Traceability Report for CONTROL_SYS

Table of Contents

  1. Eliminated / Virtual Blocks
  2. Traceable Simulink Blocks / Stateflow Objects / MATLAB Functions

Eliminated / Virtual Blocks

Block NameComment
<S1>/MEAS_BUS

Inport

<S1>/Ze_cmd

Inport

<S1>/XY_cmd

Inport

<S1>/YAW_cmd

Inport

<S1>/w_mot_UN

Inport

<S1>/CONT_SYS FM_CMDS

Virtual SubSystem

<S1>/CONT_SYS MOTOR_CMDS

Virtual SubSystem

<S1>/From5

From

<S1>/Goto2

Goto

<S1>/VOLTS

Outport

<S1>/FM_CMD_VEC

Outport

<S2>/MEAS_BUS

Inport

<S2>/Ze_CMD

Inport

<S2>/XY_CMD

Inport

<S2>/YAW_CMD

Inport

<S2>/Constant3

Eliminated by code generation optimization

<S2>/FM_CMD_LIMITS

Virtual SubSystem

<S2>/THRUST

Outport

<S2>/TQ_Roll_X

Outport

<S2>/TQ_Pitch_Y

Outport

<S2>/TQ_Yaw_Z

Outport

<S2>/CMD_VEC

Outport

<S3>/THRUST_CMD

Inport

<S3>/TQ_Roll_CMD

Inport

<S3>/TQ_Pitch_CMD

Inport

<S3>/TQ_Yaw_CMD

Inport

<S3>/w_meas_UN

Inport

<S3>/CMD F_and_M and wRPS

Unused code path elimination

<S3>/Demux1

Demux

<S3>/Demux2

Demux

<S3>/Demux3

Demux

<S3>/From1

From

<S3>/From2

From

<S3>/From3

From

<S3>/Goto

Goto

<S3>/Goto1

Goto

<S3>/MOTOR_CONTROL_SYS

Masked SubSystem

<S3>/Mux

Mux

<S3>/SIGN_CONVENTIONS

Empty SubSystem

<S3>/W2_checker

Virtual SubSystem

<S3>/W2_checker1

Virtual SubSystem

<S3>/w_to_RPS

Masked SubSystem

<S3>/VOLTS

Outport

<S4>/T_CMD

Inport

<S4>/TQ_Roll

Inport

<S4>/TQ_Pitch

Inport

<S4>/TQ_Yaw

Inport

<S4>/From

From

<S4>/From1

From

<S4>/From2

From

<S4>/From3

From

<S4>/Goto

Goto

<S4>/Goto1

Goto

<S4>/Goto2

Goto

<S4>/Goto3

Goto

<S4>/Mux

Mux

<S4>/THRUST

Outport

<S4>/TQ_Roll_X

Outport

<S4>/TQ_Pitch_Y

Outport

<S4>/TQ_Yaw_Z

Outport

<S4>/CMD_VEC

Outport

<S5>/XY_CMD

Inport

<S5>/MEAS_BUS

Inport

<S5>/Apply Pitch and Roll Saturation Limits

Virtual SubSystem

<S5>/Bus Selector

BusSelector

<S5>/Bus Selector1

BusSelector

<S5>/FINAL_DES_PITCH_CONTROL

Virtual SubSystem

<S5>/FINAL_DES_ROLL_CONTROL

Virtual SubSystem

<S5>/From

From

<S5>/From2

From

<S5>/From3

From

<S5>/From4

From

<S5>/From5

From

<S5>/Goto

Goto

<S5>/Goto1

Goto

<S5>/Gr_Qr

Unused code path elimination

<S5>/Reshape

Reshape block reduction

<S5>/Reshape1

Reshape block reduction

<S5>/Reshape2

Reshape block reduction

<S5>/Selector

Selector

<S5>/Selector1

Selector

<S5>/Selector2

Selector

<S5>/Selector3

Selector

<S5>/phi

Virtual SubSystem

<S5>/plots

Virtual SubSystem

<S5>/psi

Virtual SubSystem

<S5>/theta

Virtual SubSystem

<S5>/TQ_Roll

Outport

<S5>/TQ_Pitch

Outport

<S6>/Yaw_CMD

Inport

<S6>/MEAS_BUS

Inport

<S6>/Bus Selector3

BusSelector

<S6>/Bus Selector4

BusSelector

<S6>/FINAL_DES_YAW_CONTROL_SYSTEM

Virtual SubSystem

<S6>/Selector2

Selector

<S6>/Selector3

Selector

<S6>/TQ_Yaw

Outport

<S7>/Ze_CMD

Inport

<S7>/MEAS_BUS

Inport

<S7>/Bus Selector

BusSelector

<S7>/Bus Selector2

BusSelector

<S7>/FINAl_DES_ALTITUDE_CONTROL_SYSTEM

Virtual SubSystem

<S7>/Selector

Selector

<S7>/Selector1

Selector

<S7>/Ze_to_Altitude

Masked SubSystem

<S7>/THRUST

Outport

<S8>/In1

Inport

<S8>/Degrees to Radians

Masked SubSystem

<S8>/Radians to Degrees

Masked SubSystem

<S8>/Saturation

Eliminated by code generation optimization

<S8>/Out1

Outport

<S9>/ANG_CMD

Inport

<S9>/ANG_MEAS

Inport

<S9>/ANG_dot_MEAS

Inport

<S9>/P_CONT

Masked SubSystem

<S9>/P_CONT_too

Masked SubSystem

<S9>/TQ

Outport

<S10>/ANG_CMD

Inport

<S10>/ANG_MEAS

Inport

<S10>/ANG_dot_MEAS

Inport

<S10>/P_CONT

Masked SubSystem

<S10>/P_CONT_too

Masked SubSystem

<S10>/TQ

Outport

<S12>/In1

Inport

<S12>/Bus Selector1

BusSelector

<S12>/Selector1

Selector

<S12>/Out1

Outport

<S13>/In1

Inport

<S13>/Demux

Demux

<S13>/Demux1

Demux

<S13>/P_and_R_CMDs

Unused code path elimination

<S13>/Radians to Degrees

Masked SubSystem

<S13>/Radians to Degrees1

Masked SubSystem

<S13>/Radians to Degrees2

Masked SubSystem

<S14>/In1

Inport

<S14>/Bus Selector1

BusSelector

<S14>/Bus Selector2

BusSelector

<S14>/Selector1

Selector

<S14>/Selector2

Selector

<S14>/Out1

Outport

<S14>/Out2

Outport

<S15>/In1

Inport

<S15>/Bus Selector1

BusSelector

<S15>/Bus Selector2

BusSelector

<S15>/Selector1

Selector

<S15>/Selector2

Selector

<S15>/Out1

Outport

<S15>/Out2

Outport

<S16>/Degrees in

Inport

<S16>/Radians out

Outport

<S17>/Radians in

Inport

<S17>/Degrees out

Outport

<S18>/u

Inport

<S18>/y

Outport

<S19>/u

Inport

<S19>/y

Outport

<S20>/u

Inport

<S20>/y

Outport

<S21>/u

Inport

<S21>/y

Outport

<S22>/Radians in

Inport

<S22>/Gain

Unused code path elimination

<S22>/Degrees out

Outport

<S23>/Radians in

Inport

<S23>/Gain

Unused code path elimination

<S23>/Degrees out

Outport

<S24>/Radians in

Inport

<S24>/Gain

Unused code path elimination

<S24>/Degrees out

Outport

<S25>/YAW_CMD

Inport

<S25>/YAW_MEAS

Inport

<S25>/YAW_dot_MEAS

Inport

<S25>/P_CONT_too

Masked SubSystem

<S25>/P_Cont

Masked SubSystem

<S25>/TQ_YAW

Outport

<S26>/u

Inport

<S26>/y

Outport

<S27>/u

Inport

<S27>/y

Outport

<S28>/Ze_CMD

Inport

<S28>/Ze_MEAS

Inport

<S28>/Ze_dot_MEAS

Inport

<S28>/P_cont

Masked SubSystem

<S28>/P_cont_too

Masked SubSystem

<S28>/THRUST

Outport

<S29>/Ze

Inport

<S29>/Altitude

Outport

<S30>/u

Inport

<S30>/y

Outport

<S31>/u

Inport

<S31>/y

Outport

<S33>/w_CMD

Inport

<S33>/w_MEAS

Inport

<S33>/Demux

Demux

<S33>/From1

From

<S33>/From2

From

<S33>/From5

From

<S33>/Goto

Goto

<S33>/Goto1

Goto

<S33>/Goto2

Goto

<S33>/MOTOR_1_CONTROL4

Virtual SubSystem

<S33>/Mux1

Mux

<S33>/Selector

Selector

<S33>/Selector1

Selector

<S33>/Selector2

Selector

<S33>/Selector3

Selector

<S33>/Selector4

Selector

<S33>/Selector5

Selector

<S33>/Selector6

Selector

<S33>/Selector7

Selector

<S33>/VOLTS scope

Unused code path elimination

<S33>/w CMD vs Actual

Unused code path elimination

<S33>/w_MUX

Virtual SubSystem

<S33>/VOLTS

Outport

<S34>/w2_CMD

Inport

<S34>/Compare To Constant

Masked SubSystem

<S34>/w2

Outport

<S35>/w2_CMD

Inport

<S35>/Assertion

Not traceable

<S35>/Assertion1

Not traceable

<S35>/Assertion2

Not traceable

<S35>/Assertion3

Not traceable

<S35>/Compare To Constant

Masked SubSystem

<S35>/Demux

Demux

<S35>/w2

Outport

<S36>/w

Inport

<S36>/Constant

Unused code path elimination

<S36>/Gain1

Unused code path elimination

<S36>/Product

Unused code path elimination

<S36>/RPS

Outport

<S37>/w_CMD

Inport

<S37>/w_actual

Inport

<S37>/PI_CONT

Masked SubSystem

<S37>/VOLTS

Outport

<S38>/w_CMD

Inport

<S38>/w_actual

Inport

<S38>/PI_CONT1

Masked SubSystem

<S38>/Sum1

Not traceable

<S38>/VOLTAGE Saturation

Not traceable

<S38>/VOLTS

Outport

<S39>/w_CMD

Reusable Function(S37)

<S39>/w_actual

Reusable Function(S37)

<S39>/PI_CONT

Reusable Function(S37)

<S39>/Sum1

Reusable Function(S37)

<S39>/VOLTAGE Saturation

Reusable Function(S37)

<S39>/VOLTS

Reusable Function(S37)

<S40>/w_CMD

Reusable Function(S37)

<S40>/w_actual

Reusable Function(S37)

<S40>/PI_CONT

Reusable Function(S37)

<S40>/Sum1

Reusable Function(S37)

<S40>/VOLTAGE Saturation

Reusable Function(S37)

<S40>/VOLTS

Reusable Function(S37)

<S41>/w_CMD

Reusable Function(S37)

<S41>/w_actual

Reusable Function(S37)

<S41>/PI_CONT

Reusable Function(S37)

<S41>/Sum1

Reusable Function(S37)

<S41>/VOLTAGE Saturation

Reusable Function(S37)

<S41>/VOLTS

Reusable Function(S37)

<S42>/W_CMD

Inport

<S42>/W

Inport

<S42>/Demux1

Demux

<S42>/Demux2

Demux

<S42>/Mux

Mux

<S42>/Mux1

Mux

<S42>/Mux2

Mux

<S42>/Mux3

Mux

<S42>/w1

Outport

<S42>/w2

Outport

<S42>/w3

Outport

<S42>/w4

Outport

<S43>/u

Inport

<S43>/y

Outport

<S44>/u

Reusable Function(S37)

<S44>/Integral Gain

Reusable Function(S37)

<S44>/Integrator

Reusable Function(S37)

<S44>/Proportional Gain

Reusable Function(S37)

<S44>/Sum

Reusable Function(S37)

<S44>/y

Reusable Function(S37)

<S45>/u

Reusable Function(S37)

<S45>/Integral Gain

Reusable Function(S37)

<S45>/Integrator

Reusable Function(S37)

<S45>/Proportional Gain

Reusable Function(S37)

<S45>/Sum

Reusable Function(S37)

<S45>/y

Reusable Function(S37)

<S46>/u

Reusable Function(S37)

<S46>/Integral Gain

Reusable Function(S37)

<S46>/Integrator

Reusable Function(S37)

<S46>/Proportional Gain

Reusable Function(S37)

<S46>/Sum

Reusable Function(S37)

<S46>/y

Reusable Function(S37)

<S47>/u

Inport

<S47>/y

Outport

Traceable Simulink Blocks / Stateflow Objects / MATLAB Functions

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/YAW_CONT

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/Z_CONT

No traceable objects in this Subsystem.

MATLAB Function: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/PITCH_and_ROLL_CONT/MATLAB Function

ScriptCode Location
1
function Qr = fcn(Gr, ang)
3
4
    bRg = [  cos(ang),  sin(ang);
CONTROL_SYS.c:42
5
            -sin(ang),  cos(ang);
CONTROL_SYS.c:43
6
          ];  
CONTROL_SYS.c:44
7
8
    Qr = bRg * Gr;
CONTROL_SYS.c:45
9
end

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/PITCH_and_ROLL_CONT/phi

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/PITCH_and_ROLL_CONT/plots

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/PITCH_and_ROLL_CONT/psi

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/PITCH_and_ROLL_CONT/theta

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS FM_CMDS/Z_CONT/Ze_to_Altitude

No traceable objects in this Subsystem.

MATLAB Function: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS MOTOR_CMDS/FM_to_w2

ScriptCode Location
1
function w2_cmd = FMtow2(L, Thrust_co ...
3
5
    b = Thrust_const;
CONTROL_SYS.c:274
6
    k = Twist_const;
CONTROL_SYS.c:275
7
17
    C_inv = [
CONTROL_SYS.c:284
18
             1/(4*b),          0, -1/ ...
CONTROL_SYS.c:285
19
             1/(4*b),  1/(2*L*b),     ...
CONTROL_SYS.c:286
20
             1/(4*b),          0,  1/ ...
CONTROL_SYS.c:287
21
             1/(4*b), -1/(2*L*b),     ...
CONTROL_SYS.c:288
22
            ];
CONTROL_SYS.c:289
24
    F_and_M_col = [Thrust, TQ_roll_X, ...
CONTROL_SYS.c:291
25
26
    w2_cmd = C_inv * F_and_M_col;
CONTROL_SYS.c:292
27
    
28
    tf_col = (w2_cmd >= 0);
CONTROL_SYS.c:310
31
end

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS MOTOR_CMDS/W2_checker1

No traceable objects in this Subsystem.

Subsystem: bh_6DOF_DISC_codegen/CONTROL_SYS/CONT_SYS MOTOR_CMDS/w_to_RPS

No traceable objects in this Subsystem.