within AIDAModelica;

model ControlAltitude "[SF2.4] Control altitude"
  // CP: 65001
  // SimulationX Version: 3.8.2.45319 x64
  Modelica.Blocks.Interfaces.RealOutput TotalThrustManual(quantity = "Mechanics.Translation.Force", displayUnit = "N") "Desired total thrust autopilot mode output" annotation(
    Placement(transformation(origin = {80, -30}, extent = {{20, 20}, {40, 40}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
  Modelica.Blocks.Interfaces.RealInput VSpeed(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "Real drone speed feedback" annotation(
    Placement(transformation(origin = {-38, -56}, extent = {{-105, -5}, {-65, 35}}), iconTransformation(extent = {{-120, 30}, {-80, 70}})));
  Modelica.Blocks.Interfaces.RealInput RCVerticalSpeedCommand(quantity = "Mechanics.Translation.Velocity", displayUnit = "m/s") "'input Real' as connector" annotation(
    Placement(transformation(origin = {-36, 16}, extent = {{-105, 25}, {-65, 65}}), iconTransformation(origin = {-100, -50}, extent = {{-20, -20}, {20, 20}})));
  ComputeTotalThrustCA computeTotalThrustCA1 annotation(
    Placement(transformation(origin = {30, -30}, extent = {{-10, 20}, {10, 40}})));
  ComputeAltitudeConsign computeAltitudeConsign1 annotation(
    Placement(transformation(origin = {0, -30}, extent = {{-55, 20}, {-35, 40}})));
equation
  connect(computeAltitudeConsign1.VSpeed, VSpeed) annotation(
    Line(points = {{-55, -5}, {-76, -5}, {-76, -41}, {-123, -41}}, color = {0, 0, 127}));
  connect(computeTotalThrustCA1.AccelerationConsign, computeAltitudeConsign1.AccelerationConsign) annotation(
    Line(points = {{20, 0}, {-35, 0}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(computeAltitudeConsign1.RCVerticalSpeedCommand, RCVerticalSpeedCommand) annotation(
    Line(points = {{-55, 5}, {-80, 5}, {-80, 61}, {-121, 61}}, color = {0, 0, 127}, thickness = 0.0625));
  connect(computeTotalThrustCA1.TotalThrustAP, TotalThrustManual) annotation(
    Line(points = {{40, 0}, {110, 0}}, color = {0, 0, 127}, thickness = 0.0625));
  annotation(
    Speed(flags = 2),
    TotalThrustManual(flags = 2),
    RCVerticalSpeedCommand(flags = 2),
    computeTotalThrustCA1(AccelerationConsign(flags = 2), TotalThrustAP(flags = 2), AC(flags = 2)),
    computeAltitudeConsign1(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"));
end ControlAltitude;