?? attest.mdl
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}
Line {
SrcBlock "s1s"
SrcPort 1
Points [5, 0]
DstBlock "Mux13"
DstPort 1
}
Line {
SrcBlock "s3s"
SrcPort 1
Points [5, 0]
DstBlock "Mux13"
DstPort 3
}
Line {
SrcBlock "Mux13"
SrcPort 1
DstBlock "sb"
DstPort 1
}
Line {
SrcBlock "Cbi"
SrcPort 1
Points [0, 60]
DstBlock "Mux10"
DstPort 1
}
}
}
Block {
BlockType "S-Function"
Name "align K-filter"
Ports [1, 1]
Position [750, 270, 810, 300]
FunctionName "stat_up"
Parameters "0.2,0,0,0,(0.1/(57.296*3600.)),(0.1/(57.296*360"
"0.)),(0.1/(57.296*3600.)),0.0005,0.0005,0.0005,(20.0/(3600.0*57.296)),(20.0/("
"3600.0*57.296)),(20.0/(3600.0*57.296))"
}
Block {
BlockType Scope
Name "est gyro\n scale-factor"
Ports [1]
Position [1000, 224, 1030, 256]
Location [6, 58, 806, 570]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "1200"
YMin "-0.0001"
YMax "0.0006"
SaveName "ScopeData4"
DataFormat "StructureWithTime"
Decimation "10"
}
Block {
BlockType Scope
Name "est gyro\nbias"
Ports [1]
Position [1000, 164, 1030, 196]
Location [6, 58, 806, 570]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "1200"
YMin "-1e-007"
YMax "6e-007"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
Decimation "10"
}
Block {
BlockType SubSystem
Name "evaluation"
Ports [3, 4]
Position [855, 187, 935, 273]
DropShadow on
TreatAsAtomicUnit off
System {
Name "evaluation"
Location [6, 79, 786, 551]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [455, 33, 485, 47]
}
Block {
BlockType Inport
Name "In2"
Position [455, 68, 485, 82]
Port "2"
}
Block {
BlockType Inport
Name "In3"
Position [375, 178, 405, 192]
Port "3"
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [610, 50, 630, 70]
ShowName off
IconShape "round"
Inputs "|+-"
}
Block {
BlockType SubSystem
Name "est gB"
Ports [1, 1]
Position [525, 234, 575, 296]
DropShadow on
TreatAsAtomicUnit off
System {
Name "est gB"
Location [375, 246, 788, 418]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [170, 78, 200, 92]
}
Block {
BlockType Mux
Name "Mux9"
Ports [3, 1]
Position [330, 56, 335, 114]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "gBx_hat"
Position [240, 25, 300, 55]
Expr "u(4)"
}
Block {
BlockType Fcn
Name "gBy_hat"
Position [240, 70, 300, 100]
Expr "u(5)"
}
Block {
BlockType Fcn
Name "gBz_hat"
Position [240, 115, 300, 145]
Expr "u(6)"
}
Block {
BlockType Outport
Name "Out1"
Position [360, 78, 390, 92]
}
Line {
SrcBlock "gBy_hat"
SrcPort 1
DstBlock "Mux9"
DstPort 2
}
Line {
SrcBlock "gBx_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux9"
DstPort 1
}
Line {
SrcBlock "gBz_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux9"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "gBy_hat"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "gBx_hat"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "gBz_hat"
DstPort 1
}
}
Line {
SrcBlock "Mux9"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "est gSF"
Ports [1, 1]
Position [525, 313, 575, 377]
DropShadow on
TreatAsAtomicUnit off
System {
Name "est gSF"
Location [375, 321, 788, 493]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [170, 78, 200, 92]
}
Block {
BlockType Mux
Name "Mux14"
Ports [3, 1]
Position [330, 56, 335, 114]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "gSFx_hat"
Position [240, 25, 300, 55]
Expr "u(7)"
}
Block {
BlockType Fcn
Name "gSFy_hat"
Position [240, 70, 300, 100]
Expr "u(8)"
}
Block {
BlockType Fcn
Name "gSFz_hat"
Position [240, 115, 300, 145]
Expr "u(9)"
}
Block {
BlockType Outport
Name "Out1"
Position [360, 78, 390, 92]
}
Line {
SrcBlock "gSFy_hat"
SrcPort 1
DstBlock "Mux14"
DstPort 2
}
Line {
SrcBlock "gSFx_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux14"
DstPort 1
}
Line {
SrcBlock "gSFz_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux14"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "gSFy_hat"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "gSFx_hat"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "gSFz_hat"
DstPort 1
}
}
Line {
SrcBlock "Mux14"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "est sMA"
Ports [1, 1]
Position [525, 393, 575, 457]
DropShadow on
TreatAsAtomicUnit off
System {
Name "est sMA"
Location [375, 306, 788, 478]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [170, 78, 200, 92]
}
Block {
BlockType Mux
Name "Mux15"
Ports [3, 1]
Position [330, 56, 335, 114]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "d1x_hat"
Position [240, 25, 300, 55]
Expr "u(10)"
}
Block {
BlockType Fcn
Name "d1y_hat"
Position [240, 70, 300, 100]
Expr "u(11)"
}
Block {
BlockType Fcn
Name "d1z_hat"
Position [240, 115, 300, 145]
Expr "u(12)"
}
Block {
BlockType Outport
Name "Out1"
Position [360, 78, 390, 92]
}
Line {
SrcBlock "d1y_hat"
SrcPort 1
DstBlock "Mux15"
DstPort 2
}
Line {
SrcBlock "d1x_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux15"
DstPort 1
}
Line {
SrcBlock "d1z_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux15"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "d1y_hat"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "d1x_hat"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "d1z_hat"
DstPort 1
}
}
Line {
SrcBlock "Mux15"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "est tilts"
Ports [1, 1]
Position [525, 153, 575, 217]
DropShadow on
TreatAsAtomicUnit off
System {
Name "est tilts"
Location [375, 226, 678, 398]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [60, 78, 90, 92]
}
Block {
BlockType Mux
Name "Mux8"
Ports [3, 1]
Position [220, 56, 225, 114]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "filty_hat"
Position [130, 70, 190, 100]
Expr "u(2)"
}
Block {
BlockType Fcn
Name "tiltx_hat"
Position [130, 25, 190, 55]
Expr "u(1)"
}
Block {
BlockType Fcn
Name "tiltz_hat"
Position [130, 115, 190, 145]
Expr "u(3)"
}
Block {
BlockType Outport
Name "Out1"
Position [250, 78, 280, 92]
}
Line {
SrcBlock "filty_hat"
SrcPort 1
DstBlock "Mux8"
DstPort 2
}
Line {
SrcBlock "tiltx_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux8"
DstPort 1
}
Line {
SrcBlock "tiltz_hat"
SrcPort 1
Points [10, 0]
DstBlock "Mux8"
DstPort 3
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "filty_hat"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "tiltz_hat"
DstPort 1
}
Branch {
Points [0, -45]
DstBlock "tiltx_hat"
DstPort 1
}
}
Line {
SrcBlock "Mux8"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
}
}
Block {
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