// CP: 65001
// SimulationX Version: 3.8.4.46141 x64
within ;
model Modelica_drone_system "Modelica_drone_system"
	AIDAModelica.RunFlightPlan runFlightPlan1 annotation(Placement(transformation(
		origin={-50,-44},
		extent={{-10,-10},{10,10}})));
	AIDAModelica.ControlPosition controlPosition1 annotation(Placement(transformation(
		origin={44,-24},
		extent={{-10,-10},{10,10}})));
	AIDAModelica.AcquirePositioningSignal acquirePositioningSignal1 annotation(Placement(transformation(
		origin={-36,8},
		extent={{-10,-10},{10,10}})));
	AIDAModelica.ComputePositionAndTime computePositionAndTime1 annotation(Placement(transformation(
		origin={-4,4},
		extent={{-10,-10},{10,10}})));
	AIDAModelica.GeneratePositioningSignal generatePositioningSignal1 annotation(Placement(transformation(
		origin={-70,8},
		extent={{-10,-10},{10,10}})));
	AIDAModelica.TrajectoryManagement trajectoryManagement1 annotation(Placement(transformation(
		origin={-130,10},
		extent={{-10,-10},{10,10}})));
	AIDA.Drone_physical_model drone_physical_model1 annotation(Placement(transformation(extent={{105,10},{125,30}})));
	ModelicaCompatibility.RI2O rI2O1(n=3) annotation(Placement(transformation(extent={{75,-30},{85,-20}})));
	equation
		connect(controlPosition1.Position_command,trajectoryManagement1.Position_Command) annotation(
			Line(
				points={{54,-24.33332824707031},{59,-24},{59,40},{-145,40},{-145,14.3},{-140,
				14.33333587646484}},
				color={0,0,127}),
			AutoRoute=false);
		connect(trajectoryManagement1.Drone_coordinates,generatePositioningSignal1.Drone_coordinates) annotation(Line(
			points={{-120,9.699999999999999},{-115,9.699999999999999},{-85,9.699999999999999},{-85,7.3},{-80,7.3}},
			color={0,0,127}));
		connect(generatePositioningSignal1.Positioning_signal,acquirePositioningSignal1.Positioning_signal) annotation(Line(
			points={{-60,7.7},{-55,7.7},{-51,7.7},{-51,7.3},{-46,7.3}},
			color={0,0,127}));
		connect(runFlightPlan1.Drone_Position_Consign,controlPosition1.Drone_position_consign) annotation(Line(
			points={{-40,-44.3},{-35,-44.3},{29,-44.3},{29,-29.7},{34,-29.7}},
			color={0,0,127}));
		connect(computePositionAndTime1.Drone_position,controlPosition1.Drone_position) annotation(Line(
			points={{6,8.699999999999999},{11,8.699999999999999},{29,8.699999999999999},{29,-19.7},{34,-19.7}},
			color={0,0,127}));
		connect(acquirePositioningSignal1.Measured_positioning_signal,computePositionAndTime1.Measured_positioning_signal) annotation(Line(
			points={{-26,7.7},{-21,7.7},{-19,7.7},{-19,8.300000000000001},{-14,8.300000000000001}},
			color={0,0,127}));
	annotation(
		__iti_controlPosition1(
			Position_command(flags=2),
			Drone_position_consign(flags=2),
			Drone_position(flags=2),
			PID(
				u_s(flags=2),
				u_m(flags=2),
				y(flags=2),
				controlError(flags=2),
				addP(
					u1(flags=2),
					u2(flags=2),
					y(flags=2)),
				addD(
					u1(flags=2),
					u2(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)),
				gainPID(
					u(flags=2),
					y(flags=2)),
				addPID(
					u1(flags=2),
					u2(flags=2),
					u3(flags=2),
					y(flags=2)),
				addI(
					u1(flags=2),
					u2(flags=2),
					u3(flags=2),
					y(flags=2)),
				addSat(
					u1(flags=2),
					u2(flags=2),
					y(flags=2)),
				gainTrack(
					u(flags=2),
					y(flags=2)),
				limiter(
					u(flags=2),
					y(flags=2)),
				Dzero(y(flags=2)),
				Izero(y(flags=2)))),
		experiment(
			StopTime=60,
			StartTime=0,
			Interval=0.12,
			__iti_MaxInterval="0.001"));
end Modelica_drone_system;