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279 lines
81 KiB
279 lines
81 KiB
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<documents identifier="MMS Func Reqs allocated to SW" text="MMS Func Reqs allocated to SW MMS FUNC Reqs"> |
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<children xsi:type="scade_req:Section" identifier="3." text="3. System Requirements Allocated to Software MMS" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.1." text="3.1. MMS Functions (top-level)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.1.6." text="3.1.6. Behavior Requirements" description="[MMS_FUNC_09]"> |
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</children> |
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<children xsi:type="scade_req:Section" identifier="3.2." text="3.2. Function Payload Transport (F_PT)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.2.6." text="3.2.6. Behavior Requirements" description="[MMS_F_PT_FUNC_15] Detailed specification of F_PT is at sub-function level (F_MM, F_FC, F_EM, and F_CM)."> |
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<children xsi:type="scade_req:Section" identifier="3.3." text="3.3. Function Mission Management (F_MM)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.3.6." text="3.3.6. Behavior Requirements" description="[MMS_F_PT_F_MM_FUNC_18] [MMS_F_PT_F_MM_FUNC_19] [MMS_F_PT_F_MM_FUNC_20] [MMS_F_PT_F_MM_FUNC_21] [MMS_F_PT_F_MM_FUNC_22] [MMS_F_PT_F_MM_FUNC_23] [MMS_F_PT_F_MM_FUNC_24] [MMS_F_PT_F_MM_FUNC_25] [MMS_F_PT_F_MM_FUNC_26] OPERATING POINT UPDATES The operating point is the reference value F_FC regulates on at a given instant. When it regulates on an altitude value or on a speed value, these values are sent by F_MM to F_FC. When F_FC is in energy mode, the altitude or the speed reference value is computed by F_FC. [MMS_F_PT_F_MM_FUNC_27] [MMS_F_PT_F_MM_FUNC_28] VIABILITY COMPUTATION (initial and updates) Viability analysis is energetic assessment of the mission's feasibility as defined at initial conditions. It is done before take-off to prevent launching the drone on unfeasible missions. This analysis is then periodically updated during flight (low rate, 0.1 Hz) as bad flight weather conditions may invalidate the standardized assumptions used at set-up phase. In-flight updates Viability computation in-flight updates are using the same algorithm as initial computation before TakeOff, with distance equated to the remaining distance to fly, is repeated at periodic rate (f_viability = 0.1Hz) and with two other response surfaces (similar structures, but discount of a flat rate climb energy). [MMS_F_PT_F_MM_FUNC_29] [MMS_F_PT_F_MM_FUNC_30] [MMS_F_PT_F_MM_FUNC_31] Note: This algorithm is documented in https://en.wikipedia.org/wiki/Inverse_distance_weighting. It is suggested unless other recommendations to use the algorithm parameter p value of 1 Note: We assume tables are sorted. The neighbors search can be sequential. From the 4 parameters, 2 neighbors in each dimension, a vector of 16 neighboring quadruplets is constructed. [MMS_F_PT_F_MM_FUNC_32] [MMS_F_PT_F_MM_FUNC_33] MISSION TERMINATION [MMS_F_PT_F_MM_FUNC_34] [MMS_F_PT_F_MM_FUNC_35]"> |
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<children xsi:type="scade_req:Section" identifier="3.4." text="3.4. Function Flight Control (F_FC)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.4.6." text="3.4.6. Behavior Requirements" description="[MMS_F_PT_F_FC_FUNC_41] SAFETY BREAKING When safety escapes are pending because of wind gusts, F_FC strives to keep the AV's body safe by stopping propulsion and preparing the brakes. This transition is necessary for physically effective mutual exclusion between the antagonist torque actions. Safety and/or lifetime of the drone is at stake: the engines are damaged when powered during braking action. There is a need to take into account inertia and delays on actuation lines (hydraulic and electrical, defined at increment 2). [MMS_F_PT_F_FC_FUNC_42] [MMS_F_PT_F_FC_FUNC_43] [MMS_F_PT_F_FC_FUNC_44] Needs a derived software REQ here to propose an interpretation of "fast" safety escape ? [MMS_F_PT_F_FC_FUNC_45] REFERENCE TRAJECTORY GENERATION The piecewise linear approach may need small increments of the set-point. The set-point is either an altitude value or a speed value. For landing, a distance objective is added to the zero-altitude objective. Landing must occur exactly at range completion. The reference trajectory is the discrete evolution curve of intermediate set-points generated and added between the set-points defined by µXAV's user. Reference trajectory generation is in charge of splitting the amplitude of the set-point updates into smaller steps, to facilitate prevention of overshoot. [MMS_F_PT_F_FC_FUNC_46] [MMS_F_PT_F_FC_FUNC_47] PROPULSION CONTROL In this version, the energy minimization option is not actually implemented as an optimal control algorithm (will be supplied later). When "Energy" option is active, the "Altitude" or "Speed" option is selected, depending on the respective energy cost induced by the two pre-set Altitude and Speed values. The selected option is the less energetically demanding one. [MMS_F_PT_F_FC_FUNC_48] [MMS_F_PT_F_FC_FUNC_49] [MMS_F_PT_F_FC_FUNC_50] [MMS_F_PT_F_FC_FUNC_51] [MMS_F_PT_F_FC_FUNC_52] [MMS_F_PT_F_FC_FUNC_53] Note: Micing(t) is neglected in increment 1, therefore Mass(t) is constant as calculated an=t mission initialisation. [MMS_F_PT_F_FC_FUNC_54]"> |
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<children xsi:type="scade_req:Section" identifier="3.5." text="3.5. Function Energy Management (F_EM)" description="Energy management is in charge of estimating the remaining energy available and by estimating the dispended energy removed from initial capacity. The estimation is performed using a pdot integration computation. Note: A complementary energy-related function performed by Mission Management consists in estimating the viability of missions."> |
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<children xsi:type="scade_req:Section" identifier="3.5.6." text="3.5.6. Behavior Requirements" description="Parameters: •	PrimaryInitialCapacity (J) •	SecondaryInitialCapacity (J) At t=0, start of mission: InitialCapacity=PrimaryInitialCapacity + SecondaryInitialCapacity. [MMS_F_PT_F_EM_FUNC_57] Note: In this version (increment 1) of the specification, the dispended energy estimation is considered as part of MMS because the Electrical Propulsion System is not present. In final version, this function is performed by the EPS. [MMS_F_PT_F_EM_FUNC_58] [MMS_F_PT_F_EM_FUNC_59] [MMS_F_PT_F_EM_FUNC_60]"> |
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<children xsi:type="scade_req:Section" identifier="3.6." text="3.6. Function Communication Management (F_CM)" description="For increment 1, F_CM has two roles: 1.	It manages possible inconsistencies between GS-supplied and AV-supplied navigation parameters, 2.	It dispatches the software inputs to the functions, 3.	It collects the functions' outputs and dispatches them to software outputs"> |
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<children xsi:type="scade_req:Section" identifier="3.6.6." text="3.6.6. Behavior Requirements" description="[MMS_F_PT_F_CM_FUNC_63]"> |
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<children xsi:type="scade_req:Section" identifier="3.7." text="3.7. Function Emergency Landing (F_EL)" description="F_EL is fully defined at increment 1. It has two roles: •	Performing the hard landings activated by F_MM, •	Monitoring the safety escapes not diagnosed by F_MM which lead to self-activation of hard landing Note: Since in this version of specification (increment 1 of muXAV) the Hydraulic Braking System does not exist emergency landing function is considered as performed by the MMS. Hard landing is named so because it is brake only control. It may lead to terrain contact at excessive speed with ensued drone damage. Note: F_EL detects on its own flight safety envelope escapes in case F_MM malfunctions or is lost. The flight safety envelopes detection escapes detection uses the same algorithm as the one used in F_MM (Req REFREQ). For the braking part, F_EL is essentially a PID controller without gain scheduling."> |
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<children xsi:type="scade_req:Section" identifier="3.7.6." text="3.7.6. Behavior Requirements" description="[MMS_F_EL_FUNC_66]"> |
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</documents> |
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<documents identifier="MMS Intf Reqs allocated to SW" text="MMS Intf Reqs allocated to SW MMS INTF Reqs"> |
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<children xsi:type="scade_req:Section" identifier="3." text="3. System Requirements Allocated to Software MMS" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.1." text="3.1. MMS Functions (top-level)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.1.2." text="3.1.2. Interface Requirements" description="The SysML architecture model (the reference) interface tables are given at each level of the functional decomposition. The interface tables show the ports used in the architecture model (as illustrated in the block diagram figures), and for each port all the data propagated through them. The source block is the one producing the data, while the targets are the destination block. [MMS_INTF_01] [MMS_INTF_04] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CP_Displays_to_GS|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MissionREADY|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station|5 TableCell MissionCOMPLETED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station|5 TableCell MissionCANCELLED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station|5 TableCell MissionABORTED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station|5 TableCell CP_Switches_to_GS|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell GS_Setup|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell GS_NavControlMode|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavParameters|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavRegulOption|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_GO|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_EmergencyLanding|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_EL|5 TableCell [MMS_INTF_02] [MMS_INTF_05] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CP_Displays|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MissionREADY|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Control_Panel|5 TableCell MissionCOMPLETED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Control_Panel|5 TableCell MissionCANCELLED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Control_Panel|5 TableCell MissionABORTED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Control_Panel|5 TableCell CP_Setup|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CP_START_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_Key|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_NavControlMode|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor2|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor1|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Bay_Switch|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_ON_OFF_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_NavRegulOption???|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell [MMS_INTF_03] [MMS_INTF_06] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell PropulsionTrq|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_PropulsionTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	Air_Vehicle|5 TableCell BrakingTorque|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_BrakingTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	Air_Vehicle|5 TableCell EL_BrakingTorque|2 TableCell	|3 TableCell	RF_EL|4 TableCell	Air_Vehicle|5 TableCell AV_PhysicalSensors|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell pdot|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_EL, RF_FC_FlightControl|5 TableCell q|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_EL, RF_FC_FlightControl|5 TableCell p|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_EL, RF_FC_FlightControl, RF_EM_EnergyViability|5 TableCell"> |
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<children xsi:type="scade_req:Section" identifier="3.2." text="3.2. Function Payload Transport (F_PT)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.2.2." text="3.2.2. Interface Requirements" description="[MMS_F_PT_INTF_10]"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.65"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.66"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.67"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.68"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.69"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.70"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.71"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.72"/> |
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</children> |
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</children> |
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</children> |
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</children> |
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</children> |
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</children> |
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<children xsi:type="scade_req:Section" identifier="3.3." text="3.3. Function Mission Management (F_MM)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.3.2." text="3.3.2. Interface Requirements" description="[MMS_F_PT_F_MM_INTF_16] [MMS_F_PT_F_MM_INTF_17] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell EnergyLevel|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell PrimarySource|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell SecondarySource|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell GS_Setup|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell GS_NavControlMode|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavParameters|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavRegulOption|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_GO|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_EmergencyLanding|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_EL|5 TableCell CP_Setup|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CP_ON_OFF_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Bay_Switch|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor1|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor2|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_NavControlMode|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_Key|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_START_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_NavRegulOption???|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CurrentPoint|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CurrentAltitude|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell CurrentSpeed|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell CurrentDistance|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell MissionAbort|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell MissionStatus|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MissionREADY|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCOMPLETED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCANCELLED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionABORTED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell EmergencyLanding_to_EL|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MM_EmergencyLanding|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_EL|5 TableCell GS_EmergencyLanding|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_EL|5 TableCell OperatingPoint|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell OperatingAltitude|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingSpeed|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingOption|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingDistance|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingMass|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell FC_Cmds|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell StartTakeOff|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell StartLanding|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.73"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.74"/> |
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</children> |
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</children> |
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<children xsi:type="scade_req:Section" identifier="3.4." text="3.4. Function Flight Control (F_FC)" description=""> |
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<children xsi:type="scade_req:Section" identifier="3.4.2." text="3.4.2. Interface Requirements" description="[MMS_F_PT_F_FC_INTF_36] [MMS_F_PT_F_FC_INTF_37] [MMS_F_PT_F_FC_INTF_38] [MMS_F_PT_F_FC_INTF_39] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell AV_PhysicalParams|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell p|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl|5 TableCell pdot|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl|5 TableCell q|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingPoint|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell OperatingAltitude|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingSpeed|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingOption|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingDistance|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell OperatingMass|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell MM_Cmds|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell StartTakeOff|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell StartLanding|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_FC_FlightControl|5 TableCell MissionAbort|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell PropulsionTrq|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_PropulsionTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_EM_EnergyViability, Air_Vehicle, RF_CM_Comm_MMS|5 TableCell BrakingTrq|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_BrakingTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_EM_EnergyViability, Air_Vehicle, RF_CM_Comm_MMS|5 TableCell CurrentPoint|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CurrentAltitude|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell CurrentSpeed|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell CurrentDistance|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	RF_MM_MissionManagement|5 TableCell"> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.75"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.79"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.82"/> |
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<children xsi:type="scade_req:TraceableElementRef" traceableElement="//@traceableElements.86"/> |
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</children> |
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</children> |
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</children> |
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</documents> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_FUNC_09]" text="[MMS_FUNC_09]" description="MMS Power On When MMS is powered on (Control Panel ON_OFF_PushButton), both F_PT and F_EL are activated. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.0/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_FUNC_15]" text="[MMS_F_PT_FUNC_15]" description="When F_PT is activated all sub-functions shall be activated. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.1/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_18]" text="[MMS_F_PT_F_MM_FUNC_18]" description="Units: MM converts aeronautical units into S.I. GS and CP MMIs display values in aeronautical units (knots, nautical miles, feet etc.) but system and item implementation are based on IS units (m, kg, s). End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_19]" text="[MMS_F_PT_F_MM_FUNC_19]" description="Mission Setup activation When AV is powered ON, F_MM shall start the initialization phase. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_20]" text="[MMS_F_PT_F_MM_FUNC_20]" description="Mission Setup sequence The initialization phase shall perform sequentially: End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_21]" text="[MMS_F_PT_F_MM_FUNC_21]" description="Payload boarding A payload boarding sequence consists in: End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.3"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_22]" text="[MMS_F_PT_F_MM_FUNC_22]" description="Mission initialization: When Payload Boarding has completed successfully, Mission Set Up is started. Mission Set Up consists in: End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.4"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_23]" text="[MMS_F_PT_F_MM_FUNC_23]" description="Mission initialization: Alternative record mass (APP) seems over specified from System point of view When the bay is closed, the mass must be recorded from the CP's rotator or the USB key. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.5"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_24]" text="[MMS_F_PT_F_MM_FUNC_24]" description="Mission initialization: parameters input channels precedence. The rotators supersede any other means, unless value 99 is configured on the two wheels. In RP mode, GS supersedes the USB key, whereas in A mode the key supersedes any GS input. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.6"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_25]" text="[MMS_F_PT_F_MM_FUNC_25]" description="Mission initialization: initial viability When mission viability is computed: End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.7"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_26]" text="[MMS_F_PT_F_MM_FUNC_26]" description="Mission setup: completion When START PushButton from control panel or GO from Ground Station is received, if mission initialization has successfully completed, StartTakeOff is sent to F_FC to start the flight. This completes and terminates the Setup phase and the Air Vehicle enters the flight mode (starting with TakeOff phase). End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.8"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_27]" text="[MMS_F_PT_F_MM_FUNC_27]" description="While regulation mode is on altitude or speed, F_MM shall compute the operating point reference value and sends it to F_FC to regulate on. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.9"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_28]" text="[MMS_F_PT_F_MM_FUNC_28]" description="While regulation mode is on energy, F_FC shall compute the operating point reference value by itself to regulate on. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.10"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_29]" text="[MMS_F_PT_F_MM_FUNC_29]" description="Mission Viability: Drone Data for Needed Energy Four surrogate models are loaded and updated independently of the software. The models are tabulated functions or response surfaces that give the estimated needed energy from the mission parameters: These four PDIs are not mission dependent. They are drone dependent. They depend on the drone's empty mass, engines, and energy capacity. Each PDI is a table in the form: End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.11"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_30]" text="[MMS_F_PT_F_MM_FUNC_30]" description="Mission Viability: interpolation tables From the tables, F_MM shall select the 16 nearest neighbors and extract energy levels for each of these neighbors. F_MM shall compute the energy needed as an inverse distance based interpolation of the 16 neighboring values navigation parameter values and PayloadMass. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.12"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_31]" text="[MMS_F_PT_F_MM_FUNC_31]" description="Mission Viability: needed energy computation Compute the Euclidian distance disti between the selected drone parameters (mdrone, speedsetpoint, distancesetpoint, altitudesetpoint) to its 4 neighbors in viability table rowindex (mindex, sindex, dindex, aindex), for index in 1..16. Compute the needed energy from the 16 energy levels needed for each index with: If a disti is equal to 0 (within an epsilon tolerance) the energy at that point Ei = E(mi, si, di, ai) Otherwise compute interpolation with: Where End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.13"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_32]" text="[MMS_F_PT_F_MM_FUNC_32]" description="Mission Viability: on-board available energy capacity Before TakeOff, comes directly from inputs? End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.14"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_33]" text="[MMS_F_PT_F_MM_FUNC_33]" description="Mission Viability: decision F_MM compares the result of needed energy level computation to the energy capacity available on board and makes the viability decision with 10% energy margin in RP mode, and 30% in A mode. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.15"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_34]" text="[MMS_F_PT_F_MM_FUNC_34]" description="F_MM monitors CurrentRange (received from F_FC). When (Distance - CurrentRange) < GlideDistance (CurrentAltitude), F_MM shall activate landing. GlideDistance is a tabulated function that gives the ground distance needed to reach altitude zero from CurrentAltitude. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.16"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_FUNC_35]" text="[MMS_F_PT_F_MM_FUNC_35]" description="When F_MM activates landing, F_MM shall freeze any change on the operating point. Careful if mode is Energy, when the point is fixed by F_FC directly. Freezing must supersede F_FC operating point computation. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.2/@children.0/@children.17"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_41]" text="[MMS_F_PT_F_FC_FUNC_41]" description="Constants for flight control safety envelope Constant Name|2 Corps	Unit|3 Corps	Value qdot_minCl|2 Corps	Angle.s-1|3 Corps	TBD qdot_maxCl|2 Corps	Angle.s-1|3 Corps	TBD q_maxCl|2 Corps	Angle|3 Corps	TBD qdot_minCr|2 Corps	Angle.s-1|3 Corps	TBD qdot_maxCr|2 Corps	Angle.s-1|3 Corps	TBD q_minCr|2 Corps	Angle|3 Corps	TBD pdot_maxCr|2 Corps	Angle.s-1|3 Corps	TBD qdot_minDs|2 Corps	Angle.s-1|3 Corps	TBD qdot_maxDs|2 Corps	Angle.s-1|3 Corps	TBD q_maxDs|2 Corps	Angle|3 Corps	TBD End_Req" incomingLink="//@traceabilityLinks.0" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4eea/471E/275C/591477d2636" outgoingLink="//@traceabilityLinks.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_42]" text="[MMS_F_PT_F_FC_FUNC_42]" description="Propulsion Braking temporal separation The parameter Name|2 Normal	Unit|3 Normal	Value CommutationDuration|2 Normal	s|3 Normal	TBD is defined to separate the incompatible propulsion and breaking actuation phases. The numerical value of CommutationDuration is defined at model level. End_Req" incomingLink="//@traceabilityLinks.1" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/99e7/471E/275C/591584b85457" outgoingLink="//@traceabilityLinks.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_43]" text="[MMS_F_PT_F_FC_FUNC_43]" description="Propulsion Braking commutation The gain scheduling policy applies to propulsion and braking control. There is a gain table swap at each Propulsion ↔ Braking swap. That seems to indicate there are actually 6 Gain tables, not three as said earlier... End_Req" incomingLink="//@traceabilityLinks.2 //@traceabilityLinks.3 //@traceabilityLinks.4" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4ed7/30D7/2A9C/5a54da7654de" outgoingLink="//@traceabilityLinks.2"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/1339c/48F7/1F2C/5a54948c2d0f" outgoingLink="//@traceabilityLinks.3"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/133a1/48F7/1F2C/5a54948c4682" outgoingLink="//@traceabilityLinks.4"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_44]" text="[MMS_F_PT_F_FC_FUNC_44]" description="Safety braking activation In case of persistency in the hazardous region more than HazardDuration consecutive seconds or in case of fast evolution to a safety escape, braking is activated after propulsion has been stopped for CommutationDuration seconds. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.3"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_45]" text="[MMS_F_PT_F_FC_FUNC_45]" description="Braking is stopped when AV's dynamics re-enters the safety domain. The same CommutationDuration timeout is applied before resuming propulsion to cope with physical latencies in both ways. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.4"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_46]" text="[MMS_F_PT_F_FC_FUNC_46]" description="Intermediate set points Instead of giving the true set-point on altitude or speed to Propulsion Control, it gives half of the change amplitude, i.e. the mid-value between the current state and the set-point. IntermediateSetPoint_forX(t) = ½ * (CurrentX(t)+ SetPoint_X(t)) where X stands for Speed or Altitude. It can be computed at each cycle. Slower rates are possible, but not too slow. When the current intermediate set-point is reached the next one is computed, and so on until the user-defined set-point is reached. The propulsion and braking controllers use IntermediateSetPoint_X instead of SetPoint_X. IntermediateSetPoint_X tends to SetPoint_X over time (zero-like aspects to be addressed when convergence). End_Req" incomingLink="//@traceabilityLinks.5 //@traceabilityLinks.6 //@traceabilityLinks.7" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.5"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/12fe0/48F7/1F2C/5a5492c71f7f" outgoingLink="//@traceabilityLinks.5"/> |
|
<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/5120/471E/275C/59156eb81055" outgoingLink="//@traceabilityLinks.6"/> |
|
<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4ee6/30D7/2A9C/5a54db4d102a" outgoingLink="//@traceabilityLinks.7"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_47]" text="[MMS_F_PT_F_FC_FUNC_47]" description="Reference trajectory reset This module is reset by any navigation parameter change. End_Req" incomingLink="//@traceabilityLinks.8" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.6"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4ee5/30D7/2A9C/5a54db1b4e92" outgoingLink="//@traceabilityLinks.8"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_48]" text="[MMS_F_PT_F_FC_FUNC_48]" description="Energy is Altitude or Speed To determine which to select, two systems of two equations in (pdotA, qA), (pdotS, qS) are to be solved. First: • g/L= (pdotA)2 . cos(qA) • Altitude = L.(1 - cos(qA)) Second : • g/L= (pdotS)2 . cos(qS) • Speed= pdotS.L.sin(qS) If pdotA < pdotS, option "Altitude" shall be selected otherwise "Speed" shall be selected. End_Req" incomingLink="//@traceabilityLinks.9" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.7"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/8ada/B5A/FD4/5982edf711fb" outgoingLink="//@traceabilityLinks.9 //@traceabilityLinks.41"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_49]" text="[MMS_F_PT_F_FC_FUNC_49]" description="Error value for PID regulation The navigation option conditions the computation of variable error(t) used by the PID algorithms shall be computed as: • While in Speed mode, error(t) = Speed(t) - OperatingPoint.Speed(t) • While in Altitude mode, error(t) = Altitude(t) - OperatingPoint.Altitude(t) End_Req" incomingLink="//@traceabilityLinks.10 //@traceabilityLinks.11" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.8"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/1310f/48F7/1F2C/5a5494775b1a" outgoingLink="//@traceabilityLinks.10"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4bc4/30D7/2A9C/5a549ca050b8" outgoingLink="//@traceabilityLinks.11"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_50]" text="[MMS_F_PT_F_FC_FUNC_50]" description="The PID controller computes PropulsionTorque(t) as a sum of three torques, each one dependent on error(t), but on different time horizons: • instantaneous error at time t: error(t), • cumulative past error during the last Ti seconds: o integral_error(t)= • error variation at time t: o derivative_error(t)= Hence the three letters P, I, D. PropulsionTorque(t) =	Kp(t)*error(t) + Ki(t)*integral_error(t) + Kd(t)*derivative_error(t). with Kp(t), Ki(t), and Kd(t) being the scheduled gains for current state (CurrentSpeed(t), CurrentAltitude(t)). The coefficients Ki also depend on phase, and whether we are in propulsion or braking... End_Req" incomingLink="//@traceabilityLinks.12" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.9"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/538a/471E/275C/5915780a3a4f" outgoingLink="//@traceabilityLinks.12 //@traceabilityLinks.43"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_51]" text="[MMS_F_PT_F_FC_FUNC_51]" description="Propulsion PID coefficients determination Like in viability computation, CurrentSpeed(t), CurrentAltitude(t) define the current position of AV for selecting its nearest neighbors in the 2D FlightDomainMesh. The distances to the 4 nearest neighbors (d1(t), d2(t), d3(t), d4(t)) are computed, the 4 weights wi(t)=1/di(t) i = 1..4, are computed, and finally the four neighbors' gain triplets are extracted (limit cases di(t)=0 to be properly handled). Then, Kp(t), Ki(t), and Kd(t) are the wi(t)-weighted averages of the 4 neighbors' corresponding coefficients. COMPUTATION TO BE EXPLAINED TO THE END End_Req" incomingLink="//@traceabilityLinks.13" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.10"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4e7d/471E/275C/591476a77805" outgoingLink="//@traceabilityLinks.13 //@traceabilityLinks.14 //@traceabilityLinks.28"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_52]" text="[MMS_F_PT_F_FC_FUNC_52]" description="Braking PID coefficients determination The algorithm is a simpler version of the propulsion one: the Speed/Altitude option has no longer influence. error(t) is always computed from the speed. Braking is an emergency phase triggered to quickly pull back the AV's dynamics in the safety region. It consists in sharp speed decrease (short duration, drop of pdot and q). A constant speed level, named RecoverySpeed, is used as set point. Name|2 Normal	Unit|3 Normal	Value RecoverySpeed|2 Normal	m/s|3 Normal	TBD COMPUTATION TO BE EXPLAINED TO THE END End_Req" incomingLink="//@traceabilityLinks.14 //@traceabilityLinks.15" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.11"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4ef0/30D7/2A9C/5a54e68750a5" outgoingLink="//@traceabilityLinks.15"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_53]" text="[MMS_F_PT_F_FC_FUNC_53]" description="Air vehicle state vector The AV's state vector is defined by: • Speed(t) = L.sin(q(t)).pdot(t) • Altitude(t) = L.(1 - cos(q(t))) • Distance(t) = • Mass(t) = M0 + Mpayload + Micing(t), where Micing is an unknown perturbation to be estimated, and Mpayload is given by the two rotators of the control panel. End_Req" incomingLink="//@traceabilityLinks.16" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.12"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/8e29/7AC7/1190/5988209b73c" outgoingLink="//@traceabilityLinks.16 //@traceabilityLinks.45"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_FUNC_54]" text="[MMS_F_PT_F_FC_FUNC_54]" description="AV mechanical parameters The AV's mechanical body is dimensioned by means of the following parameters: Name|2 Normal	Unit|3 Normal	Value J0|2 Normal	kg.m2|3 Normal	TBD L|2 Normal	m|3 Normal	TBD M0|2 Normal	kg|3 Normal	TBD The parameter values will be supplied with the layer 0 model and the associated simulation scenarios conformant to [3]. End_Req" incomingLink="//@traceabilityLinks.17 //@traceabilityLinks.18 //@traceabilityLinks.19" tracebleElementRef="//@documents.0/@children.0/@children.3/@children.0/@children.13"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/9890/471E/275C/591582123b6a" outgoingLink="//@traceabilityLinks.17"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/9899/471E/275C/5915822c3eb8" outgoingLink="//@traceabilityLinks.18"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/98a2/471E/275C/5915823cf0a" outgoingLink="//@traceabilityLinks.19"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_EM_FUNC_57]" text="[MMS_F_PT_F_EM_FUNC_57]" description="Dispended Energy estimation DispendedEnergy(t)= PropulsionEnergy(t) + BrakingEnergy(t). PropulsionEnergy(t)= BrakingEnergy(t)= End_Req" tracebleElementRef="//@documents.0/@children.0/@children.4/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_EM_FUNC_58]" text="[MMS_F_PT_F_EM_FUNC_58]" description="Remaining Primary Energy left While (PrimarySource(t) > 0) PrimaryEnergyLeft(t)=PrimaryInitialCapacity-DispendedEnergy(t) PrimarySource(t)=100*(PrimaryInitialCapacity-DispendedEnergy)/ PrimaryInitialCapacity. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.4/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_EM_FUNC_59]" text="[MMS_F_PT_F_EM_FUNC_59]" description="Remaining Primary Energy left When (PrimarySource(t) <= 0) PrimarySource(t)= 0 and Primary Source frozen End_Req" tracebleElementRef="//@documents.0/@children.0/@children.4/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_EM_FUNC_60]" text="[MMS_F_PT_F_EM_FUNC_60]" description="Remaining Secondary Energy left When (PrimarySource(t) = 0) SecondaryEnergyLeft(t)=SecondaryInitialCapacity - DispendedEnergy(t). SecondarySource(t)= 100*(SecondaryInitialCapacity - DispendedEnergy)/ SecondaryInitialCapacity. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.4/@children.0/@children.3"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_CM_FUNC_63]" text="[MMS_F_PT_F_CM_FUNC_63]" description="Navigation Modes/Options/Parameters set up. When the two channels are active and provide conflicting values for the same entity, the following selection logic is applied: 1. In case of conflict on the navigation mode, CP prevails over GS, 2. In case of RP mode, GS prevails over CP, 3. In case of A mode, CP prevails over GS. End_Req" tracebleElementRef="//@documents.0/@children.0/@children.5/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_EL_FUNC_66]" text="[MMS_F_EL_FUNC_66]" description="A linear reference trajectory of q and qdot are defined from q and qdot at F_EL activation time, down-to q=0, qdot=0 at grounding time. These trajectories are defined with safety margins wt. descent safety envelope. (Safety envelope max gains xxxDs parameters of § Error! Reference source not found. table. (To be updated with a requirement reference). End_Req" tracebleElementRef="//@documents.0/@children.0/@children.6/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_01]" text="[MMS_INTF_01]" description="Inputs from Ground Station Flow Name|2 Corps	Content|3 Corps	Comment GS_NavigationParameters|2 Corps	Distance [1:1:100] (n.m)|2 Corps	Speed [1:1:250] (kt)|2 Corps	Altitude [-500, 1, 3000] (ft)|3 Corps	Only one of Speed or Altitude drives navigation, according to NavigationOption GS_NavigationControlMode|2 Corps	{'RP', 'A'}|3 Corps	Enumerated type RP=Remotely Piloted A=Autonomous GS_NavigationRegulOption|2 Corps	{'SPEED', 'ALTITUDE', 'ENERGY'}|3 Corps	Enumerated type GS_GO|2 Corps	event|3 Corps GS_EmergencyLandingCmd|2 Corps	event|3 Corps	Manque dans la description spec multi-systèmes End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_04]" text="[MMS_INTF_04]" description="Outputs to Ground Station Flow Name|2 Corps	Content|3 Corps	Comment CP_Switches|2 Corps	 Power: Boolean;|2 Corps	 Mode: {'RP','A'};|2 Corps	 Bay: {'OPEN','CLOSED'}|2 Corps	 START: Boolean;|2 Corps	 Rotactor1: [1:1:9] (kg)|2 Corps	 Rotactor2: [1:1:9] (kg)|3 Corps CP_Displays|2 Corps	 READY: Boolean;|2 Corps	 CANCELLED: Boolean;|2 Corps	 COMPLETE: Boolean;|2 Corps	 ABORTED: Boolean;|2 Corps	 PrimarySource [1:1:100] (%)|2 Corps	 SecondarySource [1:1:100] (%)|3 Corps	|3 Corps	Capacities are relative to full charge PropulsionEnergy|2 Corps	PrimarySourceCapacity [1:1:99999] (J)|2 Corps	SecondarySourceCapacity [1:1:9999] (J)|3 Corps	Capacities are absolute in Joule|3 Corps	GitHub Issue to check? End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_02]" text="[MMS_INTF_02]" description="Inputs from Control Panel Flow Name|2 Corps	Content|3 Corps	Comment ON_OFF_PushButton|2 Corps	event|3 Corps	Power on, to boot all systems START_PushButton|2 Corps	event|3 Corps ModeSwitch|2 Corps	{'A','RP'}|3 Corps	Two stable states|3 Corps	A=Autonomous, RP=Remotely Piloted BaySwitch|2 Corps	{'OPEN','CLOSED'}|3 Corps	Two stable states PayloadMass|2 Corps	integer|3 Corps	ROTACTORS ONLY, from CP (GitHub Issue #14) USB_Key|2 Corps	Distance [1:1:100] (n.m)|2 Corps	Speed [1:1:250] (kt)|2 Corps	Altitude [-500, 3000] (ft)|3 Corps	USB Key may be present or not|3 Corps	ADD OPTION End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_05]" text="[MMS_INTF_05]" description="Outputs to Control Panel Flow Name|2 Corps	Content|3 Corps	Comment MissionCANCELLED|2 Corps	true/false|3 Corps MissionCOMPLETE|2 Corps	true/false|3 Corps MissionABORTED|2 Corps	true/false|3 Corps READY|2 Corps	True/false|3 Corps PrimarySource|2 Corps	[1:1:100] (%)|3 Corps SecondarySource|2 Corps	[1:1:100] (%)|3 Corps End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.3"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_03]" text="[MMS_INTF_03]" description="Input Physical Parameters Flow Name|2 Corps	Content|3 Corps	Comment p|2 Corps	float|3 Corps	Drives distance pdot|2 Corps	float|3 Corps	Drives speed q|2 Corps	float|3 Corps	Drives altitude and pitch End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.4"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_06]" text="[MMS_INTF_06]" description="Output Physical Parameters Flow Name|2 Corps	Content|3 Corps	Comment PropulsionTorque|2 Corps	[-10e-6:0.0001:+10e-6] (N.m)|3 Corps	When Torque > minTorque , set to zero otherwise BrakingTorque|2 Corps	[-10e-6:0.0001:+10e-6] (N.m)|3 Corps	When Torque < -minTorque, set to zero otherwise. End_Req" tracebleElementRef="//@documents.1/@children.0/@children.0/@children.0/@children.5"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_INTF_10]" text="[MMS_F_PT_INTF_10]" description="F_PT has all MMS inputs F_PT uses all MMS input interface described in [MMS_INTF_01] to [MMS_INTF_03]" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_01]" text="[MMS_INTF_01]" description="[MMS_F_PT_INTF_11]" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_03]" text="[MMS_INTF_03]" description="End_Req" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_INTF_11]" text="[MMS_F_PT_INTF_11]" description="F_PT has all MMS outputs F_PT uses all MMS output interface described in [MMS_INTF_04] to [MMS_INTF_06]" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_04]" text="[MMS_INTF_04]" description="[MMS_F_PT_INTF_12] [MMS_F_PT_INTF_13] Ports|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell GS_Inputs|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell GS_NavControlMode|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavParameters|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_NavRegulOption|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_GO|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_MM_MissionManagement|5 TableCell GS_EmergencyLanding|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_EL|5 TableCell CP_Inputs|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell CP_ON_OFF_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Bay_Switch|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor1|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_Rotactor2|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_NavControlMode|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_Key|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_START_PushButton|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell CP_USB_NavRegulOption???|2 TableCell	|3 TableCell	Control_Panel|4 TableCell	RF_MM_MissionManagement|5 TableCell AV_PhysicalSensors|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell p|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl, RF_EM_EnergyViability|5 TableCell pdot|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl|5 TableCell q|2 TableCell	|3 TableCell	Air_Vehicle|4 TableCell	RF_FC_FlightControl|5 TableCell MissionAbort_from_EL|2 TableCell	in|3 TableCell	|4 TableCell	|5 TableCell CP_Switches_to_GS|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell CP_Displays_to_GS|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MissionREADY|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCOMPLETED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCANCELLED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionABORTED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell CP_Displays|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MissionREADY|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCOMPLETED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionCANCELLED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell MissionABORTED|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	Ground_Station, Control_Panel|5 TableCell PropulsionEnergy???|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell PropulsionTrq|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_PropulsionTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	Air_Vehicle, RF_EM_EnergyViability, RF_CM_Comm_MMS|5 TableCell BrakingTrq|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell FC_BrakingTorque|2 TableCell	|3 TableCell	RF_FC_FlightControl|4 TableCell	Air_Vehicle, RF_EM_EnergyViability, RF_CM_Comm_MMS|5 TableCell EmergencyLanding_to_EL|2 TableCell	out|3 TableCell	|4 TableCell	|5 TableCell Related Data|2 TableCell	|3 TableCell	|4 TableCell	|5 TableCell MM_EmergencyLanding|2 TableCell	|3 TableCell	RF_MM_MissionManagement|4 TableCell	RF_EL|5 TableCell GS_EmergencyLanding|2 TableCell	|3 TableCell	Ground_Station|4 TableCell	RF_EL|5 TableCell" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.1/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_INTF_06]" text="[MMS_INTF_06]" description="End_Req" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.1/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_INTF_12]" text="[MMS_F_PT_INTF_12]" description="F_PT input MissionAbort from F_EL Flow Name|2 Corps	Content|3 Corps	Comment MissionAbort|2 Corps	true/false|3 Corps	Signal sent by F_EL when it diagnoses that F_PT does not detect dangerous behaviour of the AV End_Req" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.1/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_INTF_13]" text="[MMS_F_PT_INTF_13]" description="F_PT output EmergencyLanding to F_EL Flow Name|2 Corps	Content|3 Corps	Comment EmergencyLanding|2 Corps	true/false|3 Corps	True when F_PT decides to abort the mission. Leads to soft landing when enough electrical energy is still available, to hard landing otherwise End_Req" tracebleElementRef="//@documents.1/@children.0/@children.1/@children.0/@children.0/@children.0/@children.1/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_INTF_16]" text="[MMS_F_PT_F_MM_INTF_16]" description="F_MM inputs Flow Name|2 Corps	Content|3 Corps	Comment NavigationParameters|2 Corps	Distance [1:1:100] (n.m)|2 Corps	Speed [1:1:250] (kt)|2 Corps	Altitude [-500: 1: 3000] (ft)|3 Corps	From F_CM NavigationMode|2 Corps	{'RP','A'}|3 Corps	From F_CM NavigationOption|2 Corps	{'SPEED','ENERGY'}|3 Corps	From F_CM GO|2 Corps	Event|3 Corps	From F_CM MissionAbort|2 Corps	Event|3 Corps	From F_FC or F_EL ON/OFF_PushButton|2 Corps	Event|3 Corps	From F_CM START_PushButton|2 Corps	Event|3 Corps	From F_CM ModeSwitch|2 Corps	{'A','RP'}|3 Corps	From F_CM BaySwitch|2 Corps	 {'OPEN','CLOSED'}|3 Corps	From F_CM PayloadMass|2 Corps	[1:0.1:5kg]|3 Corps	From F_CM USB_Key|2 Corps	Distance [1:1:100] (n.m)|2 Corps	Speed [1:1:250] (kt)|2 Corps	Altitude [-500:1:3000] (ft)|3 Corps	From F_CM EstimatedTotalMass|2 Corps	[5,10]kg|3 Corps	From F_FC: instantaneous empty AV mass + payload mass + icing mass CurrentRange|2 Corps	[1:1:1000000](m)|3 Corps	From F_FC: continuously computed estimated ground distance flown since take-off CurrentSpeed|2 Corps	[1:1:500] (km/h)|2 Corps	|3 Corps	From F_FC: continuously computed instantaneous air speed CurrentAltitude|2 Corps	[-200:1:1000] (m)|3 Corps	From F_FC: continuously computed instantaneous altitude EnergyLevel|2 Corps	[0:1:500] (kJ)|3 Corps	From F_EM: current energy storage Need additional flight phase from F_FC? End_Req" tracebleElementRef="//@documents.1/@children.0/@children.2/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_MM_INTF_17]" text="[MMS_F_PT_F_MM_INTF_17]" description="F_MM outputs Flow Name|2 Corps	Content|3 Corps	Comment MissionCANCELLED|2 Corps	true/false|3 Corps	To F_CM MissionCOMPLETE|2 Corps	true/false|3 Corps	To F_CM MissionABORTED|2 Corps	true/false|3 Corps	To F_CM EmergencyLanding|2 Corps	event|3 Corps	To F_EL: diagnosed catastrophic situation StartTakeOff|2 Corps	event|3 Corps	To F_FC StartLanding|2 Corps	event|3 Corps	To F_FC: (This is not used) OperatingPoint|2 Corps	Altitude and Speed |3 Corps	To F_FC. (same ranges as the ones at interface) OperatingMode|2 Corps	value in {'SPEED','ALTITUDE','ENERGY'}|3 Corps	To F_FC MissionRange|2 Corps	Same range as the Distance mission parameter|3 Corps	To F_FC used to trigger landing when the mission range is within reach Missing READY End_Req" tracebleElementRef="//@documents.1/@children.0/@children.2/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_INTF_36]" text="[MMS_F_PT_F_FC_INTF_36]" description="F_FC physical parameter inputs Flow Name|2 Corps	Content|3 Corps	Comment P|2 Corps	float|3 Corps	Drives distance Pdot|2 Corps	float|3 Corps	Drives speed Q|2 Corps	float|3 Corps	Drives altitude and pitch End_Req" incomingLink="//@traceabilityLinks.20 //@traceabilityLinks.21 //@traceabilityLinks.22" tracebleElementRef="//@documents.1/@children.0/@children.3/@children.0/@children.0"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4e1d/471E/275C/5914751a7d0c" outgoingLink="//@traceabilityLinks.20"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4e1e/471E/275C/5914751cc2e" outgoingLink="//@traceabilityLinks.21"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4e1f/471E/275C/591475224fc2" outgoingLink="//@traceabilityLinks.22"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_INTF_37]" text="[MMS_F_PT_F_FC_INTF_37]" description="F_FC navigation set up Flow Name|2 Corps	Content|3 Corps	Comment OperatingPoint|2 Corps	Altitude and Speed |3 Corps OperatingMode|2 Corps	value in {'SPEED', 'ALTITUDE', 'ENERGY'}|3 Corps	OPERATINGREGULOPTION MissionRange|2 Corps	Same range as the Distance mission parameter|3 Corps End_Req" incomingLink="//@traceabilityLinks.23 //@traceabilityLinks.24" tracebleElementRef="//@documents.1/@children.0/@children.3/@children.0/@children.1"/> |
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<traceableElements xsi:type="scade_req:ScadeObject" identifier="!ed/4e46/471E/275C/591475ca3e15" outgoingLink="//@traceabilityLinks.23"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_INTF_38]" text="[MMS_F_PT_F_FC_INTF_38]" description="F_FC outputs Flow Name|2 Corps	Content|3 Corps	Comment EstimatedTotalMass|2 Corps	Altitude and Speed |3 Corps CurrentRange|2 Corps	value in {'SPEED', 'ALTITUDE', 'ENERGY'}|3 Corps CurrentSpeed|2 Corps	Same range as the Distance mission parameter|3 Corps CurrentAltitude|2 Corps	[-200:1:1000] (m)|3 Corps PropulsionTorque|2 Corps	[0:0.1:100000] (N.m)|3 Corps	To AV BrakingTorque|2 Corps	[0:0.1:100000] (N.m)|3 Corps	To AV F_FC need to output some emergency landing activation End_Req" incomingLink="//@traceabilityLinks.25 //@traceabilityLinks.26 //@traceabilityLinks.27" tracebleElementRef="//@documents.1/@children.0/@children.3/@children.0/@children.2"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS_F_PT_F_FC_INTF_39]" text="[MMS_F_PT_F_FC_INTF_39]" description="Similar to F_MM's tabulated viability functions, three association tables, one per phase (climb, cruise, descent), give the means to select the appropriate PID gain triple (Kd, Kp, Ki) applicable to AV's current sate vector. The three tables are named: • ClimbGains • CruiseGains • DescentGains They all have the same three indexing parameters: (viability energy tables seem to have distance as additional parameter) • Mass • Altitude • Speed They are used to compute the interpolated (Kd, Kp, Ki) triple from the triples of the nearest neighbours to the current state. End_Req" incomingLink="//@traceabilityLinks.28 //@traceabilityLinks.29 //@traceabilityLinks.30 //@traceabilityLinks.31" tracebleElementRef="//@documents.1/@children.0/@children.3/@children.0/@children.3"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Req_1]" text="[MMS-SW_F_FC-Req_1]" incomingLink="//@traceabilityLinks.32" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Behavior-Reference-Trajectory-Generation_1]" text="[MMS-SW_F_FC-Behavior-Reference-Trajectory-Generation_1]" incomingLink="//@traceabilityLinks.34" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Behavior-Propulsion-Braking-Swap_1]" text="[MMS-SW_F_FC-Behavior-Propulsion-Braking-Swap_1]" incomingLink="//@traceabilityLinks.35" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Reference-Trajectory-Reset_1]" text="[MMS-SW_F_FC-Reference-Trajectory-Reset_1]" incomingLink="//@traceabilityLinks.36" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Behavior-PID-Gain-Interpolation_1]" text="[MMS-SW_F_FC-Behavior-PID-Gain-Interpolation_1]" incomingLink="//@traceabilityLinks.37" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Behavior-Propulsion-Braking-Swap_2]" text="[MMS-SW_F_FC-Behavior-Propulsion-Braking-Swap_2]" incomingLink="//@traceabilityLinks.39" status="REMOVED"/> |
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<traceableElements xsi:type="scade_req:Requirement" identifier="[MMS-SW_F_FC-Behavior-Energy-Navigation-Option-Set-Up_1]" text="[MMS-SW_F_FC-Behavior-Energy-Navigation-Option-Set-Up_1]" incomingLink="//@traceabilityLinks.40 //@traceabilityLinks.41" status="REMOVED"/> |
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