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41e1bdd0
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tkahsai
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node __sin(x:real) returns (out:real);
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let
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out = if (0.0<=x and x<=0.15707963267) then 0.0 + (0.99589273524 * (x-0.0)) else
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6 |
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if (0.15707963267<=x and x<=0.31415926535) then 0.15643446504 + (0.97137055092 * (x-0.15707963267)) else
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if (0.31415926535<=x and x<=0.47123889803) then 0.30901699437 + (0.92292999984 * (x-0.31415926535)) else
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if (0.47123889803<=x and x<=0.62831853071) then 0.45399049974 + (0.85176384914 * (x-0.47123889803)) else
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if (0.62831853071<=x and x<=0.78539816339) then 0.58778525229 + (0.75962444563 * (x-0.62831853071)) else
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if (0.78539816339<=x and x<=0.94247779607) then 0.70710678118 + (0.64878056721 * (x-0.78539816339)) else
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if (0.94247779607<=x and x<=1.09955742876) then 0.80901699437 + (0.52196155806 * (x-0.94247779607)) else
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if (1.09955742876<=x and x<=1.25663706144) then 0.89100652418 + (0.38229012305 * (x-1.09955742876)) else
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if (1.25663706144<=x and x<=1.41371669412) then 0.95105651629 + (0.23320543647 * (x-1.25663706144)) else
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if (1.41371669412<=x and x<=1.57079632679) then 0.98768834059 + (0.07837845807 * (x-1.41371669412)) else -1.0;
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15 |
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tel
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node my_sin(x:real) returns (out:real);
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let
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out = if (0.0<=x and x<=1.57079632679) then __sin(x) else
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if (1.57079632679<=x and x<=3.14159265359) then __sin(3.14159265359-x) else
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if (3.14159265359<=x and x<=4.71238898038) then -(__sin(x-3.14159265359)) else
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if (4.71238898038<=x and x<=6.28318530718) then -(__sin(6.28318530718-x)) else -1.0;
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tel
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node my_cos(x:real) returns (out:real);
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let
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out = if (0.0<=x and x<=4.71238898038) then my_sin(1.57079632679+x) else
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if (4.71238898038<=x and x<=6.28318530718) then my_sin(x-4.71238898038) else -1.0;
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30 |
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tel
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node integrator_reset ( Fx : real ; ResetLevel : bool ; x0 : real )
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returns ( ir_out : real ) ;
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let
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ir_out = x0 -> if ( ResetLevel ) then x0 else ( Fx * 1.000000 ) + pre ( ir_out );
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tel
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node DynamicSaturation ( up_Out1_148 : real ; u_Out1_158 : real ; lo_Out1_168 : real )
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returns ( y1_In1_210 : real ) ;
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var LowerRelop1_Out1_174 : bool ;
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Switch_Out1_183 : real ;
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Switch2_Out1_192 : real ;
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UpperRelop_Out1_198 : bool ;
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LowerRelop1_In1_172 : real ;
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LowerRelop1_In2_173 : real ;
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Switch_In1_180 : real ;
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Switch_In2_181 : bool ;
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Switch_In3_182 : real ;
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Switch2_In1_189 : real ;
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Switch2_In2_190 : bool ;
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Switch2_In3_191 : real ;
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UpperRelop_In1_196 : real ;
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UpperRelop_In2_197 : real ;
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let
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LowerRelop1_Out1_174 = LowerRelop1_In1_172 > LowerRelop1_In2_173;
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Switch_Out1_183 = if Switch_In2_181 then Switch_In1_180 else Switch_In3_182;
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Switch2_Out1_192 = if Switch2_In2_190 then Switch2_In1_189 else Switch2_In3_191;
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UpperRelop_Out1_198 = UpperRelop_In1_196 < UpperRelop_In2_197;
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Switch2_In1_189 = up_Out1_148;
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LowerRelop1_In2_173 = up_Out1_148;
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Switch_In3_182 = u_Out1_158;
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LowerRelop1_In1_172 = u_Out1_158;
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UpperRelop_In1_196 = u_Out1_158;
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Switch_In1_180 = lo_Out1_168;
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UpperRelop_In2_197 = lo_Out1_168;
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Switch2_In3_191 = Switch_Out1_183;
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y1_In1_210 = Switch2_Out1_192;
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Switch2_In2_190 = LowerRelop1_Out1_174;
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Switch_In2_181 = UpperRelop_Out1_198;
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tel
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node EngageORzero ( engage : bool ; signal : real )
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returns ( out : real ) ;
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let
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out = if engage then signal else 0.0;
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tel
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node ManualOverride (manual : real ; auto : real )
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returns ( manual_out : real ) ;
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var
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temp : bool ;
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let
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temp = if manual = 0.000000 then false else true;
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manual_out = if temp then manual else auto;
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tel
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node VarLimInteg ( Input_Out1_545 : real ; Max_Out1_555 : real ; Min_Out1_565 : real ; ICtrig_Out1_575 : bool ; IC_Out1_585 : real )
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returns ( Out_In1_681 : real ) ;
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var Integrator1_Out1_618 : real ;
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Logical_Operator1_Out1_624 : bool ;
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Logical_Operator2_Out1_630 : bool ;
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Logical_Operator3_Out1_636 : bool ;
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Relational_Operator1_Out1_642 : bool ;
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Relational_Operator2_Out1_648 : bool ;
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Relational_Operator3_Out1_654 : bool ;
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Relational_Operator4_Out1_660 : bool ;
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Switch1_Out1_669 : real ;
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Integrator1_In1_615 : real ;
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Integrator1_In2_616 : bool ;
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Integrator1_In3_617 : real ;
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Logical_Operator1_In1_622 : bool ;
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Logical_Operator1_In2_623 : bool ;
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Logical_Operator2_In1_628 : bool ;
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Logical_Operator2_In2_629 : bool ;
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Logical_Operator3_In1_634 : bool ;
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Logical_Operator3_In2_635 : bool ;
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Relational_Operator1_In1_640 : real ;
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Relational_Operator1_In2_641 : real ;
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Relational_Operator2_In1_646 : real ;
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Relational_Operator2_In2_647 : real ;
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Relational_Operator3_In1_652 : real ;
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-- Relational_Operator3_In2_653 : real ;
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Relational_Operator4_In1_658 : real ;
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-- Relational_Operator4_In2_659 : real ;
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-- Switch1_In1_666 : real ;
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Switch1_In2_667 : bool ;
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Switch1_In3_668 : real ;
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let
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Integrator1_Out1_618 = Integrator1_In3_617 -> pre integrator_reset ( Integrator1_In1_615 , Integrator1_In2_616 , Integrator1_In3_617 );
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Logical_Operator1_Out1_624 = Logical_Operator1_In1_622 or Logical_Operator1_In2_623;
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Logical_Operator2_Out1_630 = Logical_Operator2_In1_628 and Logical_Operator2_In2_629;
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Logical_Operator3_Out1_636 = Logical_Operator3_In1_634 and Logical_Operator3_In2_635;
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Relational_Operator1_Out1_642 = Relational_Operator1_In1_640 <= Relational_Operator1_In2_641;
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Relational_Operator2_Out1_648 = Relational_Operator2_In1_646 >= Relational_Operator2_In2_647;
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Relational_Operator3_Out1_654 = Relational_Operator3_In1_652 > 0.0;
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Relational_Operator4_Out1_660 = Relational_Operator4_In1_658 < 0.0;
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Switch1_Out1_669 = if Switch1_In2_667 then 0.0 else Switch1_In3_668;
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Integrator1_In3_617 = IC_Out1_585;
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Integrator1_In2_616 = ICtrig_Out1_575;
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Relational_Operator1_In2_641 = Min_Out1_565;
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Relational_Operator2_In2_647 = Max_Out1_555;
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-- Relational_Operator4_In2_659 = 0.0;
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Switch1_In3_668 = Input_Out1_545;
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Relational_Operator3_In1_652 = Input_Out1_545;
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Relational_Operator4_In1_658 = Input_Out1_545;
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Logical_Operator1_In2_623 = Logical_Operator3_Out1_636;
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Logical_Operator3_In2_635 = Relational_Operator4_Out1_660;
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Logical_Operator3_In1_634 = Relational_Operator1_Out1_642;
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-- Relational_Operator3_In2_653 = 0.0;
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Logical_Operator1_In1_622 = Logical_Operator2_Out1_630;
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Logical_Operator2_In2_629 = Relational_Operator3_Out1_654;
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Logical_Operator2_In1_628 = Relational_Operator2_Out1_648;
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Switch1_In2_667 = Logical_Operator1_Out1_624;
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Relational_Operator2_In1_646 = Integrator1_Out1_618;
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Relational_Operator1_In1_640 = Integrator1_Out1_618;
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Out_In1_681 = Integrator1_Out1_618;
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Integrator1_In1_615 = Switch1_Out1_669;
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-- Switch1_In1_666 = 0.0;
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tel
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node TransferFcn ( x_Out1_753 : real )
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returns ( y_In1_836 : real ) ;
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var asharp1_Out1_762 : real ;
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b0sharp0_Out1_771 : real ;
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b0sharp1_Out1_780 : real ;
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delaysharp1_Out1_785 : real ;
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output_sum_Out1_795 : real ;
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samplesharp1_Out1_804 : real ;
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sum11_Out1_814 : real ;
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sum21_Out1_824 : real ;
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asharp1_In1_761 : real ;
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b0sharp0_In1_770 : real ;
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b0sharp1_In1_779 : real ;
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delaysharp1_In1_784 : real ;
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output_sum_In1_793 : real ;
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output_sum_In2_794 : real ;
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samplesharp1_In1_803 : real ;
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sum11_In1_812 : real ;
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sum11_In2_813 : real ;
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sum21_In1_822 : real ;
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sum21_In2_823 : real ;
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let
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asharp1_Out1_762 = 0.062500 * asharp1_In1_761;
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b0sharp0_Out1_771 = b0sharp0_In1_770;
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b0sharp1_Out1_780 = - (b0sharp1_In1_779);
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delaysharp1_Out1_785 = 0.000000 -> pre delaysharp1_In1_784;
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output_sum_Out1_795 = output_sum_In1_793 + output_sum_In2_794;
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samplesharp1_Out1_804 = 0.020000 * samplesharp1_In1_803;
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sum11_Out1_814 = sum11_In1_812 + - sum11_In2_813;
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sum21_Out1_824 = sum21_In1_822 + sum21_In2_823;
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asharp1_In1_761 = delaysharp1_Out1_785;
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sum21_In2_823 = delaysharp1_Out1_785;
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sum11_In2_813 = asharp1_Out1_762;
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b0sharp1_In1_779 = asharp1_Out1_762;
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output_sum_In1_793 = b0sharp0_Out1_771;
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output_sum_In2_794 = b0sharp1_Out1_780;
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samplesharp1_In1_803 = sum11_Out1_814;
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sum21_In1_822 = samplesharp1_Out1_804;
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delaysharp1_In1_784 = sum21_Out1_824;
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sum11_In1_812 = x_Out1_753;
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b0sharp0_In1_770 = x_Out1_753;
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y_In1_836 = output_sum_Out1_795;
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tel
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node AutoThrottle ( ATEng_Out1_19 : bool ; maxThrot_Out1_29 : real ; minThrot_Out1_39 : real ; leverThrot_Out1_49 : real ; Phidegf_Out1_59 : real ; Ktas_Abstracted_Out1_69 : real ; Cas_ktsf_Out1_79 : real ; Vgdotf_Out1_89 : real ; ICthrot_Out1_99 : real )
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returns ( ThrotCmd_In1_782 : real ) ;
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var Divide_Out1_119 : real ;
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DynamicSaturation_Out1_128 : real ;
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EngageORzero_Out1_219 : real ;
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Gain1_Out1_297 : real ;
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Kcas_Out1_306 : real ;
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Kr_Out1_315 : real ;
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Kr1_Out1_324 : real ;
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Logical_Operator_Out1_329 : bool ;
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ManualOverride_Out1_345 : real ;
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PHIMC1_Out1_399 : real ;
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Sum_Out1_417 : real ;
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Sum1_Out1_428 : real ;
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Sum2_Out1_438 : real ;
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215 |
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Sum3_Out1_448 : real ;
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216 |
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Sum5_Out1_458 : real ;
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217 |
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Trigonometric_Function_Out1_463 : real ;
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218 |
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VarLimIntegAT_Out1_474 : real ;
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219 |
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kt2fps_Out1_650 : real ;
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220 |
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transfer_Fcn_Out1_665 : real ;
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221 |
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Divide_In1_117 : real ;
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-- Divide_In2_118 : real ;
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223 |
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DynamicSaturation_In1_125 : real ;
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224 |
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DynamicSaturation_In2_126 : real ;
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225 |
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DynamicSaturation_In3_127 : real ;
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226 |
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EngageORzero_In1_217 : bool ;
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EngageORzero_In2_218 : real ;
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228 |
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Gain1_In1_296 : real ;
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Kcas_In1_305 : real ;
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230 |
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Kr_In1_314 : real ;
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231 |
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Kr1_In1_323 : real ;
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Logical_Operator_In1_328 : bool ;
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233 |
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ManualOverride_In1_343 : real ;
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234 |
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ManualOverride_In2_344 : real ;
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235 |
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PHIMC1_In1_396 : real ;
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236 |
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PHIMC1_In2_397 : bool ;
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237 |
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PHIMC1_In3_398 : real ;
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238 |
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Sum_In1_415 : real ;
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239 |
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Sum_In2_416 : real ;
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240 |
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Sum1_In1_425 : real ;
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241 |
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Sum1_In2_426 : real ;
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242 |
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Sum1_In3_427 : real ;
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243 |
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Sum2_In1_436 : real ;
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244 |
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Sum2_In2_437 : real ;
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245 |
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Sum3_In1_446 : real ;
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246 |
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Sum3_In2_447 : real ;
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247 |
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Sum5_In1_456 : real ;
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248 |
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Sum5_In2_457 : real ;
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249 |
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Trigonometric_Function_In1_462 : real ;
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250 |
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VarLimIntegAT_In1_469 : real ;
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251 |
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VarLimIntegAT_In2_470 : real ;
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252 |
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VarLimIntegAT_In3_471 : real ;
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253 |
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VarLimIntegAT_In4_472 : bool ;
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254 |
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VarLimIntegAT_In5_473 : real ;
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255 |
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kt2fps_In1_649 : real ;
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256 |
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transfer_Fcn_In1_664 : real ;
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257 |
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258 |
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let
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259 |
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Divide_Out1_119 = Divide_In1_117 / 3.141500;
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260 |
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DynamicSaturation_Out1_128 = DynamicSaturation ( DynamicSaturation_In1_125 , DynamicSaturation_In2_126 , DynamicSaturation_In3_127 );
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261 |
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EngageORzero_Out1_219 = EngageORzero ( EngageORzero_In1_217 , EngageORzero_In2_218 );
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262 |
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Gain1_Out1_297 = 5.0 * Gain1_In1_296;
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263 |
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Kcas_Out1_306 = 0.200000 * Kcas_In1_305;
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264 |
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Kr_Out1_315 = 2.500000 * Kr_In1_314;
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265 |
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Kr1_Out1_324 = 1.200000 * Kr1_In1_323;
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266 |
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Logical_Operator_Out1_329 = not Logical_Operator_In1_328;
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267 |
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ManualOverride_Out1_345 = ManualOverride ( ManualOverride_In1_343 , ManualOverride_In2_344 );
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268 |
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PHIMC1_Out1_399 = if PHIMC1_In2_397 then PHIMC1_In1_396 else PHIMC1_In3_398;
|
269 |
|
|
Sum_Out1_417 = Sum_In1_415 + - Sum_In2_416;
|
270 |
|
|
Sum1_Out1_428 = Sum1_In1_425 + ( Sum1_In2_426 + - Sum1_In3_427 );
|
271 |
|
|
Sum2_Out1_438 = Sum2_In1_436 + - Sum2_In2_437;
|
272 |
|
|
Sum3_Out1_448 = Sum3_In1_446 + - Sum3_In2_447;
|
273 |
|
|
Sum5_Out1_458 = Sum5_In1_456 + - Sum5_In2_457;
|
274 |
|
|
Trigonometric_Function_Out1_463 = my_cos ( Trigonometric_Function_In1_462 );
|
275 |
|
|
VarLimIntegAT_Out1_474 = VarLimInteg ( VarLimIntegAT_In1_469 , VarLimIntegAT_In2_470 , VarLimIntegAT_In3_471 , VarLimIntegAT_In4_472 , VarLimIntegAT_In5_473 );
|
276 |
|
|
kt2fps_Out1_650 = 1.687800 * kt2fps_In1_649;
|
277 |
|
|
transfer_Fcn_Out1_665 = TransferFcn ( transfer_Fcn_In1_664 );
|
278 |
|
|
Sum2_In1_436 = 250.0;
|
279 |
|
|
kt2fps_In1_649 = Sum2_Out1_438;
|
280 |
|
|
Kr_In1_314 = Sum1_Out1_428;
|
281 |
|
|
Kcas_In1_305 = kt2fps_Out1_650;
|
282 |
|
|
VarLimIntegAT_In1_469 = Kr_Out1_315;
|
283 |
|
|
Sum1_In3_427 = Vgdotf_Out1_89;
|
284 |
|
|
Kr1_In1_323 = Vgdotf_Out1_89;
|
285 |
|
|
Sum3_In2_447 = Kr1_Out1_324;
|
286 |
|
|
transfer_Fcn_In1_664 = Gain1_Out1_297;
|
287 |
|
|
Gain1_In1_296 = Sum_Out1_417;
|
288 |
|
|
Sum_In2_416 = Trigonometric_Function_Out1_463;
|
289 |
|
|
Sum_In1_415 = 1.0;
|
290 |
|
|
Trigonometric_Function_In1_462 = Divide_Out1_119;
|
291 |
|
|
EngageORzero_In2_218 = Sum5_Out1_458;
|
292 |
|
|
VarLimIntegAT_In5_473 = ICthrot_Out1_99;
|
293 |
|
|
Sum5_In2_457 = ICthrot_Out1_99;
|
294 |
|
|
DynamicSaturation_In1_125 = maxThrot_Out1_29;
|
295 |
|
|
VarLimIntegAT_In2_470 = maxThrot_Out1_29;
|
296 |
|
|
VarLimIntegAT_In3_471 = minThrot_Out1_39;
|
297 |
|
|
DynamicSaturation_In3_127 = minThrot_Out1_39;
|
298 |
|
|
Sum3_In1_446 = VarLimIntegAT_Out1_474;
|
299 |
|
|
DynamicSaturation_In2_126 = Sum3_Out1_448;
|
300 |
|
|
Sum5_In1_456 = DynamicSaturation_Out1_128;
|
301 |
|
|
Sum1_In2_426 = PHIMC1_Out1_399;
|
302 |
|
|
PHIMC1_In3_398 = Kcas_Out1_306;
|
303 |
|
|
Sum1_In1_425 = transfer_Fcn_Out1_665;
|
304 |
|
|
Divide_In1_117 = Phidegf_Out1_59;
|
305 |
|
|
Sum2_In2_437 = Cas_ktsf_Out1_79;
|
306 |
|
|
VarLimIntegAT_In4_472 = Logical_Operator_Out1_329;
|
307 |
|
|
EngageORzero_In1_217 = ATEng_Out1_19;
|
308 |
|
|
Logical_Operator_In1_328 = ATEng_Out1_19;
|
309 |
|
|
PHIMC1_In2_397 = if 0 = 0 then false else true;
|
310 |
|
|
PHIMC1_In1_396 = Ktas_Abstracted_Out1_69;
|
311 |
|
|
ManualOverride_In1_343 = leverThrot_Out1_49;
|
312 |
|
|
ThrotCmd_In1_782 = ManualOverride_Out1_345;
|
313 |
|
|
ManualOverride_In2_344 = EngageORzero_Out1_219;
|
314 |
|
|
tel
|
315 |
|
|
|
316 |
|
|
|
317 |
|
|
|
318 |
|
|
node top ( ATEng : bool ; maxThrot : real ; minThrot : real ; leverThrot : real ; Phidegf : real ; Ktas_Abstracted: real ;Cas_ktsf : real ; Vgdotf : real ; ICthrot : real )
|
319 |
|
|
returns (obs: bool) ;
|
320 |
|
|
var ThrotCmd : real;
|
321 |
|
|
|
322 |
|
|
let
|
323 |
|
|
-- ICthrot = throt.bias
|
324 |
|
|
ThrotCmd = AutoThrottle (ATEng , maxThrot, minThrot, leverThrot, Phidegf, Ktas_Abstracted, Cas_ktsf, Vgdotf, ICthrot);
|
325 |
|
|
|
326 |
|
|
assert ATEng = true;
|
327 |
|
|
assert leverThrot = 0.0;
|
328 |
|
|
assert maxThrot > (minThrot + 10.0);
|
329 |
|
|
assert minThrot >= 5.0;
|
330 |
|
|
assert maxThrot <= 100.0;
|
331 |
|
|
assert true -> maxThrot = pre(maxThrot);
|
332 |
|
|
assert true -> minThrot = pre(minThrot);
|
333 |
|
|
assert ICthrot = 0.0;
|
334 |
|
|
|
335 |
|
|
|
336 |
|
|
obs = ThrotCmd <= maxThrot and ThrotCmd >= minThrot;
|
337 |
|
|
|
338 |
|
|
|
339 |
|
|
--!MAIN : true;
|
340 |
|
|
--!PROPERTY: obs = true;
|
341 |
|
|
tel
|