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Update MC models
1 parent c981c59 commit e9fc459

28 files changed

+3077
-3074
lines changed

‎src/model/control/mc_controller/lib/Controller.c‎

Lines changed: 18 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
*
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* Model version : 1.969
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -28,36 +28,36 @@ const Control_Out_Bus Controller_rtZControl_Out_Bus = {
2828
struct_2EnWz3ceFwjQa7SDRNn3C CONTROL_PARAM = {
2929
1.4F,
3030
0.2F,
31-
0.2F,
32-
0.6F,
33-
0.1F,
31+
0.05F,
32+
0.5F,
33+
0.12F,
3434
0.0F,
3535
-1.0F,
3636
1.0F,
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-1.0F,
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1.0F,
39-
-0.15F,
40-
0.15F,
39+
-0.2F,
40+
0.2F,
4141
-0.1F,
4242
0.1F,
43-
5.0F,
44-
5.0F,
45-
0.52359879F,
46-
0.1F,
47-
0.1F,
43+
7.0F,
44+
7.0F,
45+
0.523599F,
46+
0.045F,
47+
0.045F,
4848
0.15F,
49-
0.1F,
50-
0.1F,
51-
0.2F,
52-
0.003F,
53-
0.003F,
49+
0.05F,
50+
0.05F,
51+
0.15F,
52+
0.0015F,
53+
0.0015F,
5454
0.001F,
5555
-0.1F,
5656
0.1F,
5757
-0.1F,
5858
0.1F,
59-
1.57079637F,
60-
3.14159274F,
59+
1.57079601F,
60+
3.14159298F,
6161
0.5F
6262
} ; /* Variable: CONTROL_PARAM
6363
* Referenced by:

‎src/model/control/mc_controller/lib/Controller.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
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* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
1010
* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/control/mc_controller/lib/Controller_data.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/control/mc_controller/lib/Controller_private.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
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* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/control/mc_controller/lib/Controller_types.h‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
1010
* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -182,6 +182,10 @@ typedef struct {
182182

183183
/* home position [x y h yaw], unit [m m m rad] */
184184
real32_T home[4];
185+
186+
/* The psi value when arm state entered,
187+
which is used for FRAME_LOCAL_FRD */
188+
real32_T local_psi;
185189
} FMS_Out_Bus;
186190

187191
#endif

‎src/model/control/mc_controller/lib/rtmodel.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
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* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
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* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/control/mc_controller/lib/rtwtypes.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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*
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* Model version : 1.969
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* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Sat Jun 15 11:07:41 2024
8+
* C/C++ source code generated on : Thu Apr 10 11:42:08 2025
99
*
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* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/fms/mc_fms/lib/FMS.c‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
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*
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* Code generated for Simulink model 'FMS'.
55
*
6-
* Model version : 1.2146
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* Model version : 1.2147
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Wed Mar 26 15:01:22 2025
8+
* C/C++ source code generated on : Thu Apr 10 13:49:53 2025
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*
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* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -138,7 +138,7 @@ struct_xXeuwAPh0ajaUfdgPpGaUB FMS_PARAM = {
138138
0.1F,
139139
1.2F,
140140
1.5F,
141-
5.0F,
141+
10.0F,
142142
1.5F,
143143
2.5F,
144144
1.04719806F,
@@ -4255,7 +4255,7 @@ void FMS_step(void)
42554255
break;
42564256

42574257
case FMS_IN_Other:
4258-
FMS_B.target_mode = FMS_DW.Delay_DSTATE_c;
4258+
FMS_B.target_mode = PilotMode_None;
42594259
switch (FMS_DW.Delay_DSTATE_c) {
42604260
case PilotMode_Manual:
42614261
FMS_DW.is_c3_FMS = FMS_IN_Manual_e;

‎src/model/fms/mc_fms/lib/FMS.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
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*
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* Code generated for Simulink model 'FMS'.
55
*
6-
* Model version : 1.2146
6+
* Model version : 1.2147
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Wed Mar 26 15:01:22 2025
8+
* C/C++ source code generated on : Thu Apr 10 13:49:53 2025
99
*
1010
* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex

‎src/model/fms/mc_fms/lib/FMS_data.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,9 @@
33
*
44
* Code generated for Simulink model 'FMS'.
55
*
6-
* Model version : 1.2146
6+
* Model version : 1.2147
77
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
8-
* C/C++ source code generated on : Wed Mar 26 15:01:22 2025
8+
* C/C++ source code generated on : Thu Apr 10 13:49:53 2025
99
*
1010
* Target selection: ert.tlc
1111
* Embedded hardware selection: ARM Compatible->ARM Cortex

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