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28 lines
1.4 KiB
Plaintext
28 lines
1.4 KiB
Plaintext
within AIDAModelica;
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model YawConsignProducing "Yaw consign producing"
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Modelica.Blocks.Interfaces.RealInput Yaw(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "Yaw feenback for logical algo" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(extent={{-120,-70},{-80,-30}})));
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Modelica.Blocks.Interfaces.RealOutput DesiredYaw(
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quantity="Mechanics.Rotation.Angle",
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displayUnit="rad") "Desired yaw produced point" annotation(Placement(
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transformation(extent={{-10,-10},{10,10}}),
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iconTransformation(extent={{90,-10},{110,10}})));
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Modelica.Blocks.Interfaces.BooleanInput YRC "Yaw RC command from remote control indication" annotation(Placement(
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transformation(extent={{-20,-20},{20,20}}),
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iconTransformation(
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origin={-100,50},
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extent={{-20,-20},{20,20}})));
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initial equation
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DesiredYaw=0;
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equation
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// 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
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//this is to prevent a return to 0 heading at manual mode transition
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when YRC == false then
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DesiredYaw = Yaw;
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end when;
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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)));
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end YawConsignProducing;
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