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234 lines
8.1 KiB
234 lines
8.1 KiB
// CP: 65001 |
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// SimulationX Version: 3.8.2.45319 x64 |
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within AIDAModelica; |
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model ProSIVICToSimXInterface "Pro-SIVIC to Simulation X Interface" |
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Modelica.Blocks.Interfaces.RealInput roll( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "IMU roll" annotation(Placement( |
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transformation(extent={{-140,15},{-100,55}}), |
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iconTransformation( |
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origin={-275,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput pitch( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "IMU pitch" annotation(Placement( |
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transformation(extent={{-105,15},{-65,55}}), |
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iconTransformation( |
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origin={-175,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput yaw( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "IMU yaw" annotation(Placement( |
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transformation(extent={{-135,-10},{-95,30}}), |
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iconTransformation( |
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origin={-225,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput rollRate( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "IMU roll rate" annotation(Placement( |
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transformation(extent={{-70,15},{-30,55}}), |
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iconTransformation( |
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origin={-125,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput pitchRate( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "IMU pitch rate" annotation(Placement( |
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transformation(extent={{-35,15},{5,55}}), |
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iconTransformation( |
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origin={-75,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput yawRate( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "IMU yaw rate" annotation(Placement( |
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transformation(extent={{-65,-10},{-25,30}}), |
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iconTransformation( |
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origin={-25,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput accelerationX( |
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quantity="Mechanics.Translation.Accel", |
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displayUnit="m/s²") "IMU acceleration X" annotation(Placement( |
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transformation(extent={{5,-15},{45,25}}), |
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iconTransformation( |
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origin={25,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput accelerationY( |
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quantity="Mechanics.Translation.Accel", |
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displayUnit="m/s²") "IMU acceleration Y" annotation(Placement( |
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transformation(extent={{35,-15},{75,25}}), |
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iconTransformation( |
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origin={75,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput accelerationZ( |
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quantity="Mechanics.Translation.Accel", |
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displayUnit="m/s²") "IMU acceleration Z" annotation(Placement( |
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transformation(extent={{15,-40},{55,0}}), |
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iconTransformation( |
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origin={125,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput accurateLatitude( |
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quantity="Geometry.Angle", |
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displayUnit="deg") "GPS accurate latitude" annotation(Placement( |
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transformation(extent={{70,-15},{110,25}}), |
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iconTransformation( |
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origin={175,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput accurateLongitude( |
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quantity="Geometry.Angle", |
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displayUnit="deg") "GPS accurate longitude" annotation(Placement( |
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transformation(extent={{100,-40},{140,0}}), |
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iconTransformation( |
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origin={225,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealInput distance( |
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quantity="Geometry.Length", |
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displayUnit="m") "Lidar distance" annotation(Placement( |
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transformation(extent={{110,-15},{150,25}}), |
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iconTransformation( |
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origin={275,-100}, |
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extent={{-20,-20},{20,20}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealOutput Attitude[3]( |
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quantity="Mechanics.Rotation.Angle", |
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displayUnit="rad") "'output Real' as connector" annotation(Placement( |
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transformation(extent={{-80,70},{-60,90}}), |
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iconTransformation( |
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origin={-225,100}, |
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extent={{-10,-10},{10,10}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealOutput AngularVelocities[3]( |
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quantity="Mechanics.Rotation.RotVelocity", |
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displayUnit="rad/s") "'output Real' as connector" annotation(Placement( |
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transformation(extent={{-10,70},{10,90}}), |
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iconTransformation( |
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origin={-75,100}, |
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extent={{-10,-10},{10,10}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealOutput Speed[3]( |
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quantity="Mechanics.Translation.Velocity", |
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displayUnit="m/s") "'output Real' as connector" annotation(Placement( |
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transformation(extent={{50,70},{70,90}}), |
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iconTransformation( |
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origin={225,100}, |
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extent={{-10,-10},{10,10}}, |
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rotation=90))); |
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Modelica.Blocks.Interfaces.RealOutput Position[3]( |
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quantity="Mechanics.Translation.Displace", |
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displayUnit="m") "'output Real' as connector" annotation(Placement( |
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transformation(extent={{150,70},{170,90}}), |
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iconTransformation( |
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origin={75,100}, |
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extent={{-10,-10},{10,10}}, |
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rotation=90))); |
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AccelerationToSpeed accelerationToSpeed1 annotation(Placement(transformation(extent={{40,30},{60,50}}))); |
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PositionConvector positionConvector1 annotation(Placement(transformation(extent={{110,30},{130,50}}))); |
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equation |
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connect(roll,Attitude[1]) annotation( |
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Line( |
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points={{-120,35},{-115,35},{-100,35},{-100,80},{-70,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(pitch,Attitude[2]) annotation( |
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Line( |
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points={{-85,35},{-80,35},{-90,35},{-90,80},{-70,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(yaw,Attitude[3]) annotation( |
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Line( |
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points={{-115,10},{-110,10},{-95,10},{-95,80},{-70,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(rollRate,AngularVelocities[1]) annotation( |
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Line( |
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points={{-50,35},{-45,35},{-30,35},{-30,80},{0,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(pitchRate,AngularVelocities[2]) annotation( |
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Line( |
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points={{-15,35},{-10,35},{-20,35},{-20,80},{0,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(yawRate,AngularVelocities[3]) annotation( |
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Line( |
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points={{-45,10},{-40,10},{-25,10},{-25,80},{0,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accelerationToSpeed1.Speed[:],Speed[:]) annotation(Line( |
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points={{50,50},{50,55},{50,80},{55,80},{60,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accelerationX,accelerationToSpeed1.Acceleration[1]) annotation(Line( |
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points={{25,5},{30,5},{49.3,5},{49.3,25},{49.3,30}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accelerationY,accelerationToSpeed1.Acceleration[2]) annotation(Line( |
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points={{55,5},{50,5},{50,25},{50,30}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accelerationZ,accelerationToSpeed1.Acceleration[3]) annotation(Line( |
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points={{35,-20},{40,-20},{50.3,-20},{50.3,25},{50.3,30}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accurateLatitude,positionConvector1.Latitude) annotation(Line( |
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points={{90,5},{95,5},{115,5},{115,25},{115,30}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(accurateLongitude,positionConvector1.Longitude) annotation(Line( |
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points={{120,-20},{125,-20},{125,25},{125,30}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(positionConvector1.XCoordinate,Position[1]) annotation(Line( |
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points={{115,50},{115,55},{115,80},{155,80},{160,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(positionConvector1.YCoordinate,Position[2]) annotation(Line( |
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points={{125,50},{125,55},{125,80},{155,80},{160,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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connect(distance,Position[3]) annotation( |
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Line( |
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points={{130,5},{150,5},{150,42.3},{150,80},{160,80}}, |
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color={0,0,127}, |
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thickness=0.0625)); |
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annotation( |
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roll(flags=2), |
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pitch(flags=2), |
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yaw(flags=2), |
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rollRate(flags=2), |
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pitchRate(flags=2), |
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yawRate(flags=2), |
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accelerationX(flags=2), |
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accelerationY(flags=2), |
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accelerationZ(flags=2), |
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accurateLatitude(flags=2), |
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accurateLongitude(flags=2), |
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distance(flags=2), |
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Attitude(flags=2), |
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AngularVelocities(flags=2), |
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Speed(flags=2), |
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Position(flags=2), |
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accelerationToSpeed1( |
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Acceleration(flags=2), |
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Speed(flags=2)), |
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Icon( |
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coordinateSystem(extent={{-325,-100},{325,100}}), |
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graphics={ |
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Rectangle( |
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fillColor={255,255,255}, |
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fillPattern=FillPattern.Solid, |
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extent={{-326,100},{326.7,-100}})}), |
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experiment( |
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StopTime=1, |
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StartTime=0, |
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Interval=0.001)); |
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end ProSIVICToSimXInterface;
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