within AIDAModelica;
model YawConsignProducing "Yaw consign producing"
	Modelica.Blocks.Interfaces.RealInput Yaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "Yaw feenback for logical algo" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealOutput DesiredYaw(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "Desired yaw produced point" annotation(Placement(
		transformation(extent={{-10,-10},{10,10}}),
		iconTransformation(extent={{90,-10},{110,10}})));
	Modelica.Blocks.Interfaces.BooleanInput YRC "Yaw RC command from remote control indication" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(
			origin={-100,50},
			extent={{-20,-20},{20,20}})));
	initial equation
        DesiredYaw=0;
	equation
// when a yaw order is commanded from the remote control, the current yaw position is recorded into DesiredYaw, which is added to the remote control order
//this is to prevent a return to 0 heading at manual mode transition
		when YRC == false then
			 DesiredYaw = Yaw;
		end when;
	annotation(Icon(graphics = {Rectangle(fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, extent = {{-100, 100}, {100, -100}}), Text(origin = {-8, 0}, extent = {{-40, 10}, {40, -10}}, textString = "%name")}, coordinateSystem(initialScale = 0.1)));
end YawConsignProducing;