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1
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#include <stdlib.h>
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2
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#include <assert.h>
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3
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#include "ALT_2.lustrec.h"
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4
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5
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/* C code generated by main_lustre_compiler.native
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6
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SVN version number 393
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7
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Code is C99 compliant */
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8
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9
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/* Imported nodes declarations */
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10
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11
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/* Global constants (definitions) */
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12
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void AltitudeControl_reset (struct AltitudeControl_mem *self) {
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/*@
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ensures init_VariableRateLimit((*self).ni_0);
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assigns (*self).ni_0;
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*/
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{
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VariableRateLimit_reset(&self->ni_0);
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}
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return;
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}
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24
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void AltitudeControl_step (double AntEng_Out1_19, double AltCmd_Out1_29,
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25
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double Alt_Out1_39, double GsKts_Out1_49,
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26
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double hdot_Out1_59, double hdotChgRate_Out1_69,
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double (*altgammacmd_In1_661),
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struct AltitudeControl_mem *self) {
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29
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/*@ensures Ctrans_AltitudeControl((AntEng_Out1_19),
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(AltCmd_Out1_29),
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(Alt_Out1_39),
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32
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(GsKts_Out1_49),
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(hdot_Out1_59),
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(hdotChgRate_Out1_69),
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(*altgammacmd_In1_661),
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\at(*self, Pre),
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(*self));
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assigns *altgammacmd_In1_661, *self;
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*/
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{
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double Abs_Out1_144;
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43
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double Kh_Out1_193;
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44
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_Bool Logical_Operator_In1_197;
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45
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_Bool Logical_Operator_Out1_198;
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46
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double Saturation1_Out1_213;
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47
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double Sum3_Out1_296;
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double Sum_Out1_286;
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49
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_Bool Switch1_In2_312;
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50
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double Switch1_Out1_314;
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51
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_Bool Switch_In2_303;
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double Switch_Out1_305;
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53
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double Variable_Limit_Saturation_0_Out1_509;
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54
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double Variable__Rate_Limit_Out1_324;
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55
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_Bool __AltitudeControl_1;
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56
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_Bool __AltitudeControl_2;
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57
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double k_Out1_585;
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double kts2fps_Out1_594;
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double r2d_Out1_603;
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60
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61
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/* Asserting trans predicate: locals are [Abs_Out1_144: real, Kh_Out1_193: real, Logical_Operator_In1_197: bool, Logical_Operator_Out1_198: bool, Saturation1_Out1_213: real, Sum3_Out1_296: real, Sum_Out1_286: real, Switch1_In2_312: bool, Switch1_Out1_314: real, Switch_In2_303: bool, Switch_Out1_305: real, Variable_Limit_Saturation_0_Out1_509: real, Variable__Rate_Limit_Out1_324: real, __AltitudeControl_1: bool, __AltitudeControl_2: bool, k_Out1_585: real, kts2fps_Out1_594: real, r2d_Out1_603: real] */
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63
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/*@ensures \exists real Abs_Out1_144;
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\exists real Kh_Out1_193;
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\exists boolean Logical_Operator_In1_197;
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\exists boolean Logical_Operator_Out1_198;
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67
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\exists real Saturation1_Out1_213;
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\exists real Sum3_Out1_296;
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69
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\exists real Sum_Out1_286;
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70
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\exists boolean Switch1_In2_312;
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71
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\exists real Switch1_Out1_314;
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\exists boolean Switch_In2_303;
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\exists real Switch_Out1_305;
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\exists real Variable_Limit_Saturation_0_Out1_509;
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\exists real Variable__Rate_Limit_Out1_324;
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\exists boolean __AltitudeControl_1;
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\exists boolean __AltitudeControl_2;
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\exists real k_Out1_585;
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\exists real kts2fps_Out1_594;
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\exists real r2d_Out1_603;
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trans_AltitudeControl((AntEng_Out1_19),
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(AltCmd_Out1_29),
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(Alt_Out1_39),
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84
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(GsKts_Out1_49),
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(hdot_Out1_59),
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86
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(hdotChgRate_Out1_69),
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(*altgammacmd_In1_661),
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\at(*self, Pre),
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(*self),
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(Abs_Out1_144),
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(Kh_Out1_193),
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(Logical_Operator_In1_197?\true:\false),
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(Logical_Operator_Out1_198?\true:\false),
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(Saturation1_Out1_213),
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95
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(Sum3_Out1_296),
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96
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(Sum_Out1_286),
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(Switch1_In2_312?\true:\false),
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(Switch1_Out1_314),
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(Switch_In2_303?\true:\false),
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(Switch_Out1_305),
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(Variable_Limit_Saturation_0_Out1_509),
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(Variable__Rate_Limit_Out1_324),
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(__AltitudeControl_1?\true:\false),
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(__AltitudeControl_2?\true:\false),
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(k_Out1_585),
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(kts2fps_Out1_594),
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(r2d_Out1_603));
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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112
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Variable_Limit_Saturation_0_Out1_509,
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113
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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115
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*/
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116
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{
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117
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/*@ensures \exists real Kh_Out1_193;
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\exists boolean Logical_Operator_In1_197;
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\exists boolean Logical_Operator_Out1_198;
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121
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\exists real Saturation1_Out1_213;
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122
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\exists real Sum3_Out1_296;
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123
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\exists real Sum_Out1_286;
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124
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\exists boolean Switch1_In2_312;
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125
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\exists real Switch1_Out1_314;
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126
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\exists boolean Switch_In2_303;
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127
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\exists real Switch_Out1_305;
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128
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\exists real Variable_Limit_Saturation_0_Out1_509;
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129
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\exists real Variable__Rate_Limit_Out1_324;
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130
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\exists boolean __AltitudeControl_1;
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\exists boolean __AltitudeControl_2;
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132
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\exists real k_Out1_585;
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\exists real kts2fps_Out1_594;
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\exists real r2d_Out1_603;
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trans_AltitudeControl((AntEng_Out1_19),
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(AltCmd_Out1_29),
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137
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(Alt_Out1_39),
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138
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(GsKts_Out1_49),
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139
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(hdot_Out1_59),
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140
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(hdotChgRate_Out1_69),
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141
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(*altgammacmd_In1_661),
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142
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\at(*self, Pre),
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143
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(*self),
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144
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(Abs_Out1_144),
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145
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(Kh_Out1_193),
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146
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(Logical_Operator_In1_197?\true:\false),
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147
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(Logical_Operator_Out1_198?\true:\false),
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148
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(Saturation1_Out1_213),
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149
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(Sum3_Out1_296),
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150
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(Sum_Out1_286),
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151
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(Switch1_In2_312?\true:\false),
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152
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(Switch1_Out1_314),
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153
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(Switch_In2_303?\true:\false),
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154
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(Switch_Out1_305),
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155
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(Variable_Limit_Saturation_0_Out1_509),
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156
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(Variable__Rate_Limit_Out1_324),
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157
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(__AltitudeControl_1?\true:\false),
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158
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(__AltitudeControl_2?\true:\false),
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(k_Out1_585),
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160
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(kts2fps_Out1_594),
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161
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(r2d_Out1_603));
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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164
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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165
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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166
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Variable_Limit_Saturation_0_Out1_509,
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167
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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168
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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169
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*/
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170
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{
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171
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172
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/*@ensures \exists boolean Logical_Operator_In1_197;
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173
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\exists boolean Logical_Operator_Out1_198;
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174
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\exists real Saturation1_Out1_213;
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175
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\exists real Sum3_Out1_296;
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176
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\exists real Sum_Out1_286;
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177
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\exists boolean Switch1_In2_312;
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178
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\exists real Switch1_Out1_314;
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179
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\exists boolean Switch_In2_303;
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180
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\exists real Switch_Out1_305;
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181
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\exists real Variable_Limit_Saturation_0_Out1_509;
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182
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\exists real Variable__Rate_Limit_Out1_324;
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183
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\exists boolean __AltitudeControl_1;
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184
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\exists boolean __AltitudeControl_2;
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185
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\exists real k_Out1_585;
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186
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\exists real kts2fps_Out1_594;
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187
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\exists real r2d_Out1_603;
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188
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trans_AltitudeControl((AntEng_Out1_19),
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189
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(AltCmd_Out1_29),
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190
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(Alt_Out1_39),
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191
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(GsKts_Out1_49),
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192
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(hdot_Out1_59),
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193
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(hdotChgRate_Out1_69),
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194
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(*altgammacmd_In1_661),
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195
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\at(*self, Pre),
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196
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(*self),
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197
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(Abs_Out1_144),
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198
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(Kh_Out1_193),
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199
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(Logical_Operator_In1_197?\true:\false),
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200
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(Logical_Operator_Out1_198?\true:\false),
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201
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(Saturation1_Out1_213),
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202
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(Sum3_Out1_296),
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203
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(Sum_Out1_286),
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204
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(Switch1_In2_312?\true:\false),
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205
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(Switch1_Out1_314),
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206
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(Switch_In2_303?\true:\false),
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207
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(Switch_Out1_305),
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208
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(Variable_Limit_Saturation_0_Out1_509),
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209
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(Variable__Rate_Limit_Out1_324),
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210
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(__AltitudeControl_1?\true:\false),
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211
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(__AltitudeControl_2?\true:\false),
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212
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(k_Out1_585),
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213
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(kts2fps_Out1_594),
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214
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(r2d_Out1_603));
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215
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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216
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Logical_Operator_In1_197, Logical_Operator_Out1_198,
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217
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
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218
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Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
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219
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Variable_Limit_Saturation_0_Out1_509,
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220
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
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221
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
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222
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*/
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223
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{
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224
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|
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225
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/*@ensures \exists boolean Logical_Operator_Out1_198;
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226
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\exists real Saturation1_Out1_213;
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227
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\exists real Sum3_Out1_296;
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228
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\exists real Sum_Out1_286;
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229
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\exists boolean Switch1_In2_312;
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230
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\exists real Switch1_Out1_314;
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231
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\exists boolean Switch_In2_303;
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232
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\exists real Switch_Out1_305;
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233
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\exists real Variable_Limit_Saturation_0_Out1_509;
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234
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\exists real Variable__Rate_Limit_Out1_324;
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235
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\exists boolean __AltitudeControl_1;
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236
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\exists boolean __AltitudeControl_2;
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237
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\exists real k_Out1_585;
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238
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\exists real kts2fps_Out1_594;
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239
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\exists real r2d_Out1_603;
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240
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trans_AltitudeControl((AntEng_Out1_19),
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241
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(AltCmd_Out1_29),
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242
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(Alt_Out1_39),
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243
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(GsKts_Out1_49),
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244
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(hdot_Out1_59),
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245
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(hdotChgRate_Out1_69),
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246
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(*altgammacmd_In1_661),
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247
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\at(*self, Pre),
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|
248
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(*self),
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|
249
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(Abs_Out1_144),
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250
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(Kh_Out1_193),
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251
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(Logical_Operator_In1_197?\true:\false),
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252
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(Logical_Operator_Out1_198?\true:\false),
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253
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(Saturation1_Out1_213),
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254
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(Sum3_Out1_296),
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255
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(Sum_Out1_286),
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|
256
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(Switch1_In2_312?\true:\false),
|
|
257
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(Switch1_Out1_314),
|
|
258
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(Switch_In2_303?\true:\false),
|
|
259
|
(Switch_Out1_305),
|
|
260
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
261
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(Variable__Rate_Limit_Out1_324),
|
|
262
|
(__AltitudeControl_1?\true:\false),
|
|
263
|
(__AltitudeControl_2?\true:\false),
|
|
264
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(k_Out1_585),
|
|
265
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(kts2fps_Out1_594),
|
|
266
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(r2d_Out1_603));
|
|
267
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assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
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268
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
269
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Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
270
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
271
|
Variable_Limit_Saturation_0_Out1_509,
|
|
272
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Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
273
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__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
274
|
*/
|
|
275
|
{
|
|
276
|
|
|
277
|
/*@ensures \exists real Saturation1_Out1_213;
|
|
278
|
\exists real Sum3_Out1_296;
|
|
279
|
\exists real Sum_Out1_286;
|
|
280
|
\exists boolean Switch1_In2_312;
|
|
281
|
\exists real Switch1_Out1_314;
|
|
282
|
\exists boolean Switch_In2_303;
|
|
283
|
\exists real Switch_Out1_305;
|
|
284
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
285
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
286
|
\exists boolean __AltitudeControl_1;
|
|
287
|
\exists boolean __AltitudeControl_2;
|
|
288
|
\exists real k_Out1_585;
|
|
289
|
\exists real kts2fps_Out1_594;
|
|
290
|
\exists real r2d_Out1_603;
|
|
291
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
292
|
(AltCmd_Out1_29),
|
|
293
|
(Alt_Out1_39),
|
|
294
|
(GsKts_Out1_49),
|
|
295
|
(hdot_Out1_59),
|
|
296
|
(hdotChgRate_Out1_69),
|
|
297
|
(*altgammacmd_In1_661),
|
|
298
|
\at(*self, Pre),
|
|
299
|
(*self),
|
|
300
|
(Abs_Out1_144),
|
|
301
|
(Kh_Out1_193),
|
|
302
|
(Logical_Operator_In1_197?\true:\false),
|
|
303
|
(Logical_Operator_Out1_198?\true:\false),
|
|
304
|
(Saturation1_Out1_213),
|
|
305
|
(Sum3_Out1_296),
|
|
306
|
(Sum_Out1_286),
|
|
307
|
(Switch1_In2_312?\true:\false),
|
|
308
|
(Switch1_Out1_314),
|
|
309
|
(Switch_In2_303?\true:\false),
|
|
310
|
(Switch_Out1_305),
|
|
311
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
312
|
(Variable__Rate_Limit_Out1_324),
|
|
313
|
(__AltitudeControl_1?\true:\false),
|
|
314
|
(__AltitudeControl_2?\true:\false),
|
|
315
|
(k_Out1_585),
|
|
316
|
(kts2fps_Out1_594),
|
|
317
|
(r2d_Out1_603));
|
|
318
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
319
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
320
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
321
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
322
|
Variable_Limit_Saturation_0_Out1_509,
|
|
323
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
324
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
325
|
*/
|
|
326
|
{
|
|
327
|
|
|
328
|
/*@ensures \exists real Sum3_Out1_296;
|
|
329
|
\exists real Sum_Out1_286;
|
|
330
|
\exists boolean Switch1_In2_312;
|
|
331
|
\exists real Switch1_Out1_314;
|
|
332
|
\exists boolean Switch_In2_303;
|
|
333
|
\exists real Switch_Out1_305;
|
|
334
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
335
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
336
|
\exists boolean __AltitudeControl_1;
|
|
337
|
\exists boolean __AltitudeControl_2;
|
|
338
|
\exists real k_Out1_585;
|
|
339
|
\exists real kts2fps_Out1_594;
|
|
340
|
\exists real r2d_Out1_603;
|
|
341
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
342
|
(AltCmd_Out1_29),
|
|
343
|
(Alt_Out1_39),
|
|
344
|
(GsKts_Out1_49),
|
|
345
|
(hdot_Out1_59),
|
|
346
|
(hdotChgRate_Out1_69),
|
|
347
|
(*altgammacmd_In1_661),
|
|
348
|
\at(*self, Pre),
|
|
349
|
(*self),
|
|
350
|
(Abs_Out1_144),
|
|
351
|
(Kh_Out1_193),
|
|
352
|
(Logical_Operator_In1_197?\true:\false),
|
|
353
|
(Logical_Operator_Out1_198?\true:\false),
|
|
354
|
(Saturation1_Out1_213),
|
|
355
|
(Sum3_Out1_296),
|
|
356
|
(Sum_Out1_286),
|
|
357
|
(Switch1_In2_312?\true:\false),
|
|
358
|
(Switch1_Out1_314),
|
|
359
|
(Switch_In2_303?\true:\false),
|
|
360
|
(Switch_Out1_305),
|
|
361
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
362
|
(Variable__Rate_Limit_Out1_324),
|
|
363
|
(__AltitudeControl_1?\true:\false),
|
|
364
|
(__AltitudeControl_2?\true:\false),
|
|
365
|
(k_Out1_585),
|
|
366
|
(kts2fps_Out1_594),
|
|
367
|
(r2d_Out1_603));
|
|
368
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
369
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
370
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
371
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
372
|
Variable_Limit_Saturation_0_Out1_509,
|
|
373
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
374
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
375
|
*/
|
|
376
|
{
|
|
377
|
|
|
378
|
/*@ensures \exists real Sum_Out1_286;
|
|
379
|
\exists boolean Switch1_In2_312;
|
|
380
|
\exists real Switch1_Out1_314;
|
|
381
|
\exists boolean Switch_In2_303;
|
|
382
|
\exists real Switch_Out1_305;
|
|
383
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
384
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
385
|
\exists boolean __AltitudeControl_1;
|
|
386
|
\exists boolean __AltitudeControl_2;
|
|
387
|
\exists real k_Out1_585;
|
|
388
|
\exists real kts2fps_Out1_594;
|
|
389
|
\exists real r2d_Out1_603;
|
|
390
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
391
|
(AltCmd_Out1_29),
|
|
392
|
(Alt_Out1_39),
|
|
393
|
(GsKts_Out1_49),
|
|
394
|
(hdot_Out1_59),
|
|
395
|
(hdotChgRate_Out1_69),
|
|
396
|
(*altgammacmd_In1_661),
|
|
397
|
\at(*self, Pre),
|
|
398
|
(*self),
|
|
399
|
(Abs_Out1_144),
|
|
400
|
(Kh_Out1_193),
|
|
401
|
(Logical_Operator_In1_197?\true:\false),
|
|
402
|
(Logical_Operator_Out1_198?\true:\false),
|
|
403
|
(Saturation1_Out1_213),
|
|
404
|
(Sum3_Out1_296),
|
|
405
|
(Sum_Out1_286),
|
|
406
|
(Switch1_In2_312?\true:\false),
|
|
407
|
(Switch1_Out1_314),
|
|
408
|
(Switch_In2_303?\true:\false),
|
|
409
|
(Switch_Out1_305),
|
|
410
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
411
|
(Variable__Rate_Limit_Out1_324),
|
|
412
|
(__AltitudeControl_1?\true:\false),
|
|
413
|
(__AltitudeControl_2?\true:\false),
|
|
414
|
(k_Out1_585),
|
|
415
|
(kts2fps_Out1_594),
|
|
416
|
(r2d_Out1_603));
|
|
417
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
418
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
419
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
420
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
421
|
Variable_Limit_Saturation_0_Out1_509,
|
|
422
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
423
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
424
|
*/
|
|
425
|
{
|
|
426
|
|
|
427
|
/*@ensures \exists boolean Switch1_In2_312;
|
|
428
|
\exists real Switch1_Out1_314;
|
|
429
|
\exists boolean Switch_In2_303;
|
|
430
|
\exists real Switch_Out1_305;
|
|
431
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
432
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
433
|
\exists boolean __AltitudeControl_1;
|
|
434
|
\exists boolean __AltitudeControl_2;
|
|
435
|
\exists real k_Out1_585;
|
|
436
|
\exists real kts2fps_Out1_594;
|
|
437
|
\exists real r2d_Out1_603;
|
|
438
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
439
|
(AltCmd_Out1_29),
|
|
440
|
(Alt_Out1_39),
|
|
441
|
(GsKts_Out1_49),
|
|
442
|
(hdot_Out1_59),
|
|
443
|
(hdotChgRate_Out1_69),
|
|
444
|
(*altgammacmd_In1_661),
|
|
445
|
\at(*self, Pre),
|
|
446
|
(*self),
|
|
447
|
(Abs_Out1_144),
|
|
448
|
(Kh_Out1_193),
|
|
449
|
(Logical_Operator_In1_197?\true:\false),
|
|
450
|
(Logical_Operator_Out1_198?\true:\false),
|
|
451
|
(Saturation1_Out1_213),
|
|
452
|
(Sum3_Out1_296),
|
|
453
|
(Sum_Out1_286),
|
|
454
|
(Switch1_In2_312?\true:\false),
|
|
455
|
(Switch1_Out1_314),
|
|
456
|
(Switch_In2_303?\true:\false),
|
|
457
|
(Switch_Out1_305),
|
|
458
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
459
|
(Variable__Rate_Limit_Out1_324),
|
|
460
|
(__AltitudeControl_1?\true:\false),
|
|
461
|
(__AltitudeControl_2?\true:\false),
|
|
462
|
(k_Out1_585),
|
|
463
|
(kts2fps_Out1_594),
|
|
464
|
(r2d_Out1_603));
|
|
465
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
466
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
467
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
468
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
469
|
Variable_Limit_Saturation_0_Out1_509,
|
|
470
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
471
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
472
|
*/
|
|
473
|
{
|
|
474
|
|
|
475
|
/*@ensures \exists real Switch1_Out1_314;
|
|
476
|
\exists boolean Switch_In2_303;
|
|
477
|
\exists real Switch_Out1_305;
|
|
478
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
479
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
480
|
\exists boolean __AltitudeControl_1;
|
|
481
|
\exists boolean __AltitudeControl_2;
|
|
482
|
\exists real k_Out1_585;
|
|
483
|
\exists real kts2fps_Out1_594;
|
|
484
|
\exists real r2d_Out1_603;
|
|
485
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
486
|
(AltCmd_Out1_29),
|
|
487
|
(Alt_Out1_39),
|
|
488
|
(GsKts_Out1_49),
|
|
489
|
(hdot_Out1_59),
|
|
490
|
(hdotChgRate_Out1_69),
|
|
491
|
(*altgammacmd_In1_661),
|
|
492
|
\at(*self, Pre),
|
|
493
|
(*self),
|
|
494
|
(Abs_Out1_144),
|
|
495
|
(Kh_Out1_193),
|
|
496
|
(Logical_Operator_In1_197?\true:\false),
|
|
497
|
(Logical_Operator_Out1_198?\true:\false),
|
|
498
|
(Saturation1_Out1_213),
|
|
499
|
(Sum3_Out1_296),
|
|
500
|
(Sum_Out1_286),
|
|
501
|
(Switch1_In2_312?\true:\false),
|
|
502
|
(Switch1_Out1_314),
|
|
503
|
(Switch_In2_303?\true:\false),
|
|
504
|
(Switch_Out1_305),
|
|
505
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
506
|
(Variable__Rate_Limit_Out1_324),
|
|
507
|
(__AltitudeControl_1?\true:\false),
|
|
508
|
(__AltitudeControl_2?\true:\false),
|
|
509
|
(k_Out1_585),
|
|
510
|
(kts2fps_Out1_594),
|
|
511
|
(r2d_Out1_603));
|
|
512
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
513
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
514
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
515
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
516
|
Variable_Limit_Saturation_0_Out1_509,
|
|
517
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
518
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
519
|
*/
|
|
520
|
{
|
|
521
|
|
|
522
|
/*@ensures \exists boolean Switch_In2_303;
|
|
523
|
\exists real Switch_Out1_305;
|
|
524
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
525
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
526
|
\exists boolean __AltitudeControl_1;
|
|
527
|
\exists boolean __AltitudeControl_2;
|
|
528
|
\exists real k_Out1_585;
|
|
529
|
\exists real kts2fps_Out1_594;
|
|
530
|
\exists real r2d_Out1_603;
|
|
531
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
532
|
(AltCmd_Out1_29),
|
|
533
|
(Alt_Out1_39),
|
|
534
|
(GsKts_Out1_49),
|
|
535
|
(hdot_Out1_59),
|
|
536
|
(hdotChgRate_Out1_69),
|
|
537
|
(*altgammacmd_In1_661),
|
|
538
|
\at(*self, Pre),
|
|
539
|
(*self),
|
|
540
|
(Abs_Out1_144),
|
|
541
|
(Kh_Out1_193),
|
|
542
|
(Logical_Operator_In1_197?\true:\false),
|
|
543
|
(Logical_Operator_Out1_198?\true:\false),
|
|
544
|
(Saturation1_Out1_213),
|
|
545
|
(Sum3_Out1_296),
|
|
546
|
(Sum_Out1_286),
|
|
547
|
(Switch1_In2_312?\true:\false),
|
|
548
|
(Switch1_Out1_314),
|
|
549
|
(Switch_In2_303?\true:\false),
|
|
550
|
(Switch_Out1_305),
|
|
551
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
552
|
(Variable__Rate_Limit_Out1_324),
|
|
553
|
(__AltitudeControl_1?\true:\false),
|
|
554
|
(__AltitudeControl_2?\true:\false),
|
|
555
|
(k_Out1_585),
|
|
556
|
(kts2fps_Out1_594),
|
|
557
|
(r2d_Out1_603));
|
|
558
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
559
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
560
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
561
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
562
|
Variable_Limit_Saturation_0_Out1_509,
|
|
563
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
564
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
565
|
*/
|
|
566
|
{
|
|
567
|
|
|
568
|
/*@ensures \exists real Switch_Out1_305;
|
|
569
|
\exists real Variable_Limit_Saturation_0_Out1_509;
|
|
570
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
571
|
\exists boolean __AltitudeControl_1;
|
|
572
|
\exists boolean __AltitudeControl_2;
|
|
573
|
\exists real k_Out1_585;
|
|
574
|
\exists real kts2fps_Out1_594;
|
|
575
|
\exists real r2d_Out1_603;
|
|
576
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
577
|
(AltCmd_Out1_29),
|
|
578
|
(Alt_Out1_39),
|
|
579
|
(GsKts_Out1_49),
|
|
580
|
(hdot_Out1_59),
|
|
581
|
(hdotChgRate_Out1_69),
|
|
582
|
(*altgammacmd_In1_661),
|
|
583
|
\at(*self, Pre),
|
|
584
|
(*self),
|
|
585
|
(Abs_Out1_144),
|
|
586
|
(Kh_Out1_193),
|
|
587
|
(Logical_Operator_In1_197?\true:\false),
|
|
588
|
(Logical_Operator_Out1_198?\true:\false),
|
|
589
|
(Saturation1_Out1_213),
|
|
590
|
(Sum3_Out1_296),
|
|
591
|
(Sum_Out1_286),
|
|
592
|
(Switch1_In2_312?\true:\false),
|
|
593
|
(Switch1_Out1_314),
|
|
594
|
(Switch_In2_303?\true:\false),
|
|
595
|
(Switch_Out1_305),
|
|
596
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
597
|
(Variable__Rate_Limit_Out1_324),
|
|
598
|
(__AltitudeControl_1?\true:\false),
|
|
599
|
(__AltitudeControl_2?\true:\false),
|
|
600
|
(k_Out1_585),
|
|
601
|
(kts2fps_Out1_594),
|
|
602
|
(r2d_Out1_603));
|
|
603
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
604
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
605
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
606
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
607
|
Variable_Limit_Saturation_0_Out1_509,
|
|
608
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
609
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
610
|
*/
|
|
611
|
{
|
|
612
|
|
|
613
|
/*@ensures \exists real Variable_Limit_Saturation_0_Out1_509;
|
|
614
|
\exists real Variable__Rate_Limit_Out1_324;
|
|
615
|
\exists boolean __AltitudeControl_1;
|
|
616
|
\exists boolean __AltitudeControl_2;
|
|
617
|
\exists real k_Out1_585;
|
|
618
|
\exists real kts2fps_Out1_594;
|
|
619
|
\exists real r2d_Out1_603;
|
|
620
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
621
|
(AltCmd_Out1_29),
|
|
622
|
(Alt_Out1_39),
|
|
623
|
(GsKts_Out1_49),
|
|
624
|
(hdot_Out1_59),
|
|
625
|
(hdotChgRate_Out1_69),
|
|
626
|
(*altgammacmd_In1_661),
|
|
627
|
\at(*self, Pre),
|
|
628
|
(*self),
|
|
629
|
(Abs_Out1_144),
|
|
630
|
(Kh_Out1_193),
|
|
631
|
(Logical_Operator_In1_197?\true:\false),
|
|
632
|
(Logical_Operator_Out1_198?\true:\false),
|
|
633
|
(Saturation1_Out1_213),
|
|
634
|
(Sum3_Out1_296),
|
|
635
|
(Sum_Out1_286),
|
|
636
|
(Switch1_In2_312?\true:\false),
|
|
637
|
(Switch1_Out1_314),
|
|
638
|
(Switch_In2_303?\true:\false),
|
|
639
|
(Switch_Out1_305),
|
|
640
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
641
|
(Variable__Rate_Limit_Out1_324),
|
|
642
|
(__AltitudeControl_1?\true:\false),
|
|
643
|
(__AltitudeControl_2?\true:\false),
|
|
644
|
(k_Out1_585),
|
|
645
|
(kts2fps_Out1_594),
|
|
646
|
(r2d_Out1_603));
|
|
647
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
648
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
649
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
650
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
651
|
Variable_Limit_Saturation_0_Out1_509,
|
|
652
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
653
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
654
|
*/
|
|
655
|
{
|
|
656
|
|
|
657
|
/*@ensures \exists real Variable__Rate_Limit_Out1_324;
|
|
658
|
\exists boolean __AltitudeControl_1;
|
|
659
|
\exists boolean __AltitudeControl_2;
|
|
660
|
\exists real k_Out1_585;
|
|
661
|
\exists real kts2fps_Out1_594;
|
|
662
|
\exists real r2d_Out1_603;
|
|
663
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
664
|
(AltCmd_Out1_29),
|
|
665
|
(Alt_Out1_39),
|
|
666
|
(GsKts_Out1_49),
|
|
667
|
(hdot_Out1_59),
|
|
668
|
(hdotChgRate_Out1_69),
|
|
669
|
(*altgammacmd_In1_661),
|
|
670
|
\at(*self, Pre),
|
|
671
|
(*self),
|
|
672
|
(Abs_Out1_144),
|
|
673
|
(Kh_Out1_193),
|
|
674
|
(Logical_Operator_In1_197?\true:\false),
|
|
675
|
(Logical_Operator_Out1_198?\true:\false),
|
|
676
|
(Saturation1_Out1_213),
|
|
677
|
(Sum3_Out1_296),
|
|
678
|
(Sum_Out1_286),
|
|
679
|
(Switch1_In2_312?\true:\false),
|
|
680
|
(Switch1_Out1_314),
|
|
681
|
(Switch_In2_303?\true:\false),
|
|
682
|
(Switch_Out1_305),
|
|
683
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
684
|
(Variable__Rate_Limit_Out1_324),
|
|
685
|
(__AltitudeControl_1?\true:\false),
|
|
686
|
(__AltitudeControl_2?\true:\false),
|
|
687
|
(k_Out1_585),
|
|
688
|
(kts2fps_Out1_594),
|
|
689
|
(r2d_Out1_603));
|
|
690
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
691
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
692
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
693
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
694
|
Variable_Limit_Saturation_0_Out1_509,
|
|
695
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
696
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
697
|
*/
|
|
698
|
{
|
|
699
|
|
|
700
|
/*@ensures \exists boolean __AltitudeControl_1;
|
|
701
|
\exists boolean __AltitudeControl_2;
|
|
702
|
\exists real k_Out1_585;
|
|
703
|
\exists real kts2fps_Out1_594;
|
|
704
|
\exists real r2d_Out1_603;
|
|
705
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
706
|
(AltCmd_Out1_29),
|
|
707
|
(Alt_Out1_39),
|
|
708
|
(GsKts_Out1_49),
|
|
709
|
(hdot_Out1_59),
|
|
710
|
(hdotChgRate_Out1_69),
|
|
711
|
(*altgammacmd_In1_661),
|
|
712
|
\at(*self, Pre),
|
|
713
|
(*self),
|
|
714
|
(Abs_Out1_144),
|
|
715
|
(Kh_Out1_193),
|
|
716
|
(Logical_Operator_In1_197?\true:\false),
|
|
717
|
(Logical_Operator_Out1_198?\true:\false),
|
|
718
|
(Saturation1_Out1_213),
|
|
719
|
(Sum3_Out1_296),
|
|
720
|
(Sum_Out1_286),
|
|
721
|
(Switch1_In2_312?\true:\false),
|
|
722
|
(Switch1_Out1_314),
|
|
723
|
(Switch_In2_303?\true:\false),
|
|
724
|
(Switch_Out1_305),
|
|
725
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
726
|
(Variable__Rate_Limit_Out1_324),
|
|
727
|
(__AltitudeControl_1?\true:\false),
|
|
728
|
(__AltitudeControl_2?\true:\false),
|
|
729
|
(k_Out1_585),
|
|
730
|
(kts2fps_Out1_594),
|
|
731
|
(r2d_Out1_603));
|
|
732
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
733
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
734
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
735
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
736
|
Variable_Limit_Saturation_0_Out1_509,
|
|
737
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
738
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
739
|
*/
|
|
740
|
{
|
|
741
|
|
|
742
|
/*@ensures \exists boolean __AltitudeControl_2;
|
|
743
|
\exists real k_Out1_585;
|
|
744
|
\exists real kts2fps_Out1_594;
|
|
745
|
\exists real r2d_Out1_603;
|
|
746
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
747
|
(AltCmd_Out1_29),
|
|
748
|
(Alt_Out1_39),
|
|
749
|
(GsKts_Out1_49),
|
|
750
|
(hdot_Out1_59),
|
|
751
|
(hdotChgRate_Out1_69),
|
|
752
|
(*altgammacmd_In1_661),
|
|
753
|
\at(*self, Pre),
|
|
754
|
(*self),
|
|
755
|
(Abs_Out1_144),
|
|
756
|
(Kh_Out1_193),
|
|
757
|
(Logical_Operator_In1_197?\true:\false),
|
|
758
|
(Logical_Operator_Out1_198?\true:\false),
|
|
759
|
(Saturation1_Out1_213),
|
|
760
|
(Sum3_Out1_296),
|
|
761
|
(Sum_Out1_286),
|
|
762
|
(Switch1_In2_312?\true:\false),
|
|
763
|
(Switch1_Out1_314),
|
|
764
|
(Switch_In2_303?\true:\false),
|
|
765
|
(Switch_Out1_305),
|
|
766
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
767
|
(Variable__Rate_Limit_Out1_324),
|
|
768
|
(__AltitudeControl_1?\true:\false),
|
|
769
|
(__AltitudeControl_2?\true:\false),
|
|
770
|
(k_Out1_585),
|
|
771
|
(kts2fps_Out1_594),
|
|
772
|
(r2d_Out1_603));
|
|
773
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
774
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
775
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
776
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
777
|
Variable_Limit_Saturation_0_Out1_509,
|
|
778
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
779
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
780
|
*/
|
|
781
|
{
|
|
782
|
|
|
783
|
/*@ensures \exists real k_Out1_585;
|
|
784
|
\exists real kts2fps_Out1_594;
|
|
785
|
\exists real r2d_Out1_603;
|
|
786
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
787
|
(AltCmd_Out1_29),
|
|
788
|
(Alt_Out1_39),
|
|
789
|
(GsKts_Out1_49),
|
|
790
|
(hdot_Out1_59),
|
|
791
|
(hdotChgRate_Out1_69),
|
|
792
|
(*altgammacmd_In1_661),
|
|
793
|
\at(*self, Pre),
|
|
794
|
(*self),
|
|
795
|
(Abs_Out1_144),
|
|
796
|
(Kh_Out1_193),
|
|
797
|
(Logical_Operator_In1_197?\true:\false),
|
|
798
|
(Logical_Operator_Out1_198?\true:\false),
|
|
799
|
(Saturation1_Out1_213),
|
|
800
|
(Sum3_Out1_296),
|
|
801
|
(Sum_Out1_286),
|
|
802
|
(Switch1_In2_312?\true:\false),
|
|
803
|
(Switch1_Out1_314),
|
|
804
|
(Switch_In2_303?\true:\false),
|
|
805
|
(Switch_Out1_305),
|
|
806
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
807
|
(Variable__Rate_Limit_Out1_324),
|
|
808
|
(__AltitudeControl_1?\true:\false),
|
|
809
|
(__AltitudeControl_2?\true:\false),
|
|
810
|
(k_Out1_585),
|
|
811
|
(kts2fps_Out1_594),
|
|
812
|
(r2d_Out1_603));
|
|
813
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
814
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
815
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
816
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
817
|
Variable_Limit_Saturation_0_Out1_509,
|
|
818
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
819
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
820
|
*/
|
|
821
|
{
|
|
822
|
|
|
823
|
/*@ensures \exists real kts2fps_Out1_594;
|
|
824
|
\exists real r2d_Out1_603;
|
|
825
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
826
|
(AltCmd_Out1_29),
|
|
827
|
(Alt_Out1_39),
|
|
828
|
(GsKts_Out1_49),
|
|
829
|
(hdot_Out1_59),
|
|
830
|
(hdotChgRate_Out1_69),
|
|
831
|
(*altgammacmd_In1_661),
|
|
832
|
\at(*self, Pre),
|
|
833
|
(*self),
|
|
834
|
(Abs_Out1_144),
|
|
835
|
(Kh_Out1_193),
|
|
836
|
(Logical_Operator_In1_197?\true:\false),
|
|
837
|
(Logical_Operator_Out1_198?\true:\false),
|
|
838
|
(Saturation1_Out1_213),
|
|
839
|
(Sum3_Out1_296),
|
|
840
|
(Sum_Out1_286),
|
|
841
|
(Switch1_In2_312?\true:\false),
|
|
842
|
(Switch1_Out1_314),
|
|
843
|
(Switch_In2_303?\true:\false),
|
|
844
|
(Switch_Out1_305),
|
|
845
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
846
|
(Variable__Rate_Limit_Out1_324),
|
|
847
|
(__AltitudeControl_1?\true:\false),
|
|
848
|
(__AltitudeControl_2?\true:\false),
|
|
849
|
(k_Out1_585),
|
|
850
|
(kts2fps_Out1_594),
|
|
851
|
(r2d_Out1_603));
|
|
852
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
853
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
854
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
855
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
856
|
Variable_Limit_Saturation_0_Out1_509,
|
|
857
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
858
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
859
|
*/
|
|
860
|
{
|
|
861
|
|
|
862
|
/*@ensures \exists real r2d_Out1_603;
|
|
863
|
trans_AltitudeControl((AntEng_Out1_19),
|
|
864
|
(AltCmd_Out1_29),
|
|
865
|
(Alt_Out1_39),
|
|
866
|
(GsKts_Out1_49),
|
|
867
|
(hdot_Out1_59),
|
|
868
|
(hdotChgRate_Out1_69),
|
|
869
|
(*altgammacmd_In1_661),
|
|
870
|
\at(*self, Pre),
|
|
871
|
(*self),
|
|
872
|
(Abs_Out1_144),
|
|
873
|
(Kh_Out1_193),
|
|
874
|
(Logical_Operator_In1_197?\true:\false),
|
|
875
|
(Logical_Operator_Out1_198?\true:\false),
|
|
876
|
(Saturation1_Out1_213),
|
|
877
|
(Sum3_Out1_296),
|
|
878
|
(Sum_Out1_286),
|
|
879
|
(Switch1_In2_312?\true:\false),
|
|
880
|
(Switch1_Out1_314),
|
|
881
|
(Switch_In2_303?\true:\false),
|
|
882
|
(Switch_Out1_305),
|
|
883
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
884
|
(Variable__Rate_Limit_Out1_324),
|
|
885
|
(__AltitudeControl_1?\true:\false),
|
|
886
|
(__AltitudeControl_2?\true:\false),
|
|
887
|
(k_Out1_585),
|
|
888
|
(kts2fps_Out1_594),
|
|
889
|
(r2d_Out1_603));
|
|
890
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
891
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
892
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
893
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
894
|
Variable_Limit_Saturation_0_Out1_509,
|
|
895
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
896
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
897
|
*/
|
|
898
|
{
|
|
899
|
|
|
900
|
/*@ensures trans_AltitudeControl((AntEng_Out1_19),
|
|
901
|
(AltCmd_Out1_29),
|
|
902
|
(Alt_Out1_39),
|
|
903
|
(GsKts_Out1_49),
|
|
904
|
(hdot_Out1_59),
|
|
905
|
(hdotChgRate_Out1_69),
|
|
906
|
(*altgammacmd_In1_661),
|
|
907
|
\at(*self, Pre),
|
|
908
|
(*self),
|
|
909
|
(Abs_Out1_144),
|
|
910
|
(Kh_Out1_193),
|
|
911
|
(Logical_Operator_In1_197?\true:\false),
|
|
912
|
(Logical_Operator_Out1_198?\true:\false),
|
|
913
|
(Saturation1_Out1_213),
|
|
914
|
(Sum3_Out1_296),
|
|
915
|
(Sum_Out1_286),
|
|
916
|
(Switch1_In2_312?\true:\false),
|
|
917
|
(Switch1_Out1_314),
|
|
918
|
(Switch_In2_303?\true:\false),
|
|
919
|
(Switch_Out1_305),
|
|
920
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
921
|
(Variable__Rate_Limit_Out1_324),
|
|
922
|
(__AltitudeControl_1?\true:\false),
|
|
923
|
(__AltitudeControl_2?\true:\false),
|
|
924
|
(k_Out1_585),
|
|
925
|
(kts2fps_Out1_594),
|
|
926
|
(r2d_Out1_603));
|
|
927
|
assigns *altgammacmd_In1_661, *self, Abs_Out1_144, Kh_Out1_193,
|
|
928
|
Logical_Operator_In1_197, Logical_Operator_Out1_198,
|
|
929
|
Saturation1_Out1_213, Sum3_Out1_296, Sum_Out1_286, Switch1_In2_312,
|
|
930
|
Switch1_Out1_314, Switch_In2_303, Switch_Out1_305,
|
|
931
|
Variable_Limit_Saturation_0_Out1_509,
|
|
932
|
Variable__Rate_Limit_Out1_324, __AltitudeControl_1,
|
|
933
|
__AltitudeControl_2, k_Out1_585, kts2fps_Out1_594, r2d_Out1_603;
|
|
934
|
*/
|
|
935
|
{
|
|
936
|
|
|
937
|
|
|
938
|
/*@
|
|
939
|
ensures ((__AltitudeControl_1?\true:\false) == ((hdot_Out1_59) < 0.));
|
|
940
|
assigns __AltitudeControl_1;
|
|
941
|
*/
|
|
942
|
{
|
|
943
|
__AltitudeControl_1 = (hdot_Out1_59 < 0.);
|
|
944
|
}
|
|
945
|
/*@
|
|
946
|
ensures ((Abs_Out1_144) == ((__AltitudeControl_1?\true:\false)?((- (hdot_Out1_59))):((hdot_Out1_59))));
|
|
947
|
assigns Abs_Out1_144;
|
|
948
|
*/
|
|
949
|
{
|
|
950
|
Abs_Out1_144 = (__AltitudeControl_1?((- hdot_Out1_59)):(hdot_Out1_59));
|
|
951
|
}
|
|
952
|
/*@
|
|
953
|
ensures ((Sum3_Out1_296) == ((Abs_Out1_144) + 10.));
|
|
954
|
assigns Sum3_Out1_296;
|
|
955
|
*/
|
|
956
|
{
|
|
957
|
Sum3_Out1_296 = (Abs_Out1_144 + 10.);
|
|
958
|
}
|
|
959
|
/*@
|
|
960
|
ensures ((k_Out1_585) == (- (Sum3_Out1_296)));
|
|
961
|
assigns k_Out1_585;
|
|
962
|
*/
|
|
963
|
{
|
|
964
|
k_Out1_585 = (- Sum3_Out1_296);
|
|
965
|
}
|
|
966
|
/*@
|
|
967
|
ensures ((__AltitudeControl_2?\true:\false) == ((AntEng_Out1_19) == 0.));
|
|
968
|
assigns __AltitudeControl_2;
|
|
969
|
*/
|
|
970
|
{
|
|
971
|
__AltitudeControl_2 = (AntEng_Out1_19 == 0.);
|
|
972
|
}
|
|
973
|
/*@
|
|
974
|
ensures ((!(Logical_Operator_In1_197?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1))));
|
|
975
|
assigns Logical_Operator_In1_197;
|
|
976
|
*/
|
|
977
|
{
|
|
978
|
Logical_Operator_In1_197 = (__AltitudeControl_2?(0):(1));
|
|
979
|
}
|
|
980
|
/*@
|
|
981
|
ensures ((!(Logical_Operator_Out1_198?\true:\false)) == (!(!(Logical_Operator_In1_197?\true:\false))));
|
|
982
|
assigns Logical_Operator_Out1_198;
|
|
983
|
*/
|
|
984
|
{
|
|
985
|
Logical_Operator_Out1_198 = (!Logical_Operator_In1_197);
|
|
986
|
}
|
|
987
|
/*@
|
|
988
|
ensures ((!(Switch_In2_303?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1))));
|
|
989
|
assigns Switch_In2_303;
|
|
990
|
*/
|
|
991
|
{
|
|
992
|
Switch_In2_303 = (__AltitudeControl_2?(0):(1));
|
|
993
|
}
|
|
994
|
/*@
|
|
995
|
ensures ((Sum_Out1_286) == ((AltCmd_Out1_29) + (- (Alt_Out1_39))));
|
|
996
|
assigns Sum_Out1_286;
|
|
997
|
*/
|
|
998
|
{
|
|
999
|
Sum_Out1_286 = (AltCmd_Out1_29 + (- Alt_Out1_39));
|
|
1000
|
}
|
|
1001
|
/*@
|
|
1002
|
ensures ((Kh_Out1_193) == (0.08 * (Sum_Out1_286)));
|
|
1003
|
assigns Kh_Out1_193;
|
|
1004
|
*/
|
|
1005
|
{
|
|
1006
|
Kh_Out1_193 = (0.08 * Sum_Out1_286);
|
|
1007
|
}
|
|
1008
|
/*@
|
|
1009
|
ensures ((Switch_Out1_305) == ((Switch_In2_303?\true:\false)?((Kh_Out1_193)):(0.)));
|
|
1010
|
assigns Switch_Out1_305;
|
|
1011
|
*/
|
|
1012
|
{
|
|
1013
|
Switch_Out1_305 = (Switch_In2_303?(Kh_Out1_193):(0.));
|
|
1014
|
}
|
|
1015
|
/*@
|
|
1016
|
ensures Ctrans_VariableLimitSaturation((Sum3_Out1_296),
|
|
1017
|
(Switch_Out1_305),
|
|
1018
|
(k_Out1_585),
|
|
1019
|
(Variable_Limit_Saturation_0_Out1_509));
|
|
1020
|
assigns Variable_Limit_Saturation_0_Out1_509;
|
|
1021
|
*/
|
|
1022
|
{
|
|
1023
|
VariableLimitSaturation_step (Sum3_Out1_296, Switch_Out1_305, k_Out1_585, &Variable_Limit_Saturation_0_Out1_509);
|
|
1024
|
}
|
|
1025
|
/*@
|
|
1026
|
ensures Ctrans_VariableRateLimit((hdotChgRate_Out1_69),
|
|
1027
|
(Variable_Limit_Saturation_0_Out1_509),
|
|
1028
|
(Logical_Operator_Out1_198?\true:\false),
|
|
1029
|
(hdot_Out1_59),
|
|
1030
|
(Variable__Rate_Limit_Out1_324),
|
|
1031
|
\at(*self, Pre).ni_0,
|
|
1032
|
(*self).ni_0);
|
|
1033
|
assigns Variable__Rate_Limit_Out1_324, \at(*self, Pre).ni_0, (*self).ni_0;
|
|
1034
|
*/
|
|
1035
|
{
|
|
1036
|
VariableRateLimit_step (hdotChgRate_Out1_69, Variable_Limit_Saturation_0_Out1_509, Logical_Operator_Out1_198, hdot_Out1_59, &Variable__Rate_Limit_Out1_324, &self->ni_0);
|
|
1037
|
}
|
|
1038
|
/*@
|
|
1039
|
ensures ((r2d_Out1_603) == (57.2958 * (Variable__Rate_Limit_Out1_324)));
|
|
1040
|
assigns r2d_Out1_603;
|
|
1041
|
*/
|
|
1042
|
{
|
|
1043
|
r2d_Out1_603 = (57.2958 * Variable__Rate_Limit_Out1_324);
|
|
1044
|
}
|
|
1045
|
/*@
|
|
1046
|
ensures ((kts2fps_Out1_594) == (1.6878 * (GsKts_Out1_49)));
|
|
1047
|
assigns kts2fps_Out1_594;
|
|
1048
|
*/
|
|
1049
|
{
|
|
1050
|
kts2fps_Out1_594 = (1.6878 * GsKts_Out1_49);
|
|
1051
|
}
|
|
1052
|
/*@
|
|
1053
|
ensures ((!(Switch1_In2_312?\true:\false)) == (!((__AltitudeControl_2?\true:\false)?(0):(1))));
|
|
1054
|
assigns Switch1_In2_312;
|
|
1055
|
*/
|
|
1056
|
{
|
|
1057
|
Switch1_In2_312 = (__AltitudeControl_2?(0):(1));
|
|
1058
|
}
|
|
1059
|
/*@
|
|
1060
|
ensures ((Switch1_Out1_314) == ((Switch1_In2_312?\true:\false)?((r2d_Out1_603)):(0.)));
|
|
1061
|
assigns Switch1_Out1_314;
|
|
1062
|
*/
|
|
1063
|
{
|
|
1064
|
Switch1_Out1_314 = (Switch1_In2_312?(r2d_Out1_603):(0.));
|
|
1065
|
}
|
|
1066
|
/*@
|
|
1067
|
ensures ((*altgammacmd_In1_661) == (Switch1_Out1_314));
|
|
1068
|
assigns *altgammacmd_In1_661;
|
|
1069
|
*/
|
|
1070
|
{
|
|
1071
|
*altgammacmd_In1_661 = Switch1_Out1_314;
|
|
1072
|
}
|
|
1073
|
/*@
|
|
1074
|
ensures Ctrans_Saturation((kts2fps_Out1_594),
|
|
1075
|
(Saturation1_Out1_213));
|
|
1076
|
assigns Saturation1_Out1_213;
|
|
1077
|
*/
|
|
1078
|
{
|
|
1079
|
Saturation_step (kts2fps_Out1_594, &Saturation1_Out1_213);
|
|
1080
|
}
|
|
1081
|
}}}}}}}}}}}}}}}}}}}}return;
|
|
1082
|
}
|
|
1083
|
|
|
1084
|
void VariableRateLimit_reset (struct VariableRateLimit_mem *self) {
|
|
1085
|
/*@
|
|
1086
|
ensures ((*self).ni_2._reg._first==1);
|
|
1087
|
assigns (*self).ni_2;
|
|
1088
|
*/
|
|
1089
|
{
|
|
1090
|
_arrow_reset(&self->ni_2);
|
|
1091
|
}
|
|
1092
|
/*@
|
|
1093
|
ensures init_integrator_reset((*self).ni_1);
|
|
1094
|
assigns (*self).ni_1;
|
|
1095
|
*/
|
|
1096
|
{
|
|
1097
|
integrator_reset_reset(&self->ni_1);
|
|
1098
|
}
|
|
1099
|
return;
|
|
1100
|
}
|
|
1101
|
|
|
1102
|
void VariableRateLimit_step (double ratelim_Out1_334, double input_Out1_344,
|
|
1103
|
_Bool ICtrig_Out1_354, double IC_Out1_364,
|
|
1104
|
double (*output_In1_489),
|
|
1105
|
struct VariableRateLimit_mem *self) {
|
|
1106
|
/*@ensures Ctrans_VariableRateLimit((ratelim_Out1_334),
|
|
1107
|
(input_Out1_344),
|
|
1108
|
(ICtrig_Out1_354?\true:\false),
|
|
1109
|
(IC_Out1_364),
|
|
1110
|
(*output_In1_489),
|
|
1111
|
\at(*self, Pre),
|
|
1112
|
(*self));
|
|
1113
|
assigns *output_In1_489, *self;
|
|
1114
|
*/
|
|
1115
|
{
|
|
1116
|
|
|
1117
|
double Gain1_Out1_382;
|
|
1118
|
double Gain_Out1_373;
|
|
1119
|
double Integrator1_Out1_391;
|
|
1120
|
double Sum2_Out1_401;
|
|
1121
|
double Variable_Limit_Saturation_Out1_410;
|
|
1122
|
_Bool __VariableRateLimit_1;
|
|
1123
|
double __VariableRateLimit_2;
|
|
1124
|
|
|
1125
|
|
|
1126
|
/* Asserting trans predicate: locals are [Gain1_Out1_382: real, Gain_Out1_373: real, Integrator1_Out1_391: real, Sum2_Out1_401: real, Variable_Limit_Saturation_Out1_410: real, __VariableRateLimit_1: bool, __VariableRateLimit_2: real] */
|
|
1127
|
/*@ensures \exists real Gain1_Out1_382;
|
|
1128
|
\exists real Gain_Out1_373;
|
|
1129
|
\exists real Integrator1_Out1_391;
|
|
1130
|
\exists real Sum2_Out1_401;
|
|
1131
|
\exists real Variable_Limit_Saturation_Out1_410;
|
|
1132
|
\exists boolean __VariableRateLimit_1;
|
|
1133
|
\exists real __VariableRateLimit_2;
|
|
1134
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1135
|
(input_Out1_344),
|
|
1136
|
(ICtrig_Out1_354?\true:\false),
|
|
1137
|
(IC_Out1_364),
|
|
1138
|
(*output_In1_489),
|
|
1139
|
\at(*self, Pre),
|
|
1140
|
(*self),
|
|
1141
|
(Gain1_Out1_382),
|
|
1142
|
(Gain_Out1_373),
|
|
1143
|
(Integrator1_Out1_391),
|
|
1144
|
(Sum2_Out1_401),
|
|
1145
|
(Variable_Limit_Saturation_Out1_410),
|
|
1146
|
(__VariableRateLimit_1?\true:\false),
|
|
1147
|
(__VariableRateLimit_2));
|
|
1148
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1149
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1150
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1151
|
__VariableRateLimit_2;
|
|
1152
|
*/
|
|
1153
|
{
|
|
1154
|
|
|
1155
|
/*@ensures \exists real Gain_Out1_373;
|
|
1156
|
\exists real Integrator1_Out1_391;
|
|
1157
|
\exists real Sum2_Out1_401;
|
|
1158
|
\exists real Variable_Limit_Saturation_Out1_410;
|
|
1159
|
\exists boolean __VariableRateLimit_1;
|
|
1160
|
\exists real __VariableRateLimit_2;
|
|
1161
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1162
|
(input_Out1_344),
|
|
1163
|
(ICtrig_Out1_354?\true:\false),
|
|
1164
|
(IC_Out1_364),
|
|
1165
|
(*output_In1_489),
|
|
1166
|
\at(*self, Pre),
|
|
1167
|
(*self),
|
|
1168
|
(Gain1_Out1_382),
|
|
1169
|
(Gain_Out1_373),
|
|
1170
|
(Integrator1_Out1_391),
|
|
1171
|
(Sum2_Out1_401),
|
|
1172
|
(Variable_Limit_Saturation_Out1_410),
|
|
1173
|
(__VariableRateLimit_1?\true:\false),
|
|
1174
|
(__VariableRateLimit_2));
|
|
1175
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1176
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1177
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1178
|
__VariableRateLimit_2;
|
|
1179
|
*/
|
|
1180
|
{
|
|
1181
|
|
|
1182
|
/*@ensures \exists real Integrator1_Out1_391;
|
|
1183
|
\exists real Sum2_Out1_401;
|
|
1184
|
\exists real Variable_Limit_Saturation_Out1_410;
|
|
1185
|
\exists boolean __VariableRateLimit_1;
|
|
1186
|
\exists real __VariableRateLimit_2;
|
|
1187
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1188
|
(input_Out1_344),
|
|
1189
|
(ICtrig_Out1_354?\true:\false),
|
|
1190
|
(IC_Out1_364),
|
|
1191
|
(*output_In1_489),
|
|
1192
|
\at(*self, Pre),
|
|
1193
|
(*self),
|
|
1194
|
(Gain1_Out1_382),
|
|
1195
|
(Gain_Out1_373),
|
|
1196
|
(Integrator1_Out1_391),
|
|
1197
|
(Sum2_Out1_401),
|
|
1198
|
(Variable_Limit_Saturation_Out1_410),
|
|
1199
|
(__VariableRateLimit_1?\true:\false),
|
|
1200
|
(__VariableRateLimit_2));
|
|
1201
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1202
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1203
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1204
|
__VariableRateLimit_2;
|
|
1205
|
*/
|
|
1206
|
{
|
|
1207
|
|
|
1208
|
/*@ensures \exists real Sum2_Out1_401;
|
|
1209
|
\exists real Variable_Limit_Saturation_Out1_410;
|
|
1210
|
\exists boolean __VariableRateLimit_1;
|
|
1211
|
\exists real __VariableRateLimit_2;
|
|
1212
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1213
|
(input_Out1_344),
|
|
1214
|
(ICtrig_Out1_354?\true:\false),
|
|
1215
|
(IC_Out1_364),
|
|
1216
|
(*output_In1_489),
|
|
1217
|
\at(*self, Pre),
|
|
1218
|
(*self),
|
|
1219
|
(Gain1_Out1_382),
|
|
1220
|
(Gain_Out1_373),
|
|
1221
|
(Integrator1_Out1_391),
|
|
1222
|
(Sum2_Out1_401),
|
|
1223
|
(Variable_Limit_Saturation_Out1_410),
|
|
1224
|
(__VariableRateLimit_1?\true:\false),
|
|
1225
|
(__VariableRateLimit_2));
|
|
1226
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1227
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1228
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1229
|
__VariableRateLimit_2;
|
|
1230
|
*/
|
|
1231
|
{
|
|
1232
|
|
|
1233
|
/*@ensures \exists real Variable_Limit_Saturation_Out1_410;
|
|
1234
|
\exists boolean __VariableRateLimit_1;
|
|
1235
|
\exists real __VariableRateLimit_2;
|
|
1236
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1237
|
(input_Out1_344),
|
|
1238
|
(ICtrig_Out1_354?\true:\false),
|
|
1239
|
(IC_Out1_364),
|
|
1240
|
(*output_In1_489),
|
|
1241
|
\at(*self, Pre),
|
|
1242
|
(*self),
|
|
1243
|
(Gain1_Out1_382),
|
|
1244
|
(Gain_Out1_373),
|
|
1245
|
(Integrator1_Out1_391),
|
|
1246
|
(Sum2_Out1_401),
|
|
1247
|
(Variable_Limit_Saturation_Out1_410),
|
|
1248
|
(__VariableRateLimit_1?\true:\false),
|
|
1249
|
(__VariableRateLimit_2));
|
|
1250
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1251
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1252
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1253
|
__VariableRateLimit_2;
|
|
1254
|
*/
|
|
1255
|
{
|
|
1256
|
|
|
1257
|
/*@ensures \exists boolean __VariableRateLimit_1;
|
|
1258
|
\exists real __VariableRateLimit_2;
|
|
1259
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1260
|
(input_Out1_344),
|
|
1261
|
(ICtrig_Out1_354?\true:\false),
|
|
1262
|
(IC_Out1_364),
|
|
1263
|
(*output_In1_489),
|
|
1264
|
\at(*self, Pre),
|
|
1265
|
(*self),
|
|
1266
|
(Gain1_Out1_382),
|
|
1267
|
(Gain_Out1_373),
|
|
1268
|
(Integrator1_Out1_391),
|
|
1269
|
(Sum2_Out1_401),
|
|
1270
|
(Variable_Limit_Saturation_Out1_410),
|
|
1271
|
(__VariableRateLimit_1?\true:\false),
|
|
1272
|
(__VariableRateLimit_2));
|
|
1273
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1274
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1275
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1276
|
__VariableRateLimit_2;
|
|
1277
|
*/
|
|
1278
|
{
|
|
1279
|
|
|
1280
|
/*@ensures \exists real __VariableRateLimit_2;
|
|
1281
|
trans_VariableRateLimit((ratelim_Out1_334),
|
|
1282
|
(input_Out1_344),
|
|
1283
|
(ICtrig_Out1_354?\true:\false),
|
|
1284
|
(IC_Out1_364),
|
|
1285
|
(*output_In1_489),
|
|
1286
|
\at(*self, Pre),
|
|
1287
|
(*self),
|
|
1288
|
(Gain1_Out1_382),
|
|
1289
|
(Gain_Out1_373),
|
|
1290
|
(Integrator1_Out1_391),
|
|
1291
|
(Sum2_Out1_401),
|
|
1292
|
(Variable_Limit_Saturation_Out1_410),
|
|
1293
|
(__VariableRateLimit_1?\true:\false),
|
|
1294
|
(__VariableRateLimit_2));
|
|
1295
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1296
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1297
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1298
|
__VariableRateLimit_2;
|
|
1299
|
*/
|
|
1300
|
{
|
|
1301
|
|
|
1302
|
/*@ensures trans_VariableRateLimit((ratelim_Out1_334),
|
|
1303
|
(input_Out1_344),
|
|
1304
|
(ICtrig_Out1_354?\true:\false),
|
|
1305
|
(IC_Out1_364),
|
|
1306
|
(*output_In1_489),
|
|
1307
|
\at(*self, Pre),
|
|
1308
|
(*self),
|
|
1309
|
(Gain1_Out1_382),
|
|
1310
|
(Gain_Out1_373),
|
|
1311
|
(Integrator1_Out1_391),
|
|
1312
|
(Sum2_Out1_401),
|
|
1313
|
(Variable_Limit_Saturation_Out1_410),
|
|
1314
|
(__VariableRateLimit_1?\true:\false),
|
|
1315
|
(__VariableRateLimit_2));
|
|
1316
|
assigns *output_In1_489, *self, Gain1_Out1_382, Gain_Out1_373,
|
|
1317
|
Integrator1_Out1_391, Sum2_Out1_401,
|
|
1318
|
Variable_Limit_Saturation_Out1_410, __VariableRateLimit_1,
|
|
1319
|
__VariableRateLimit_2;
|
|
1320
|
*/
|
|
1321
|
{
|
|
1322
|
|
|
1323
|
|
|
1324
|
/*@
|
|
1325
|
ensures ((__VariableRateLimit_1?\true:\false)==(\at(*self, Pre).ni_2._reg._first?(1):(0))) && ((*self).ni_2._reg._first==0);
|
|
1326
|
assigns __VariableRateLimit_1, (*self).ni_2;
|
|
1327
|
*/
|
|
1328
|
{
|
|
1329
|
_arrow_step (1, 0, &__VariableRateLimit_1, &self->ni_2);
|
|
1330
|
}
|
|
1331
|
/*@
|
|
1332
|
ensures ((Integrator1_Out1_391) == ((__VariableRateLimit_1?\true:\false)?((IC_Out1_364)):(\at(*self, Pre)._reg.__VariableRateLimit_3)));
|
|
1333
|
assigns Integrator1_Out1_391;
|
|
1334
|
*/
|
|
1335
|
{
|
|
1336
|
Integrator1_Out1_391 = (__VariableRateLimit_1?(IC_Out1_364):(self->_reg.__VariableRateLimit_3));
|
|
1337
|
}
|
|
1338
|
/*@
|
|
1339
|
ensures ((*output_In1_489) == (Integrator1_Out1_391));
|
|
1340
|
assigns *output_In1_489;
|
|
1341
|
*/
|
|
1342
|
{
|
|
1343
|
*output_In1_489 = Integrator1_Out1_391;
|
|
1344
|
}
|
|
1345
|
/*@
|
|
1346
|
ensures ((Gain1_Out1_382) == (- (ratelim_Out1_334)));
|
|
1347
|
assigns Gain1_Out1_382;
|
|
1348
|
*/
|
|
1349
|
{
|
|
1350
|
Gain1_Out1_382 = (- ratelim_Out1_334);
|
|
1351
|
}
|
|
1352
|
/*@
|
|
1353
|
ensures ((Sum2_Out1_401) == ((input_Out1_344) + (- (Integrator1_Out1_391))));
|
|
1354
|
assigns Sum2_Out1_401;
|
|
1355
|
*/
|
|
1356
|
{
|
|
1357
|
Sum2_Out1_401 = (input_Out1_344 + (- Integrator1_Out1_391));
|
|
1358
|
}
|
|
1359
|
/*@
|
|
1360
|
ensures ((Gain_Out1_373) == (20. * (Sum2_Out1_401)));
|
|
1361
|
assigns Gain_Out1_373;
|
|
1362
|
*/
|
|
1363
|
{
|
|
1364
|
Gain_Out1_373 = (20. * Sum2_Out1_401);
|
|
1365
|
}
|
|
1366
|
/*@
|
|
1367
|
ensures Ctrans_VariableLimitSaturation((ratelim_Out1_334),
|
|
1368
|
(Gain_Out1_373),
|
|
1369
|
(Gain1_Out1_382),
|
|
1370
|
(Variable_Limit_Saturation_Out1_410));
|
|
1371
|
assigns Variable_Limit_Saturation_Out1_410;
|
|
1372
|
*/
|
|
1373
|
{
|
|
1374
|
VariableLimitSaturation_step (ratelim_Out1_334, Gain_Out1_373, Gain1_Out1_382, &Variable_Limit_Saturation_Out1_410);
|
|
1375
|
}
|
|
1376
|
/*@
|
|
1377
|
ensures Ctrans_integrator_reset((Variable_Limit_Saturation_Out1_410),
|
|
1378
|
(ICtrig_Out1_354?\true:\false),
|
|
1379
|
(IC_Out1_364),
|
|
1380
|
(__VariableRateLimit_2),
|
|
1381
|
\at(*self, Pre).ni_1,
|
|
1382
|
(*self).ni_1);
|
|
1383
|
assigns __VariableRateLimit_2, \at(*self, Pre).ni_1, (*self).ni_1;
|
|
1384
|
*/
|
|
1385
|
{
|
|
1386
|
integrator_reset_step (Variable_Limit_Saturation_Out1_410, ICtrig_Out1_354, IC_Out1_364, &__VariableRateLimit_2, &self->ni_1);
|
|
1387
|
}
|
|
1388
|
/*@
|
|
1389
|
ensures ((*self)._reg.__VariableRateLimit_3 == (__VariableRateLimit_2));
|
|
1390
|
assigns (*self)._reg.__VariableRateLimit_3;
|
|
1391
|
*/
|
|
1392
|
{
|
|
1393
|
self->_reg.__VariableRateLimit_3 = __VariableRateLimit_2;
|
|
1394
|
}
|
|
1395
|
}}}}}}}}}return;
|
|
1396
|
}
|
|
1397
|
|
|
1398
|
void Saturation_step (double Signal,
|
|
1399
|
double (*s_out)
|
|
1400
|
) {
|
|
1401
|
/*@ensures Ctrans_Saturation((Signal),
|
|
1402
|
(*s_out));
|
|
1403
|
assigns *s_out;
|
|
1404
|
*/
|
|
1405
|
{
|
|
1406
|
|
|
1407
|
_Bool __Saturation_1;
|
|
1408
|
_Bool __Saturation_2;
|
|
1409
|
double enforce_lo_lim;
|
|
1410
|
|
|
1411
|
|
|
1412
|
/* Asserting trans predicate: locals are [__Saturation_1: bool, __Saturation_2: bool, enforce_lo_lim: real] */
|
|
1413
|
/*@ensures \exists boolean __Saturation_1;
|
|
1414
|
\exists boolean __Saturation_2;
|
|
1415
|
\exists real enforce_lo_lim;
|
|
1416
|
trans_Saturation((Signal),
|
|
1417
|
(*s_out),
|
|
1418
|
(__Saturation_1?\true:\false),
|
|
1419
|
(__Saturation_2?\true:\false),
|
|
1420
|
(enforce_lo_lim));
|
|
1421
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
1422
|
*/
|
|
1423
|
{
|
|
1424
|
|
|
1425
|
/*@ensures \exists boolean __Saturation_2;
|
|
1426
|
\exists real enforce_lo_lim;
|
|
1427
|
trans_Saturation((Signal),
|
|
1428
|
(*s_out),
|
|
1429
|
(__Saturation_1?\true:\false),
|
|
1430
|
(__Saturation_2?\true:\false),
|
|
1431
|
(enforce_lo_lim));
|
|
1432
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
1433
|
*/
|
|
1434
|
{
|
|
1435
|
|
|
1436
|
/*@ensures \exists real enforce_lo_lim;
|
|
1437
|
trans_Saturation((Signal),
|
|
1438
|
(*s_out),
|
|
1439
|
(__Saturation_1?\true:\false),
|
|
1440
|
(__Saturation_2?\true:\false),
|
|
1441
|
(enforce_lo_lim));
|
|
1442
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
1443
|
*/
|
|
1444
|
{
|
|
1445
|
|
|
1446
|
/*@ensures trans_Saturation((Signal),
|
|
1447
|
(*s_out),
|
|
1448
|
(__Saturation_1?\true:\false),
|
|
1449
|
(__Saturation_2?\true:\false),
|
|
1450
|
(enforce_lo_lim));
|
|
1451
|
assigns *s_out, __Saturation_1, __Saturation_2, enforce_lo_lim;
|
|
1452
|
*/
|
|
1453
|
{
|
|
1454
|
|
|
1455
|
/*@
|
|
1456
|
ensures ((__Saturation_1?\true:\false) == (0.0001 >= (Signal)));
|
|
1457
|
assigns __Saturation_1;
|
|
1458
|
*/
|
|
1459
|
{
|
|
1460
|
__Saturation_1 = (0.0001 >= Signal);
|
|
1461
|
}
|
|
1462
|
/*@
|
|
1463
|
ensures ((enforce_lo_lim) == ((__Saturation_1?\true:\false)?(0.0001):((Signal))));
|
|
1464
|
assigns enforce_lo_lim;
|
|
1465
|
*/
|
|
1466
|
{
|
|
1467
|
enforce_lo_lim = (__Saturation_1?(0.0001):(Signal));
|
|
1468
|
}
|
|
1469
|
/*@
|
|
1470
|
ensures ((__Saturation_2?\true:\false) == (1000. <= (enforce_lo_lim)));
|
|
1471
|
assigns __Saturation_2;
|
|
1472
|
*/
|
|
1473
|
{
|
|
1474
|
__Saturation_2 = (1000. <= enforce_lo_lim);
|
|
1475
|
}
|
|
1476
|
/*@
|
|
1477
|
ensures ((*s_out) == ((__Saturation_2?\true:\false)?(1000.):((enforce_lo_lim))));
|
|
1478
|
assigns *s_out;
|
|
1479
|
*/
|
|
1480
|
{
|
|
1481
|
*s_out = (__Saturation_2?(1000.):(enforce_lo_lim));
|
|
1482
|
}
|
|
1483
|
}}}}}return;
|
|
1484
|
}
|
|
1485
|
|
|
1486
|
void integrator_reset_reset (struct integrator_reset_mem *self) {
|
|
1487
|
/*@
|
|
1488
|
ensures ((*self).ni_3._reg._first==1);
|
|
1489
|
assigns (*self).ni_3;
|
|
1490
|
*/
|
|
1491
|
{
|
|
1492
|
_arrow_reset(&self->ni_3);
|
|
1493
|
}
|
|
1494
|
return;
|
|
1495
|
}
|
|
1496
|
|
|
1497
|
void integrator_reset_step (double Fx, _Bool ResetLevel, double x0,
|
|
1498
|
double (*ir_out),
|
|
1499
|
struct integrator_reset_mem *self) {
|
|
1500
|
/*@ensures Ctrans_integrator_reset((Fx),
|
|
1501
|
(ResetLevel?\true:\false),
|
|
1502
|
(x0),
|
|
1503
|
(*ir_out),
|
|
1504
|
\at(*self, Pre),
|
|
1505
|
(*self));
|
|
1506
|
assigns *ir_out, *self;
|
|
1507
|
*/
|
|
1508
|
{
|
|
1509
|
|
|
1510
|
_Bool __integrator_reset_1;
|
|
1511
|
|
|
1512
|
|
|
1513
|
/* Asserting trans predicate: locals are [__integrator_reset_1: bool] */
|
|
1514
|
/*@ensures \exists boolean __integrator_reset_1;
|
|
1515
|
trans_integrator_reset((Fx),
|
|
1516
|
(ResetLevel?\true:\false),
|
|
1517
|
(x0),
|
|
1518
|
(*ir_out),
|
|
1519
|
\at(*self, Pre),
|
|
1520
|
(*self),
|
|
1521
|
(__integrator_reset_1?\true:\false));
|
|
1522
|
assigns *ir_out, *self, __integrator_reset_1;
|
|
1523
|
*/
|
|
1524
|
{
|
|
1525
|
|
|
1526
|
/*@ensures trans_integrator_reset((Fx),
|
|
1527
|
(ResetLevel?\true:\false),
|
|
1528
|
(x0),
|
|
1529
|
(*ir_out),
|
|
1530
|
\at(*self, Pre),
|
|
1531
|
(*self),
|
|
1532
|
(__integrator_reset_1?\true:\false));
|
|
1533
|
assigns *ir_out, *self, __integrator_reset_1;
|
|
1534
|
*/
|
|
1535
|
{
|
|
1536
|
|
|
1537
|
|
|
1538
|
/*@
|
|
1539
|
ensures ((__integrator_reset_1?\true:\false)==(\at(*self, Pre).ni_3._reg._first?(1):(0))) && ((*self).ni_3._reg._first==0);
|
|
1540
|
assigns __integrator_reset_1, (*self).ni_3;
|
|
1541
|
*/
|
|
1542
|
{
|
|
1543
|
_arrow_step (1, 0, &__integrator_reset_1, &self->ni_3);
|
|
1544
|
}
|
|
1545
|
/*@
|
|
1546
|
ensures ((*ir_out) == ((__integrator_reset_1?\true:\false)?((x0)):(((ResetLevel?\true:\false)?((x0)):((((Fx) * 1.) + \at(*self, Pre)._reg.__integrator_reset_2))))));
|
|
1547
|
assigns *ir_out;
|
|
1548
|
*/
|
|
1549
|
{
|
|
1550
|
*ir_out = (__integrator_reset_1?(x0):((ResetLevel?(x0):(((Fx * 1.) + self->_reg.__integrator_reset_2)))));
|
|
1551
|
}
|
|
1552
|
/*@
|
|
1553
|
ensures ((*self)._reg.__integrator_reset_2 == (*ir_out));
|
|
1554
|
assigns (*self)._reg.__integrator_reset_2;
|
|
1555
|
*/
|
|
1556
|
{
|
|
1557
|
self->_reg.__integrator_reset_2 = *ir_out;
|
|
1558
|
}
|
|
1559
|
}}}return;
|
|
1560
|
}
|
|
1561
|
|
|
1562
|
void VariableLimitSaturation_step (double up_lim, double Signal,
|
|
1563
|
double lo_lim,
|
|
1564
|
double (*out)
|
|
1565
|
) {
|
|
1566
|
/*@ensures Ctrans_VariableLimitSaturation((up_lim),
|
|
1567
|
(Signal),
|
|
1568
|
(lo_lim),
|
|
1569
|
(*out));
|
|
1570
|
assigns *out;
|
|
1571
|
*/
|
|
1572
|
{
|
|
1573
|
|
|
1574
|
_Bool __VariableLimitSaturation_1;
|
|
1575
|
_Bool __VariableLimitSaturation_2;
|
|
1576
|
double enforce_lo_lim;
|
|
1577
|
|
|
1578
|
|
|
1579
|
/* Asserting trans predicate: locals are [__VariableLimitSaturation_1: bool, __VariableLimitSaturation_2: bool, enforce_lo_lim: real] */
|
|
1580
|
/*@ensures \exists boolean __VariableLimitSaturation_1;
|
|
1581
|
\exists boolean __VariableLimitSaturation_2;
|
|
1582
|
\exists real enforce_lo_lim;
|
|
1583
|
trans_VariableLimitSaturation((up_lim),
|
|
1584
|
(Signal),
|
|
1585
|
(lo_lim),
|
|
1586
|
(*out),
|
|
1587
|
(__VariableLimitSaturation_1?\true:\false),
|
|
1588
|
(__VariableLimitSaturation_2?\true:\false),
|
|
1589
|
(enforce_lo_lim));
|
|
1590
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
1591
|
enforce_lo_lim;
|
|
1592
|
*/
|
|
1593
|
{
|
|
1594
|
|
|
1595
|
/*@ensures \exists boolean __VariableLimitSaturation_2;
|
|
1596
|
\exists real enforce_lo_lim;
|
|
1597
|
trans_VariableLimitSaturation((up_lim),
|
|
1598
|
(Signal),
|
|
1599
|
(lo_lim),
|
|
1600
|
(*out),
|
|
1601
|
(__VariableLimitSaturation_1?\true:\false),
|
|
1602
|
(__VariableLimitSaturation_2?\true:\false),
|
|
1603
|
(enforce_lo_lim));
|
|
1604
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
1605
|
enforce_lo_lim;
|
|
1606
|
*/
|
|
1607
|
{
|
|
1608
|
|
|
1609
|
/*@ensures \exists real enforce_lo_lim;
|
|
1610
|
trans_VariableLimitSaturation((up_lim),
|
|
1611
|
(Signal),
|
|
1612
|
(lo_lim),
|
|
1613
|
(*out),
|
|
1614
|
(__VariableLimitSaturation_1?\true:\false),
|
|
1615
|
(__VariableLimitSaturation_2?\true:\false),
|
|
1616
|
(enforce_lo_lim));
|
|
1617
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
1618
|
enforce_lo_lim;
|
|
1619
|
*/
|
|
1620
|
{
|
|
1621
|
|
|
1622
|
/*@ensures trans_VariableLimitSaturation((up_lim),
|
|
1623
|
(Signal),
|
|
1624
|
(lo_lim),
|
|
1625
|
(*out),
|
|
1626
|
(__VariableLimitSaturation_1?\true:\false),
|
|
1627
|
(__VariableLimitSaturation_2?\true:\false),
|
|
1628
|
(enforce_lo_lim));
|
|
1629
|
assigns *out, __VariableLimitSaturation_1, __VariableLimitSaturation_2,
|
|
1630
|
enforce_lo_lim;
|
|
1631
|
*/
|
|
1632
|
{
|
|
1633
|
|
|
1634
|
/*@
|
|
1635
|
ensures ((__VariableLimitSaturation_1?\true:\false) == ((Signal) >= (lo_lim)));
|
|
1636
|
assigns __VariableLimitSaturation_1;
|
|
1637
|
*/
|
|
1638
|
{
|
|
1639
|
__VariableLimitSaturation_1 = (Signal >= lo_lim);
|
|
1640
|
}
|
|
1641
|
/*@
|
|
1642
|
ensures ((enforce_lo_lim) == ((__VariableLimitSaturation_1?\true:\false)?((Signal)):((lo_lim))));
|
|
1643
|
assigns enforce_lo_lim;
|
|
1644
|
*/
|
|
1645
|
{
|
|
1646
|
enforce_lo_lim = (__VariableLimitSaturation_1?(Signal):(lo_lim));
|
|
1647
|
}
|
|
1648
|
/*@
|
|
1649
|
ensures ((__VariableLimitSaturation_2?\true:\false) == ((enforce_lo_lim) <= (up_lim)));
|
|
1650
|
assigns __VariableLimitSaturation_2;
|
|
1651
|
*/
|
|
1652
|
{
|
|
1653
|
__VariableLimitSaturation_2 = (enforce_lo_lim <= up_lim);
|
|
1654
|
}
|
|
1655
|
/*@
|
|
1656
|
ensures ((*out) == ((__VariableLimitSaturation_2?\true:\false)?((enforce_lo_lim)):((up_lim))));
|
|
1657
|
assigns *out;
|
|
1658
|
*/
|
|
1659
|
{
|
|
1660
|
*out = (__VariableLimitSaturation_2?(enforce_lo_lim):(up_lim));
|
|
1661
|
}
|
|
1662
|
}}}}}return;
|
|
1663
|
}
|
|
1664
|
|