Starmac

Vehicle_Controlmodel <h2>SDF Director</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>iterations</td><td>0</td><td>0</td></tr><tr><td>vectorizationFactor</td><td>1</td><td>1</td></tr><tr><td>allowDisconnectedGraphs</td><td>false</td><td>false</td></tr><tr><td>allowRateChanges</td><td>false</td><td>false</td></tr><tr><td>constrainBufferSizes</td><td>true</td><td>true</td></tr><tr><td>period</td><td>0.0</td><td>0.0</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>&nbsp;</td><td>null</td></tr></table> <h2>AddSubtract</h2>Has no parameters. <h2>Attitude Control</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>K_attitude</td><td>[0.0,1,10,0,1,10 ; -1,0,-10,-1,0,-10 ; 0,-1,10,0,-1,10 ; 1,0,-10,1,0,-10] </td><td>[0.0, 1.0, 10.0, 0.0, 1.0, 10.0; -1.0, 0.0, -10.0, -1.0, 0.0, -10.0; 0.0, -1.0, 10.0, 0.0, -1.0, 10.0; 1.0, 0.0, -10.0, 1.0, 0.0, -10.0]</td></tr></table> <h2>Altitude Control</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>z_ref</td><td>-0.5</td><td>-0.5</td></tr><tr><td>zd_ref</td><td>0.0</td><td>0.0</td></tr><tr><td>T_nom</td><td>M*9.8/4</td><td>4.474435</td></tr><tr><td>K_pz</td><td>0.37</td><td>0.37</td></tr><tr><td>K_dz</td><td>0.7</td><td>0.7</td></tr></table> <h2>Position Control</h2>Has no parameters.