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RESSAC_Use_Case
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RESSAC_Use_Case/UseCaseData/Layer2_MMS_SW_Scade/MMS/ControlLaws.xscade

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<?xml version="1.0" encoding="UTF-8"?>
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<lefts>
<VariableRef name="_L2"/>
<VariableRef name="_L3"/>
<VariableRef name="_L4"/>
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<right>
<!-- GainsPID(_L77, _L7, _L10, _L76) -->
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<!-- PID(_L75, _L2, _L3, _L4) -->
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<!-- _L10 = MMCmd.OperatingSpeed; -->
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<!-- MMCmd.OperatingOption = Type::SPEED -->
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<!-- _L42 = (activate EnergyModeComputation every _L44 default (_L43))(_L29, _L30); -->
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<right>
<!-- (activate EnergyModeComputation every _L44 default (_L43))(_L29, _L30) -->
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<ConstVarRef name="_L29"/>
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<IdExpression>
<path>
<ConstVarRef name="_L30"/>
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<pragmas>
<ed:Equation oid="!ed/1333c/48F7/1F2C/5a54948c7098"/>
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</Equation>
<!-- _L29 = FligthControlEstimated.CurrentAltitude; -->
<Equation>
<lefts>
<VariableRef name="_L29"/>
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<right>
<!-- FligthControlEstimated.CurrentAltitude -->
<PrjOp name="6">
<flow>
<IdExpression>
<path>
<ConstVarRef name="FligthControlEstimated"/>
</path>
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</flow>
<with>
<Label name="CurrentAltitude"/>
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</right>
<pragmas>
<ed:Equation oid="!ed/1333d/48F7/1F2C/5a54948c2e54"/>
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<!-- _L30 = FligthControlEstimated.CurrentSpeed; -->
<Equation>
<lefts>
<VariableRef name="_L30"/>
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<right>
<!-- FligthControlEstimated.CurrentSpeed -->
<PrjOp name="7">
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<ConstVarRef name="FligthControlEstimated"/>
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<Label name="CurrentSpeed"/>
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<pragmas>
<ed:Equation oid="!ed/1333e/48F7/1F2C/5a54948c1ae5"/>
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<!-- _L43 = false; -->
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<right>
<ConstValue value="false"/>
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<ed:Equation oid="!ed/13343/48F7/1F2C/5a54948c143d"/>
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<!-- _L44 = MMCmd.OperatingOption = Type::ENERGY; -->
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<VariableRef name="_L44"/>
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<right>
<!-- MMCmd.OperatingOption = Type::ENERGY -->
<BinaryOp name="8" operator="=">
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<!-- MMCmd.OperatingOption -->
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<IdExpression>
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<Action>
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</right>
<pragmas>
<ed:Equation oid="!ed/13359/48F7/1F2C/5a54948c60a5"/>
</pragmas>
</Equation>
</data>
<pragmas>
<ed:Action oid="!ed/13358/48F7/1F2C/5a54948c6618"/>
</pragmas>
</Action>
</then>
<else>
<IfNode>
<if>
<!-- l_error < - LIB::F_Epsilon -->
<BinaryOp name="2" operator="&lt;">
<operands>
<IdExpression>
<path>
<ConstVarRef name="l_error"/>
</path>
</IdExpression>
<!-- - LIB::F_Epsilon -->
<UnaryOp name="1" operator="-">
<operand>
<IdExpression>
<path>
<ConstVarRef name="LIB::F_Epsilon"/>
</path>
</IdExpression>
</operand>
</UnaryOp>
</operands>
</BinaryOp>
</if>
<then>
<Action>
<data>
<!-- phase = Type::DESCENT; -->
<Equation>
<lefts>
<VariableRef name="phase"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="Type::DESCENT"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/13357/48F7/1F2C/5a54948c7882"/>
</pragmas>
</Equation>
</data>
<pragmas>
<ed:Action oid="!ed/13356/48F7/1F2C/5a54948c634d"/>
</pragmas>
</Action>
</then>
<else>
<Action>
<data>
<!-- phase = Type::CRUISE; -->
<Equation>
<lefts>
<VariableRef name="phase"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="Type::CRUISE"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/13355/48F7/1F2C/5a54948c6651"/>
</pragmas>
</Equation>
</data>
<pragmas>
<ed:Action oid="!ed/13354/48F7/1F2C/5a54948c5dd6"/>
</pragmas>
</Action>
</else>
<pragmas>
<ed:IfNode oid="!ed/13353/48F7/1F2C/5a54948c1322"/>
</pragmas>
</IfNode>
</else>
<pragmas>
<ed:IfNode oid="!ed/13352/48F7/1F2C/5a54948c208d"/>
</pragmas>
</IfNode>
</block>
<pragmas>
<ed:IfBlock oid="!ed/13351/48F7/1F2C/5a54948c207f"/>
</pragmas>
</IfBlock>
<!-- PropultionTorque = _L65; -->
<Equation>
<lefts>
<VariableRef name="PropultionTorque"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L65"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4a0a/30D7/2A9C/5a5496d426ac"/>
</pragmas>
</Equation>
<!-- _L64 = 0.0; -->
<Equation>
<lefts>
<VariableRef name="_L64"/>
</lefts>
<right>
<ConstValue value="0.0"/>
</right>
<pragmas>
<ed:Equation oid="!ed/4a0b/30D7/2A9C/5a5496d422ec"/>
</pragmas>
</Equation>
<!-- SwichMode = _L67; -->
<Equation>
<lefts>
<VariableRef name="SwichMode"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L67"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4a0d/30D7/2A9C/5a5496d44d88"/>
</pragmas>
</Equation>
<!-- _L65 = if _L67 then (_L64) else (_L8); -->
<Equation>
<lefts>
<VariableRef name="_L65"/>
</lefts>
<right>
<!-- if _L67 then (_L64) else (_L8) -->
<IfThenElseOp name="3">
<if>
<IdExpression>
<path>
<ConstVarRef name="_L67"/>
</path>
</IdExpression>
</if>
<then>
<ListExpression>
<items>
<IdExpression>
<path>
<ConstVarRef name="_L64"/>
</path>
</IdExpression>
</items>
</ListExpression>
</then>
<else>
<ListExpression>
<items>
<IdExpression>
<path>
<ConstVarRef name="_L8"/>
</path>
</IdExpression>
</items>
</ListExpression>
</else>
</IfThenElseOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4a0e/30D7/2A9C/5a5496d43c57"/>
</pragmas>
</Equation>
<!-- _L66 = 0.0; -->
<Equation>
<lefts>
<VariableRef name="_L66"/>
</lefts>
<right>
<ConstValue value="0.0"/>
</right>
<pragmas>
<ed:Equation oid="!ed/4a10/30D7/2A9C/5a5496d43dd6"/>
</pragmas>
</Equation>
<!-- BrakingTorque = _L66; -->
<Equation>
<lefts>
<VariableRef name="BrakingTorque"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L66"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4a12/30D7/2A9C/5a5496d42fbc"/>
</pragmas>
</Equation>
<!-- _L67 = _L8 < _L64; -->
<Equation>
<lefts>
<VariableRef name="_L67"/>
</lefts>
<right>
<!-- _L8 < _L64 -->
<BinaryOp name="3" operator="&lt;">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L8"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L64"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4a13/30D7/2A9C/5a5496d42e69"/>
</pragmas>
</Equation>
<IfBlock name="IfBlockError">
<block>
<IfNode>
<if>
<IdExpression>
<path>
<ConstVarRef name="setSpeed"/>
</path>
</IdExpression>
</if>
<then>
<Action>
<locals>
<Variable name="_L5">
<type>
<NamedType>
<type>
<TypeRef name="bool"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4bb1/30D7/2A9C/5a549c6fa10"/>
</pragmas>
</Variable>
<Variable name="_L6">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4bb3/30D7/2A9C/5a549c6f14c9"/>
</pragmas>
</Variable>
<Variable name="_L4">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4ba0/30D7/2A9C/5a549c625882"/>
</pragmas>
</Variable>
<Variable name="_L1">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4b89/30D7/2A9C/5a549c558cf"/>
</pragmas>
</Variable>
<Variable name="_L2">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4b8b/30D7/2A9C/5a549c5566dd"/>
</pragmas>
</Variable>
<Variable name="_L3">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4b8d/30D7/2A9C/5a549c555ce1"/>
</pragmas>
</Variable>
</locals>
<data>
<!-- _L1 = FligthControlEstimated.CurrentSpeed; -->
<Equation>
<lefts>
<VariableRef name="_L1"/>
</lefts>
<right>
<!-- FligthControlEstimated.CurrentSpeed -->
<PrjOp name="26">
<flow>
<IdExpression>
<path>
<ConstVarRef name="FligthControlEstimated"/>
</path>
</IdExpression>
</flow>
<with>
<Label name="CurrentSpeed"/>
</with>
</PrjOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c00/30D7/2A9C/5a549cab4242"/>
</pragmas>
</Equation>
<!-- _L2 = _L3 - _L1; -->
<Equation>
<lefts>
<VariableRef name="_L2"/>
</lefts>
<right>
<!-- _L3 - _L1 -->
<BinaryOp name="5" operator="-">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L3"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L1"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c01/30D7/2A9C/5a549cab4891"/>
</pragmas>
</Equation>
<!-- _L3 = IntermediateSetPoint_forSpeed; -->
<Equation>
<lefts>
<VariableRef name="_L3"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="IntermediateSetPoint_forSpeed"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c02/30D7/2A9C/5a549cab169"/>
</pragmas>
</Equation>
<!-- l_error = _L2; -->
<Equation>
<lefts>
<VariableRef name="l_error"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L2"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c03/30D7/2A9C/5a549cab3544"/>
</pragmas>
</Equation>
<!-- _L4 = LIB::F_Abs(_L2); -->
<Equation>
<lefts>
<VariableRef name="_L4"/>
</lefts>
<right>
<!-- LIB::F_Abs(_L2) -->
<CallExpression>
<operator>
<OpCall name="3">
<operator>
<OperatorRef name="LIB::F_Abs"/>
</operator>
</OpCall>
</operator>
<callParameters>
<IdExpression>
<path>
<ConstVarRef name="_L2"/>
</path>
</IdExpression>
</callParameters>
</CallExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c04/30D7/2A9C/5a549cab797e"/>
</pragmas>
</Equation>
<!-- _L5 = _L4 < _L6; -->
<Equation>
<lefts>
<VariableRef name="_L5"/>
</lefts>
<right>
<!-- _L4 < _L6 -->
<BinaryOp name="6" operator="&lt;">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L4"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L6"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c05/30D7/2A9C/5a549cab5ca0"/>
</pragmas>
</Equation>
<!-- _L6 = LIB::F_Epsilon; -->
<Equation>
<lefts>
<VariableRef name="_L6"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="LIB::F_Epsilon"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c06/30D7/2A9C/5a549cab7635"/>
</pragmas>
</Equation>
<!-- ReachIntermediateSetPoint_forSpeed = _L5; -->
<Equation>
<lefts>
<VariableRef name="ReachIntermediateSetPoint_forSpeed"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L5"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c07/30D7/2A9C/5a549cab2937"/>
</pragmas>
</Equation>
</data>
<pragmas>
<ed:Action oid="!ed/4bcc/30D7/2A9C/5a549ca14f52"/>
</pragmas>
</Action>
</then>
<else>
<Action>
<locals>
<Variable name="_L3">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c37/30D7/2A9C/5a549cf25138"/>
</pragmas>
</Variable>
<Variable name="_L2">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c35/30D7/2A9C/5a549cf21798"/>
</pragmas>
</Variable>
<Variable name="_L1">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c33/30D7/2A9C/5a549cf293f"/>
</pragmas>
</Variable>
<Variable name="_L6">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c55/30D7/2A9C/5a549d0224ea"/>
</pragmas>
</Variable>
<Variable name="_L5">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c53/30D7/2A9C/5a549d0215df"/>
</pragmas>
</Variable>
<Variable name="_L4">
<type>
<NamedType>
<type>
<TypeRef name="bool"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4c51/30D7/2A9C/5a549d026669"/>
</pragmas>
</Variable>
</locals>
<data>
<!-- _L1 = IntermediateSetPoint_forAltitude; -->
<Equation>
<lefts>
<VariableRef name="_L1"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="IntermediateSetPoint_forAltitude"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c32/30D7/2A9C/5a549cf2274c"/>
</pragmas>
</Equation>
<!-- _L2 = FligthControlEstimated.CurrentAltitude; -->
<Equation>
<lefts>
<VariableRef name="_L2"/>
</lefts>
<right>
<!-- FligthControlEstimated.CurrentAltitude -->
<PrjOp name="27">
<flow>
<IdExpression>
<path>
<ConstVarRef name="FligthControlEstimated"/>
</path>
</IdExpression>
</flow>
<with>
<Label name="CurrentAltitude"/>
</with>
</PrjOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c34/30D7/2A9C/5a549cf268e7"/>
</pragmas>
</Equation>
<!-- _L3 = _L1 - _L2; -->
<Equation>
<lefts>
<VariableRef name="_L3"/>
</lefts>
<right>
<!-- _L1 - _L2 -->
<BinaryOp name="6" operator="-">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L1"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L2"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c36/30D7/2A9C/5a549cf247f7"/>
</pragmas>
</Equation>
<!-- l_error = _L3; -->
<Equation>
<lefts>
<VariableRef name="l_error"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L3"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c3e/30D7/2A9C/5a549cf62c06"/>
</pragmas>
</Equation>
<!-- _L4 = _L6 < _L5; -->
<Equation>
<lefts>
<VariableRef name="_L4"/>
</lefts>
<right>
<!-- _L6 < _L5 -->
<BinaryOp name="7" operator="&lt;">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L6"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L5"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c50/30D7/2A9C/5a549d024851"/>
</pragmas>
</Equation>
<!-- _L5 = LIB::F_Epsilon; -->
<Equation>
<lefts>
<VariableRef name="_L5"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="LIB::F_Epsilon"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c52/30D7/2A9C/5a549d02afc"/>
</pragmas>
</Equation>
<!-- _L6 = LIB::F_Abs(_L3); -->
<Equation>
<lefts>
<VariableRef name="_L6"/>
</lefts>
<right>
<!-- LIB::F_Abs(_L3) -->
<CallExpression>
<operator>
<OpCall name="4">
<operator>
<OperatorRef name="LIB::F_Abs"/>
</operator>
</OpCall>
</operator>
<callParameters>
<IdExpression>
<path>
<ConstVarRef name="_L3"/>
</path>
</IdExpression>
</callParameters>
</CallExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c54/30D7/2A9C/5a549d026bce"/>
</pragmas>
</Equation>
<!-- ReachIntermediateSetPoint_forAltitude = _L4; -->
<Equation>
<lefts>
<VariableRef name="ReachIntermediateSetPoint_forAltitude"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L4"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c73/30D7/2A9C/5a549d1076dd"/>
</pragmas>
</Equation>
</data>
<pragmas>
<ed:Action oid="!ed/4bcd/30D7/2A9C/5a549ca13b1a"/>
</pragmas>
</Action>
</else>
<pragmas>
<ed:IfNode oid="!ed/4bcb/30D7/2A9C/5a549ca15114"/>
</pragmas>
</IfNode>
</block>
<pragmas>
<ed:IfBlock oid="!ed/4bc4/30D7/2A9C/5a549ca050b8"/>
</pragmas>
</IfBlock>
<!-- _L74 = _L15 or _L42; -->
<Equation>
<lefts>
<VariableRef name="_L74"/>
</lefts>
<right>
<!-- _L15 or _L42 -->
<NAryOp name="2" operator="or">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L15"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L42"/>
</path>
</IdExpression>
</operands>
</NAryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4c7e/30D7/2A9C/5a549d5357e6"/>
</pragmas>
</Equation>
<!-- setSpeed = _L74; -->
<Equation>
<lefts>
<VariableRef name="setSpeed"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L74"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4c8f/30D7/2A9C/5a549d5c1208"/>
</pragmas>
</Equation>
<!-- _L76 = phase; -->
<Equation>
<lefts>
<VariableRef name="_L76"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="phase"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4cb3/30D7/2A9C/5a549f81d30"/>
</pragmas>
</Equation>
<!-- _L77 = OperatingMass; -->
<Equation>
<lefts>
<VariableRef name="_L77"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="OperatingMass"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4ea9/30D7/2A9C/5a54d51f3ee1"/>
</pragmas>
</Equation>
</data>
<until>
<Transition kind="restart">
<target>
<StateRef name="COMMUTATION_WAIT"/>
</target>
<condition>
<IdExpression>
<path>
<ConstVarRef name="SwichMode"/>
</path>
</IdExpression>
</condition>
<effect>
<Action>
<pragmas>
<ed:Action oid="!ed/4a79/30D7/2A9C/5a549a7e7d28"/>
</pragmas>
</Action>
</effect>
<pragmas>
<ed:Transition oid="!ed/13381/48F7/1F2C/5a54948c3d86"/>
</pragmas>
</Transition>
</until>
<pragmas>
<ed:State oid="!ed/1332b/48F7/1F2C/5a54948c13ca" xmlns="http://www.esterel-technologies.com/ns/scade/pragmas/editor/5">
<diagrams>
<NetDiagram name="PROPULSION_1" landscape="true" format="A4 (210 297)" oid="!ed/133c5/48F7/1F2C/5a5494d977b6">
<presentationElements>
<EquationGE presentable="!ed/1332e/48F7/1F2C/5a54948c4c93">
<position>
<Point x="13520" y="17489"/>
</position>
<size>
<Size width="1286" height="2186"/>
</size>
</EquationGE>
<Edge leftVarIndex="1" rightExprIndex="2" srcEquation="!ed/13331/48F7/1F2C/5a54948c4409" dstEquation="!ed/1332e/48F7/1F2C/5a54948c4c93">
<positions>
<Point x="12832" y="18574"/>
<Point x="13176" y="18574"/>
<Point x="13176" y="18574"/>
<Point x="13520" y="18574"/>
</positions>
</Edge>
<Edge leftVarIndex="1" rightExprIndex="3" srcEquation="!ed/13334/48F7/1F2C/5a54948c303a" dstEquation="!ed/1332e/48F7/1F2C/5a54948c4c93">
<positions>
<Point x="12832" y="19129"/>
<Point x="12965" y="19129"/>
<Point x="12965" y="19129"/>
<Point x="13520" y="19129"/>
</positions>
</Edge>
<EquationGE kind="OBJ_LIT" presentable="!ed/13331/48F7/1F2C/5a54948c4409">
<position>
<Point x="12621" y="18415"/>
</position>
<size>
<Size width="211" height="317"/>
</size>
</EquationGE>
<EquationGE presentable="!ed/13332/48F7/1F2C/5a54948c6557">
<position>
<Point x="14473" y="14923"/>
</position>
<size>
<Size width="2821" height="1391"/>
</size>
</EquationGE>
<Edge leftVarIndex="2" rightExprIndex="3" srcEquation="!ed/1332e/48F7/1F2C/5a54948c4c93" dstEquation="!ed/13332/48F7/1F2C/5a54948c6557">
<positions>
<Point x="14817" y="18600"/>
<Point x="15901" y="18600"/>
<Point x="15901" y="16325"/>
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<State name="BRAKE">
<locals>
<Variable name="_L5">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13390/48F7/1F2C/5a54948c48f3"/>
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<Variable name="_L4">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13391/48F7/1F2C/5a54948c9a5"/>
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<Variable name="_L3">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13392/48F7/1F2C/5a54948c180c"/>
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<Variable name="_L12">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13393/48F7/1F2C/5a54948c17d2"/>
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<Variable name="_L9">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13394/48F7/1F2C/5a54948c23e"/>
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<Variable name="_L10">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/13395/48F7/1F2C/5a54948c5ae"/>
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<Variable name="_L11">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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<pragmas>
<ed:Variable oid="!ed/13396/48F7/1F2C/5a54948c7378"/>
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<Variable name="_L6">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/13397/48F7/1F2C/5a54948c413e"/>
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<Variable name="_L13">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/13398/48F7/1F2C/5a54948c542e"/>
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<Variable name="_L18">
<type>
<NamedType>
<type>
<TypeRef name="Type::te_Phase"/>
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<ed:Variable oid="!ed/1339a/48F7/1F2C/5a54948c762f"/>
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<Variable name="_L22">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4a52/30D7/2A9C/5a5496fd3974"/>
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<Variable name="_L21">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
</type>
</NamedType>
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<pragmas>
<ed:Variable oid="!ed/4a50/30D7/2A9C/5a5496fd5523"/>
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<Variable name="_L20">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4a4d/30D7/2A9C/5a5496fd2c3a"/>
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<Variable name="_L19">
<type>
<NamedType>
<type>
<TypeRef name="bool"/>
</type>
</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4a4a/30D7/2A9C/5a5496fd7c23"/>
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<Variable name="_L23">
<type>
<NamedType>
<type>
<TypeRef name="Type::te_Phase"/>
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<ed:Variable oid="!ed/4ccb/30D7/2A9C/5a549fb05a00"/>
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<Variable name="_L24">
<type>
<NamedType>
<type>
<TypeRef name="float64"/>
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</NamedType>
</type>
<pragmas>
<ed:Variable oid="!ed/4eb3/30D7/2A9C/5a54d54c66e7"/>
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<!-- _L3 = RecoverySpeed; -->
<Equation>
<lefts>
<VariableRef name="_L3"/>
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<right>
<IdExpression>
<path>
<ConstVarRef name="RecoverySpeed"/>
</path>
</IdExpression>
</right>
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<ed:Equation oid="!ed/13385/48F7/1F2C/5a54948cda"/>
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<!-- _L4 = PID(_L5, _L9, _L10, _L11); -->
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<lefts>
<VariableRef name="_L4"/>
</lefts>
<right>
<!-- PID(_L5, _L9, _L10, _L11) -->
<CallExpression>
<operator>
<OpCall name="2">
<operator>
<OperatorRef name="PID"/>
</operator>
</OpCall>
</operator>
<callParameters>
<IdExpression>
<path>
<ConstVarRef name="_L5"/>
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</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L9"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L10"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L11"/>
</path>
</IdExpression>
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</CallExpression>
</right>
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<ed:Equation oid="!ed/13386/48F7/1F2C/5a54948c48a9"/>
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<!-- _L5 = _L3 - _L13; -->
<Equation>
<lefts>
<VariableRef name="_L5"/>
</lefts>
<right>
<!-- _L3 - _L13 -->
<BinaryOp name="3" operator="-">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L3"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L13"/>
</path>
</IdExpression>
</operands>
</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/13387/48F7/1F2C/5a54948c7c82"/>
</pragmas>
</Equation>
<!-- _L6 = MMCmd.OperatingAltitude; -->
<Equation>
<lefts>
<VariableRef name="_L6"/>
</lefts>
<right>
<!-- MMCmd.OperatingAltitude -->
<PrjOp name="33">
<flow>
<IdExpression>
<path>
<ConstVarRef name="MMCmd"/>
</path>
</IdExpression>
</flow>
<with>
<Label name="OperatingAltitude"/>
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</right>
<pragmas>
<ed:Equation oid="!ed/13388/48F7/1F2C/5a54948c44d6"/>
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<!-- _L9, _L10, _L11 = GainsPID(_L24, _L6, _L12, _L18); -->
<Equation>
<lefts>
<VariableRef name="_L9"/>
<VariableRef name="_L10"/>
<VariableRef name="_L11"/>
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<right>
<!-- GainsPID(_L24, _L6, _L12, _L18) -->
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<operator>
<OpCall name="2">
<operator>
<OperatorRef name="GainsPID"/>
</operator>
</OpCall>
</operator>
<callParameters>
<IdExpression>
<path>
<ConstVarRef name="_L24"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L6"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L12"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L18"/>
</path>
</IdExpression>
</callParameters>
</CallExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/13389/48F7/1F2C/5a54948c6f2e"/>
</pragmas>
</Equation>
<!-- _L12 = MMCmd.OperatingSpeed; -->
<Equation>
<lefts>
<VariableRef name="_L12"/>
</lefts>
<right>
<!-- MMCmd.OperatingSpeed -->
<PrjOp name="34">
<flow>
<IdExpression>
<path>
<ConstVarRef name="MMCmd"/>
</path>
</IdExpression>
</flow>
<with>
<Label name="OperatingSpeed"/>
</with>
</PrjOp>
</right>
<pragmas>
<ed:Equation oid="!ed/1338a/48F7/1F2C/5a54948c195d"/>
</pragmas>
</Equation>
<!-- _L13 = FligthControlEstimated.CurrentSpeed; -->
<Equation>
<lefts>
<VariableRef name="_L13"/>
</lefts>
<right>
<!-- FligthControlEstimated.CurrentSpeed -->
<PrjOp name="15">
<flow>
<IdExpression>
<path>
<ConstVarRef name="FligthControlEstimated"/>
</path>
</IdExpression>
</flow>
<with>
<Label name="CurrentSpeed"/>
</with>
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</right>
<pragmas>
<ed:Equation oid="!ed/1338c/48F7/1F2C/5a54948cd31"/>
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<!-- _L18 = Type::DESCENT; -->
<Equation>
<lefts>
<VariableRef name="_L18"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="Type::DESCENT"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/1338e/48F7/1F2C/5a54948c23ca"/>
</pragmas>
</Equation>
<!-- _L19 = _L4 < _L20; -->
<Equation>
<lefts>
<VariableRef name="_L19"/>
</lefts>
<right>
<!-- _L4 < _L20 -->
<BinaryOp name="4" operator="&lt;">
<operands>
<IdExpression>
<path>
<ConstVarRef name="_L4"/>
</path>
</IdExpression>
<IdExpression>
<path>
<ConstVarRef name="_L20"/>
</path>
</IdExpression>
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</BinaryOp>
</right>
<pragmas>
<ed:Equation oid="!ed/4a49/30D7/2A9C/5a5496fd690e"/>
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</Equation>
<!-- PropultionTorque = _L21; -->
<Equation>
<lefts>
<VariableRef name="PropultionTorque"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L21"/>
</path>
</IdExpression>
</right>
<pragmas>
<ed:Equation oid="!ed/4a4b/30D7/2A9C/5a5496fd53b8"/>
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</Equation>
<!-- _L20 = 0.0; -->
<Equation>
<lefts>
<VariableRef name="_L20"/>
</lefts>
<right>
<ConstValue value="0.0"/>
</right>
<pragmas>
<ed:Equation oid="!ed/4a4c/30D7/2A9C/5a5496fd48a9"/>
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</Equation>
<!-- SwichMode = _L19; -->
<Equation>
<lefts>
<VariableRef name="SwichMode"/>
</lefts>
<right>
<IdExpression>
<path>
<ConstVarRef name="_L19"/>
</path>
</IdExpression>
</right>
<pragmas>
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<!-- _L21 = 0.0; -->
<Equation>
<lefts>
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<right>
<ConstValue value="0.0"/>
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<pragmas>
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<Equation>
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<VariableRef name="_L22"/>
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<right>
<!-- if _L19 then (_L20) else (_L4) -->
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<ConstVarRef name="_L19"/>
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<then>
<ListExpression>
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<path>
<ConstVarRef name="_L20"/>
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<!-- BrakingTorque = _L22; -->
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<lefts>
<VariableRef name="BrakingTorque"/>
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<right>
<IdExpression>
<path>
<ConstVarRef name="_L22"/>
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<!-- phase = _L23; -->
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<ConstVarRef name="_L23"/>
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<right>
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<path>
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<StateRef name="COMMUTATION_WAIT_2"/>
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