An Integrated, Modular Simulation System for Education ... - Cal Poly

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Abbreviated Stick D/A Simulink S-function/***************************************************************************** MODULE: ph_stick.c** AUTHOR(S): Fritz Anderson / Doug Hiranaka** DATE: September 25, 1998** Copyright (c) ALL RIGHTS RESERVED* Cal Poly San Luis Obispo 1998** REVISION HISTORY:** REV AUTHOR DATE DESCRIPTION* 0 crf 11-5-97 Creation cabtest.cpp* 1 dkh 6-11-98 reduced to stick only* 2 dkh 7-11-98 put into s-mex format** S-mex: See simulink/src/sfuntmpl.doc** S-mex Copyright (c) 1990-1998 by The MathWorks, Inc. All Rights Reserved.* $Revision: 1.3** This S-function block Reads the commanded stick position from the* PhEagle flight sim cab. This is the a basic version of the inputs* from the Sim cab sending out only the stick, pedal and throttle position* from the cab. The forces are set in the instrument block - ph_inst.c*****************************************************************************/#define S_FUNCTION_NAME ph_stick#define S_FUNCTION_LEVEL 2#include "simstruc.h"#include #include #include #include #include #include #include #include #include "sticki.h"float oldVals[5];struct PCLabCard aToD12;struct ADCChannel rThrottle, lThrottle, pitchPos, rollPos, rudderPos;/* Function: mdlInitializeSizes ===============================================* Abstract:* Setup sizes of the various vectors.*/static void mdlInitializeSizes(SimStruct *S)132
{ssSetNumSFcnParams(S, 0);if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {return; /* Parameter mismatch will be reported by Simulink */}/* ssSetNumContStates(S, 0);ssSetNumDiscStates(S, 0); */ssSetNumInputPorts(S, 0);/* ssSetInputPortWidth(S, 0, 0); *//* ssSetInputPortDirectFeedThrough(S, 0, 1); */if (!ssSetNumOutputPorts(S,1)) return;ssSetOutputPortWidth(S, 0, 5);/* Stick, rudder, and throttles */ssSetNumSampleTimes(S, 1);}/* Take care when specifying exception free code - see sfuntmpl.doc */ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);/* Function: mdlInitializeSampleTimes =========================================* Abstract:* Specifiy that we inherit our sample time from the driving block.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}#define MDL_START /* Change to #undef to remove function */#if defined(MDL_START)/* Function: mdlStart ========================================* Abstract:* Initialize the da cards.*/static void mdlStart(SimStruct *S){unsigned short int addr;addr=0x220;aToD12.addr=0x220;aToD12.maxADCount=4095;aToD12.minADVoltage=-5.0;aToD12.maxADVoltage=5.0;aToD12.nADChannels=16;aToD12.nDAChannels=2;aToD12.base= addr;aToD12.cnt0= addr + 0;aToD12.cnt1=addr + 1;aToD12.cnt2=addr + 2;aToD12.cntCtrl=addr + 3;aToD12.da1Low=addr + 4;aToD12.da1High=addr + 5;133
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Authorization PageI grant permissio
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Table of ContentsLIST OF TABLESXIIL
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Standard Atmosphere 64Input 65Outpu
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RK4 (RUNGE-KUTTA) HELP FILE 91RK4 (
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List of TablesTablePageTable 1. Air
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Figure 27. Kaman SH2-F 72Figure 28.
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has been developing a set of the ba
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Simulink is a graphical user interf
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computers are now fast enough to do
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simulation after the conversion. Th
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then a simple one axis closed loop
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PhEagle IPhEagle Hardware - Sim Cab
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highlight some text on a word proce
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up to perform the less processor in
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the Heads Up Display (HUD). While c
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and monitors and computer code to s
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Existing Simulation ToolsThere are
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great control over the model dynami
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Figure 11 BYOFS Original ScreenFigu
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Basic 6-DOF Nonlinear, Rigid Body,
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0 18 Cmu - Pitch moment due to forw
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each of the linear force terms. The
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PhEagle IIPhEagle II Introduction a
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instructor a graphical interface to
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Simulink block set, however, when m
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existing graphics by creating a TCP
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Simulink environment, and Mathworks
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D/A (output) block is the code for
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Table 9 Cab InputsInput from cab ou
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Key Features of SimulationsStabilit
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subsystem with inputs and outputs.
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viewer has the end of the runway co
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The 6 degree of freedom (3 translat
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difference between the two axes are
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Unit Delay1zelevatorelevElevElevato
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6 DOF Model VerificationThe 6 DOF m
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oth models. The two state space mod
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Impulse ResponseRoll Angle32.5Ampli
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modeled. By feeding back any of the
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R10000 processors an inceptor Flybo
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directly to the Euler block the out
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function and the dynamics were very
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made by handling qualities engineer
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mode. The aircraft was divergent de
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simplified to resemble a spring-dam
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the data and converting to the prop
Page 96 and 97: ConclusionsConverting existing soft
Page 98 and 99: Future WorkPhEagle II provides basi
Page 100 and 101: workstation or PC for function test
Page 102 and 103: 13. Tischler, M. B.; Chen, R. T. N;
Page 104 and 105: AppendixEuler Help File%***** euler
Page 106 and 107: k4=dt*(z(index-1)+l3/2.0);l4=dt*(-a
Page 108 and 109: float K = 10.0;printf("\nEnter wn [
Page 110 and 111: Snoopy 2nd order RK4 Class//-------
Page 112 and 113: {private:void CalcPowerDyn();void C
Page 114 and 115: int opMode;int oldVmode;int checkpt
Page 116 and 117: }exit_code = 0;}if (opMode != DEBUG
Page 118 and 119: }opMode = HELP;else if ((*argv[i] =
Page 120 and 121: Instrument D/A Simulink S-function/
Page 122 and 123: * Function: mdlInitializeSampleTime
Page 124 and 125: cdVerIndicator.channelNumber=5;cdVe
Page 126 and 127: set(&yawForceOut,*uPtrs[26]);set(&r
Page 128 and 129: Instrument Help Filefunctionallinst
Page 130 and 131: Stick D/A Simulink S-function/*****
Page 132 and 133: aToD12.cntCtrl=addr + 3;aToD12.da1L
Page 134 and 135: * with in an enabled subsystem whic
Page 136 and 137: #define MDL_DERIVATIVES /* Change t
Page 138 and 139: Abbreviated Instrument D/A Simulink
Page 140 and 141: {d16.nBits=16;d16.baseAddr=0x340;d1
Page 142 and 143: InputRealPtrsType uPtrs = ssGetInpu
Page 144 and 145: #ifdef MATLAB_MEX_FILE /* Is this f
Page 148 and 149: aToD12.da2Low=addr + 6;aToD12.da2Hi
Page 150 and 151: */static void mdlDerivatives(SimStr
Page 152 and 153: Header file for Stick S-functions//
Page 154 and 155: Abbreviated Stick Help filefunction
Page 156 and 157: #define Deg2Rad 0.01745329#define R
Page 158 and 159: * Parameter Value Description* Name
Page 160 and 161: * y[15]= qDot* y[16]= rDot* y[17]=
Page 162 and 163: ***** Compute the rolling moment ex
Page 164 and 165: xDot=u*CTheta*CPsi+v*(SPhi*STheta*C
Page 166 and 167: SAD file: Navion.tsf2.153 1 Alt1 [f
Page 168 and 169: % | sAcB -sAsB cA | Fzb% Test dataF
Page 170 and 171: Standard Atmosphere Simulink S-func
Page 172 and 173: * in estimate();** Alt=*uPtrs[0]; m
Page 174 and 175: Euler Coordinate Transform and Inte
Page 176 and 177: * Abstract:* Specifiy that we inher
Page 178 and 179: * calulate the trig functions first
Page 180 and 181: Euler Transform Help Filefunction [
Page 182 and 183: Game Joystick Driver Simulink S-fun
Page 184 and 185: */static void mdlInitializeConditio
Page 186 and 187: * This function is called once for
Page 188 and 189: Navion Longitudianal State Space Se
Page 190 and 191: ANavionLatB=[0 .07045610 028.73202
Page 192 and 193: Navion Longitudinal State Space Set
Page 194 and 195: NNavionLatB=[0 0.070456128.73202 2.
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% create a frequency vectorw=0.1:0.
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An Integrated, Modular Simulation System for Education ... - Cal Poly

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