
+20.8781,7
+23.4603,9
+45.551,11
+49.5237,5.6
+59.2962,0.199999
+59.9463,0.200001
+60.235,0.200001
+60.5237,0.200002
+60.8124,0.200003
+61.101,0.200003
+61.3897,0.200004
+61.6784,0.200005
+61.967,0.200005

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo1

@@ -0,0 +1,13 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	annotation(Icon(graphics={
+		Rectangle(
+			fillColor={255,255,255},
+			fillPattern=FillPattern.Solid,
+			extent={{-100,100},{100,-100}})}));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo2

@@ -0,0 +1,24 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{65,0},{85,20}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	ModelicaCompatibility.I2RO i2RO1[3] annotation(Placement(transformation(extent={{35,5},{45,15}})));
+	equation
+		connect(i2RO1.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{46,10},{51,10},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+	annotation(
+		Icon(graphics={
+			Rectangle(
+				fillColor={255,255,255},
+				fillPattern=FillPattern.Solid,
+				extent={{-100,100},{100,-100}})}),
+		experiment(
+			StopTime=1,
+			StartTime=0,
+			Interval=0.001));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo3

@@ -0,0 +1,108 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{65,0},{85,20}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	ModelicaCompatibility.I2RO i2RO1 annotation(Placement(transformation(extent={{0,25},{10,35}})));
+	SignalBlocks.Sources.Curve x_coordinate_map(
+		y(
+			final quantity="Basics.Time",
+			displayUnit="s"),
+		curve(
+			x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+						60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+			y[1](
+				mono=0,
+				interpol=4,
+				extra=true,
+				mirror=false,
+				cycle=false,
+				approxTol=0.1,
+				quantity="Basics.Time",
+				displayUnit="s")={0,1,1.00001,1.00001,1.00001,1.00003,1.00006,1.00009,1.50005,0.500014,
+						1.59144e-05,-0.499982,-0.999981,-1.49998,-1.99996,-2.49994,-2.99993} "Column 2")) annotation(Placement(transformation(extent={{-52,16},{-32,36}})));
+	SignalBlocks.Sources.Curve y_coordinate_map annotation(Placement(transformation(extent={{-50,-15},{-30,5}})));
+	SignalBlocks.Sources.Curve z_coordinate_map annotation(Placement(transformation(extent={{-50,-50},{-30,-30}})));
+	SignalBlocks.Connection connection1;
+	ModelicaCompatibility.I2RO i2RO2 annotation(Placement(transformation(extent={{0,-5},{10,5}})));
+	SignalBlocks.Connection connection2;
+	ModelicaCompatibility.I2RO i2RO3 annotation(Placement(transformation(extent={{0,-40},{10,-30}})));
+	SignalBlocks.Connection connection3;
+	equation
+		connect(i2RO1.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,30},{16,30},{70,30},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,i2RO1.x);
+		connect(i2RO2.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,0},{16,0},{70,0},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection2,i2RO2.x);
+		connect(connection3,i2RO3.x);
+		connect(i2RO3.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,-35},{16,-35},{70,-35},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,x_coordinate_map.y);
+		connect(connection2,y_coordinate_map.y);
+		connect(connection3,z_coordinate_map.y);
+	annotation(
+		connection1(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={354,369,435,435,450},
+					y={237,237,237,240,240}),
+				src=false,
+				insBefore=0,
+				pinSrc=x_coordinate_map.y,
+				pinDst=i2RO1.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection2(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={330,330,330,330}),
+				src=false,
+				insBefore=0,
+				pinSrc=y_coordinate_map.y,
+				pinDst=i2RO2.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection3(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={435,435,435,435}),
+				src=false,
+				insBefore=0,
+				pinSrc=z_coordinate_map.y,
+				pinDst=i2RO3.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		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"));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo4

@@ -0,0 +1,118 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{65,0},{85,20}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	ModelicaCompatibility.I2RO i2RO1 annotation(Placement(transformation(extent={{0,25},{10,35}})));
+	SignalBlocks.Sources.Curve x_coordinate_map(
+		y(
+			final quantity="Basics.Time",
+			displayUnit="s"),
+		curve(
+			x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+						60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+			y[1](
+				mono=0,
+				interpol=4,
+				extra=true,
+				mirror=false,
+				cycle=false,
+				approxTol=0.1,
+				quantity="Basics.Time",
+				displayUnit="s")={0,1,1.00001,1.00001,1.00001,1.00003,1.00006,1.00009,1.50005,0.500014,
+						1.59144e-05,-0.499982,-0.999981,-1.49998,-1.99996,-2.49994,-2.99993} "Column 2")) annotation(Placement(transformation(extent={{-52,16},{-32,36}})));
+	SignalBlocks.Sources.Curve y_coordinate_map(curve(
+		x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+					60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+		y[1](
+			mono=0,
+			interpol=4,
+			extra=true,
+			mirror=false,
+			cycle=false,
+			approxTol=0.1)={0,58,45,35,31,26.9995,45.799,46,32.2004,32.1996,
+					32.1992,32.1988,32.1984,32.198,32.1976,32.1792,32.1968} "Column 2")) annotation(Placement(transformation(extent={{-50,-15},{-30,5}})));
+	SignalBlocks.Sources.Curve z_coordinate_map annotation(Placement(transformation(extent={{-50,-50},{-30,-30}})));
+	SignalBlocks.Connection connection1;
+	ModelicaCompatibility.I2RO i2RO2 annotation(Placement(transformation(extent={{0,-5},{10,5}})));
+	SignalBlocks.Connection connection2;
+	ModelicaCompatibility.I2RO i2RO3 annotation(Placement(transformation(extent={{0,-40},{10,-30}})));
+	SignalBlocks.Connection connection3;
+	equation
+		connect(i2RO1.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,30},{16,30},{70,30},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,i2RO1.x);
+		connect(i2RO2.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,0},{16,0},{70,0},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection2,i2RO2.x);
+		connect(connection3,i2RO3.x);
+		connect(i2RO3.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,-35},{16,-35},{70,-35},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,x_coordinate_map.y);
+		connect(connection2,y_coordinate_map.y);
+		connect(connection3,z_coordinate_map.y);
+	annotation(
+		connection1(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={354,369,435,435,450},
+					y={237,237,237,240,240}),
+				src=false,
+				insBefore=0,
+				pinSrc=x_coordinate_map.y,
+				pinDst=i2RO1.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection2(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={330,330,330,330}),
+				src=false,
+				insBefore=0,
+				pinSrc=y_coordinate_map.y,
+				pinDst=i2RO2.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection3(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={435,435,435,435}),
+				src=false,
+				insBefore=0,
+				pinSrc=z_coordinate_map.y,
+				pinDst=i2RO3.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		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"));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo5

@@ -0,0 +1,128 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{65,0},{85,20}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	ModelicaCompatibility.I2RO i2RO1 annotation(Placement(transformation(extent={{0,25},{10,35}})));
+	SignalBlocks.Sources.Curve x_coordinate_map(
+		y(
+			final quantity="Basics.Time",
+			displayUnit="s"),
+		curve(
+			x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+						60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+			y[1](
+				mono=0,
+				interpol=4,
+				extra=true,
+				mirror=false,
+				cycle=false,
+				approxTol=0.1,
+				quantity="Basics.Time",
+				displayUnit="s")={0,1,1.00001,1.00001,1.00001,1.00003,1.00006,1.00009,1.50005,0.500014,
+						1.59144e-05,-0.499982,-0.999981,-1.49998,-1.99996,-2.49994,-2.99993} "Column 2")) annotation(Placement(transformation(extent={{-52,16},{-32,36}})));
+	SignalBlocks.Sources.Curve y_coordinate_map(curve(
+		x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+					60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+		y[1](
+			mono=0,
+			interpol=4,
+			extra=true,
+			mirror=false,
+			cycle=false,
+			approxTol=0.1)={0,58,45,35,31,26.9995,45.799,46,32.2004,32.1996,
+					32.1992,32.1988,32.1984,32.198,32.1976,32.1792,32.1968} "Column 2")) annotation(Placement(transformation(extent={{-50,-15},{-30,5}})));
+	SignalBlocks.Sources.Curve z_coordinate_map(curve(
+		x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+					60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+		y[1](
+			mono=0,
+			interpol=4,
+			extra=true,
+			mirror=false,
+			cycle=false,
+			approxTol=0.1)={0,5,5,5,7,9,11,5.6,0.199999,0.200001,
+					0.200001,0.200002,0.200003,0.200003,0.200004,0.200005,0.200005} "Column 2")) annotation(Placement(transformation(extent={{-50,-50},{-30,-30}})));
+	SignalBlocks.Connection connection1;
+	ModelicaCompatibility.I2RO i2RO2 annotation(Placement(transformation(extent={{0,-5},{10,5}})));
+	SignalBlocks.Connection connection2;
+	ModelicaCompatibility.I2RO i2RO3 annotation(Placement(transformation(extent={{0,-40},{10,-30}})));
+	SignalBlocks.Connection connection3;
+	equation
+		connect(i2RO1.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,30},{16,30},{70,30},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,i2RO1.x);
+		connect(i2RO2.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,0},{16,0},{70,0},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection2,i2RO2.x);
+		connect(connection3,i2RO3.x);
+		connect(i2RO3.y,Drone_Position_Consign[:]) annotation(Line(
+			points={{11,-35},{16,-35},{70,-35},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(connection1,x_coordinate_map.y);
+		connect(connection2,y_coordinate_map.y);
+		connect(connection3,z_coordinate_map.y);
+	annotation(
+		connection1(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={354,369,435,435,450},
+					y={237,237,237,240,240}),
+				src=false,
+				insBefore=0,
+				pinSrc=x_coordinate_map.y,
+				pinDst=i2RO1.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection2(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={330,330,330,330}),
+				src=false,
+				insBefore=0,
+				pinSrc=y_coordinate_map.y,
+				pinDst=i2RO2.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection3(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={435,435,435,435}),
+				src=false,
+				insBefore=0,
+				pinSrc=z_coordinate_map.y,
+				pinDst=i2RO3.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		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"));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/RunFlightPlanMap.mo6

@@ -0,0 +1,128 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA.RunFlightPlan;
+model RunFlightPlanMap "Run Flight Plan with Map from Pro-SiVIC"
+	Modelica.Blocks.Interfaces.RealOutput Drone_Position_Consign[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{65,0},{85,20}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	ModelicaCompatibility.I2RO i2RO1 annotation(Placement(transformation(extent={{0,25},{10,35}})));
+	SignalBlocks.Sources.Curve x_coordinate_map(
+		y(
+			final quantity="Basics.Time",
+			displayUnit="s"),
+		curve(
+			x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+						60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+			y[1](
+				mono=0,
+				interpol=4,
+				extra=true,
+				mirror=false,
+				cycle=false,
+				approxTol=0.1,
+				quantity="Basics.Time",
+				displayUnit="s")={0,1,1.00001,1.00001,1.00001,1.00003,1.00006,1.00009,1.50005,0.500014,
+						1.59144e-05,-0.499982,-0.999981,-1.49998,-1.99996,-2.49994,-2.99993} "Column 2")) annotation(Placement(transformation(extent={{-52,16},{-32,36}})));
+	SignalBlocks.Sources.Curve y_coordinate_map(curve(
+		x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+					60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+		y[1](
+			mono=0,
+			interpol=4,
+			extra=true,
+			mirror=false,
+			cycle=false,
+			approxTol=0.1)={0,58,45,35,31,26.9995,45.799,46,32.2004,32.1996,
+					32.1992,32.1988,32.1984,32.198,32.1976,32.1792,32.1968} "Column 2")) annotation(Placement(transformation(extent={{-50,-15},{-30,5}})));
+	SignalBlocks.Sources.Curve z_coordinate_map(curve(
+		x(displayUnit="s")={0,3.12047,12.4757,18.2492,20.8781,23.4603,45.551,49.5237,59.2962,59.9463,
+					60.235,60.5237,60.8124,61.101,61.3897,61.6784,61.967} "x",
+		y[1](
+			mono=0,
+			interpol=4,
+			extra=true,
+			mirror=false,
+			cycle=false,
+			approxTol=0.1)={0,5,5,5,7,9,11,5.6,0.199999,0.200001,
+					0.200001,0.200002,0.200003,0.200003,0.200004,0.200005,0.200005} "Column 2")) annotation(Placement(transformation(extent={{-50,-50},{-30,-30}})));
+	SignalBlocks.Connection connection1;
+	ModelicaCompatibility.I2RO i2RO2 annotation(Placement(transformation(extent={{0,-5},{10,5}})));
+	SignalBlocks.Connection connection2;
+	ModelicaCompatibility.I2RO i2RO3 annotation(Placement(transformation(extent={{0,-40},{10,-30}})));
+	SignalBlocks.Connection connection3;
+	equation
+		connect(connection1,i2RO1.x);
+		connect(connection2,i2RO2.x);
+		connect(connection3,i2RO3.x);
+		connect(connection1,x_coordinate_map.y);
+		connect(connection2,y_coordinate_map.y);
+		connect(connection3,z_coordinate_map.y);
+		connect(i2RO1.y,Drone_Position_Consign[1]) annotation(Line(
+			points={{11,30},{16,30},{70,30},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(i2RO2.y,Drone_Position_Consign[2]) annotation(Line(
+			points={{11,0},{16,0},{70,0},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(i2RO3.y,Drone_Position_Consign[3]) annotation(Line(
+			points={{11,-35},{16,-35},{70,-35},{70,10},{75,10}},
+			color={0,0,127},
+			thickness=0.0625));
+	annotation(
+		connection1(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={354,369,435,435,450},
+					y={237,237,237,240,240}),
+				src=false,
+				insBefore=0,
+				pinSrc=x_coordinate_map.y,
+				pinDst=i2RO1.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection2(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={330,330,330,330}),
+				src=false,
+				insBefore=0,
+				pinSrc=y_coordinate_map.y,
+				pinDst=i2RO2.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		connection3(viewinfo[0](
+			line[0](
+				dirSrc=1,
+				dirDst=0,
+				points(
+					x={360,375,435,450},
+					y={435,435,435,435}),
+				src=false,
+				insBefore=0,
+				pinSrc=z_coordinate_map.y,
+				pinDst=i2RO3.x,
+				pinSrcValid=true,
+				pinDstValid=true,
+				typename="Line"),
+			typename="ConnectionInfo")),
+		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"));
+end RunFlightPlanMap;

SimulationModels/SimulationX/AIDA/RunFlightPlan/package.mo

@@ -0,0 +1,6 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA;
+package RunFlightPlan "Run Flight Plan Variants"
+	annotation(dateModified="2017-09-06 13:34:15Z");
+end RunFlightPlan;

SimulationModels/SimulationX/AIDA/RunFlightPlan/package.mo1

@@ -0,0 +1,6 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA;
+package RunFlightPlan "Run Flight Plan Variants"
+	annotation(dateModified="2017-09-06 12:47:39Z");
+end RunFlightPlan;

SimulationModels/SimulationX/AIDA/RunFlightPlan/package.mo2

@@ -0,0 +1,6 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDA;
+package RunFlightPlan "Run Flight Plan Variants"
+	annotation(dateModified="2017-09-06 13:28:55Z");
+end RunFlightPlan;

SimulationModels/SimulationX/AIDA/RunFlightPlan/package.order

@@ -0,0 +1,2 @@
+RunFlightPlanMap
+ControlPosition

SimulationModels/SimulationX/AIDA/package.order

@@ -0,0 +1,4 @@
+TrajectoryManagement
+RunFlightPlan
+ControlPosition
+Drone_physical_model

SimulationModels/SimulationX/AIDAModelica/AIDAModelica.mo

@@ -0,0 +1,6 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within ;
+package AIDAModelica "AIDA Modelica Libraries"
+	annotation(dateModified="2018-04-03 09:30:06Z");
+end AIDAModelica;

SimulationModels/SimulationX/AIDAModelica/AIDAModelica.mo1

@@ -0,0 +1,6 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within ;
+package AIDAModelica "AIDA Modelica Libraries"
+	annotation(dateModified="2017-09-18 10:47:26Z");
+end AIDAModelica;

SimulationModels/SimulationX/AIDAModelica/AcquirePositioningSignal.mo

@@ -0,0 +1,232 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDAModelica;
+model AcquirePositioningSignal "Acquire Positioning Signal"
+	Modelica.Blocks.Interfaces.RealOutput Measured_positioning_signal[4] "'output Real' as connector" annotation(Placement(
+		transformation(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(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/SimulationX/AIDAModelica/AcquirePositioningSignal.mo1

@@ -0,0 +1,19 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDAModelica;
+model AcquirePositioningSignal "Acquire Positioning Signal"
+	Modelica.Blocks.Interfaces.RealOutput Measured_positioning_signal[4] "'output Real' as connector" annotation(Placement(
+		transformation(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(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}})}));
+end AcquirePositioningSignal;

SimulationModels/SimulationX/AIDAModelica/ComputePositionAndTime.mo

@@ -0,0 +1,235 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDAModelica;
+model ComputePositionAndTime "Compute drone position and time "
+	Modelica.Blocks.Interfaces.RealOutput Drone_position[3](
+		quantity="Basics.Length",
+		displayUnit="mm") "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	Modelica.Blocks.Interfaces.RealOutput Time(
+		quantity="Basics.Time",
+		displayUnit="s") "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,-10},{110,10}})));
+	Modelica.Blocks.Interfaces.RealInput Measured_positioning_signal[4] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-20,-20},{20,20}}),
+		iconTransformation(extent={{-120,30},{-80,70}})));
+	algorithm
+	equation
+		// enter your equations here
+		Drone_position[1] = Measured_positioning_signal[1];
+		Drone_position[2] = Measured_positioning_signal[2];
+		Drone_position[3] = Measured_positioning_signal[3];
+		Time = Measured_positioning_signal[4];
+	annotation(Icon(graphics={
+			Rectangle(
+				fillColor={255,255,255},
+				fillPattern=FillPattern.Solid,
+				extent={{-100,100},{100,-100}}),
+			Bitmap(
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+A4dnvJ/1vZrtAAAAAElFTkSuQmCC",
+				extent={{-0.3,-83.5},{79.7,-10.2}})}));
+end ComputePositionAndTime;

SimulationModels/SimulationX/AIDAModelica/ComputePositionAndTime.mo1

@@ -0,0 +1,30 @@
+// CP: 65001
+// SimulationX Version: 3.8.2.45319 x64
+within AIDAModelica;
+model ComputePositionAndTime "Compute drone position and time "
+	Modelica.Blocks.Interfaces.RealOutput Drone_position[3](
+		quantity="Basics.Length",
+		displayUnit="mm") "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,40},{110,60}})));
+	Modelica.Blocks.Interfaces.RealOutput Time(
+		quantity="Basics.Time",
+		displayUnit="s") "'output Real' as connector" annotation(Placement(
+		transformation(extent={{-10,-10},{10,10}}),
+		iconTransformation(extent={{90,-10},{110,10}})));
+	Modelica.Blocks.Interfaces.RealInput Measured_positioning_signal[4] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-20,-20},{20,20}}),
+		iconTransformation(extent={{-120,30},{-80,70}})));
+	algorithm
+	equation
+		// enter your equations here
+		Drone_position[1] = Measured_positioning_signal[1];
+		Drone_position[2] = Measured_positioning_signal[2];
+		Drone_position[3] = Measured_positioning_signal[3];
+		Time = Measured_positioning_signal[4];
+	annotation(Icon(graphics={
+		Rectangle(
+			fillColor={255,255,255},
+			fillPattern=FillPattern.Solid,
+			extent={{-100,100},{100,-100}})}));
+end ComputePositionAndTime;

SimulationModels/SimulationX/AIDAModelica/ControlPosition.mo

@@ -0,0 +1,290 @@
+// CP: 65001
+// SimulationX Version: 3.8.4.46141 x64
+within AIDAModelica;
+model ControlPosition "ControlPosition_Modelica.ism"
+	Modelica.Blocks.Interfaces.RealOutput Position_command[3] "'output Real' as connector" annotation(Placement(
+		transformation(extent={{40,50},{60,70}}),
+		iconTransformation(extent={{90,-10},{110,10}})));
+	Modelica.Blocks.Interfaces.RealInput Drone_position_consign[3] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-140,40},{-100,80}}),
+		iconTransformation(extent={{-120,-70},{-80,-30}})));
+	Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement(
+		transformation(extent={{-85,-15},{-45,25}}),
+		iconTransformation(extent={{-120,30},{-80,70}})));
+	Modelica.Blocks.Continuous.LimPID PID[3](
+		controllerType=Modelica.Blocks.Types.SimpleController.P,
+		k={1.26,1.26,1.26},
+		Ti={0.5,0.5,0.5},
+		Td={0.1,0.1,0.1},
+		yMax={1000,1000,1000},
+		initType=Modelica.Blocks.Types.InitPID.SteadyState,
+		limitsAtInit={false, false, false},
+		y_start={1,58,0}) "P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting" annotation(Placement(transformation(extent={{-30,50},{-10,70}})));
+	equation
+		connect(PID.y,Position_command[:]) annotation(Line(
+			points={{-9,60},{-4,60},{45,60},{50,60}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(Drone_position_consign[:],PID.u_s) annotation(Line(
+			points={{-120,60},{-115,60},{-37,60},{-32,60}},
+			color={0,0,127},
+			thickness=0.0625));
+		connect(Drone_position[:],PID.u_m) annotation(Line(
+			points={{-65,5},{-60,5},{-20,5},{-20,43},{-20,48}},
+			color={0,0,127},
+			thickness=0.0625));
+	annotation(
+		Icon(graphics={
+					Rectangle(
+						fillColor={255,255,255},
+						fillPattern=FillPattern.Solid,
+						extent={{-100,100},{100,-100}}),
+					Bitmap(
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+						extent={{-100,-60.9},{100,60.9}})}),
+		experiment(
+			StopTime=1,
+			StartTime=0,
+			Interval=0.002,
+			MaxInterval="0.001"));
+end ControlPosition;