Library {
  Name			  "librcs"
  Version		  3.00
  BlockDataTips		  off
  BlockParametersDataTip  off
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  off
  StatusBar		  off
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Thu Jun 03 13:54:21 1999"
  Creator		  "barnard"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "barnard"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Thu Jun 03 14:38:13 1999"
  ModelVersionFormat	  "1.%<AutoIncrement:9>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "librcs"
    Location		    [388, 689, 757, 913]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "automatic"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Reaction Jet Control"
      Ports		      [2, 2, 0, 0, 0]
      Position		      [100, 49, 255, 151]
      BackgroundColor	      "cyan"
      DropShadow	      on
      FontName		      "Arial"
      FontSize		      12
      ShowPortLabels	      on
      System {
	Name			"Reaction Jet Control"
	Location		[323, 98, 1263, 637]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "Attitude\nCmd."
	  Position		  [20, 373, 50, 387]
	  BackgroundColor	  "cyan"
	  Port			  "1"
	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
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	Block {
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	  PortWidth		  "-1"
	  SampleTime		  "-1"
	  DataType		  "auto"
	  SignalType		  "auto"
	  Interpolate		  on
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	  BlockType		  Reference
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	  Position		  [375, 360, 435, 400]
	  BackgroundColor	  "cyan"
	  SourceBlock		  "dspmtrx/Matrix\nMultiplication"
	  SourceType		  "Matrix Multiplication"
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	    Name		    "(u,v)"
	    TestPoint		    off
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	}
	Block {
	  BlockType		  Reference
	  Name			  "Convert Rate to\nUV coords."
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	  Position		  [425, 145, 485, 185]
	  BackgroundColor	  "cyan"
	  SourceBlock		  "dspmtrx/Matrix\nMultiplication"
	  SourceType		  "Matrix Multiplication"
	  Asize			  "[2 2]"
	  Bcols			  "1"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Convert u,v to\nq,r coords."
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [790, 300, 850, 340]
	  BackgroundColor	  "cyan"
	  SourceBlock		  "dspmtrx/Matrix\nMultiplication"
	  SourceType		  "Matrix Multiplication"
	  Asize			  "[2 2]"
	  Bcols			  "1"
	  Port {
	    PortNumber		    1
	    Name		    "Pitch and Roll Jets"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
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	  Position		  [135, 50, 140, 240]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "3"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux1"
	  Ports			  [1, 3, 0, 0, 0]
	  Position		  [135, 348, 140, 412]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "3"
	  Port {
	    PortNumber		    1
	    Name		    "Yaw error"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "Roll error"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    3
	    Name		    "Pitch Error"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux2"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [510, 251, 515, 289]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux3"
	  Ports			  [1, 2, 0, 0, 0]
	  Position		  [510, 361, 515, 399]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "2"
	  Port {
	    PortNumber		    1
	    Name		    "u"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "v"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  From
	  Name			  "From"
	  Position		  [485, 39, 560, 61]
	  BackgroundColor	  "yellow"
	  ShowName		  off
	  CloseFcn		  "tagdialog Close"
	  GotoTag		  "Yaw_error"
	}
	Block {
	  BlockType		  Goto
	  Name			  "Goto"
	  Position		  [265, 349, 330, 371]
	  BackgroundColor	  "yellow"
	  ShowName		  off
	  GotoTag		  "Yaw_error"
	  TagVisibility		  "local"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
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	  Position		  [375, 156, 380, 194]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [245, 371, 250, 409]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	  Port {
	    PortNumber		    1
	    Name		    "<Roll error, Pitch Error>"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
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	}
	Block {
	  BlockType		  Mux
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	  Position		  [760, 311, 765, 349]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
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	Block {
	  BlockType		  DiscreteZeroPole
	  Name			  "Rate Derivation (Pitch)"
	  Position		  [205, 191, 315, 229]
	  BackgroundColor	  "cyan"
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	  Poles			  "[0]"
	  Gain			  "1/delt "
	  SampleTime		  "-1"
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	    PortNumber		    1
	    Name		    "Pitch Rate"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
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	Block {
	  BlockType		  DiscreteZeroPole
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	  Gain			  "1/delt "
	  SampleTime		  "-1"
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	    Name		    "Roll Rate"
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	  BlockType		  DiscreteZeroPole
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	  Gain			  "1/delt "
	  SampleTime		  "-1"
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	    PortNumber		    1
	    Name		    "Yaw Rate"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
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	Block {
	  BlockType		  Sum
	  Name			  "Sum"
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	  Position		  [80, 365, 110, 395]
	  BackgroundColor	  "cyan"
	  IconShape		  "round"
	  Inputs		  "+-|"
	  SaturateOnIntegerOverflow on
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	  BlockType		  Reference
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	  Position		  [595, 37, 720, 93]
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "libdap/Yaw Control Law"
	  SourceType		  "Control Law"
	  alph			  "alph1"
	  alphs			  "alphs1"
	  DB			  "DB"
	  tmin			  "tmin"
	  delt			  "delt"
	  Port {
	    PortNumber		    1
	    Name		    "Yaw Jets"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "q,r to u,v \nconversion"
	  Ports			  [0, 1, 0, 0, 0]
	  Position		  [435, 115, 475, 135]
	  Orientation		  "left"
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "dspmtrx/Matrix\nConstant"
	  SourceType		  "Matrix Constant"
	  M			  "[sqrt(2) sqrt(2); -sqrt(2) sqrt(2)]/2"
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	Block {
	  BlockType		  Reference
	  Name			  "q,r to u,v \nconversion "
	  Ports			  [0, 1, 0, 0, 0]
	  Position		  [390, 315, 420, 345]
	  Orientation		  "left"
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "dspmtrx/Matrix\nConstant"
	  SourceType		  "Matrix Constant"
	  M			  "[sqrt(2) sqrt(2);-sqrt(2) sqrt(2)]/2"
	}
	Block {
	  BlockType		  Reference
	  Name			  "u Control Law"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [595, 217, 720, 273]
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "libdap/Pitch Roll Control Law"
	  SourceType		  "Control Law"
	  alph			  "alphu"
	  alphs			  "alphsu"
	  DB			  "DB"
	  tmin			  "tmin"
	  delt			  "delt"
	  Port {
	    PortNumber		    1
	    Name		    "u Jets"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "u,v to q,r\nconversion matrix1"
	  Ports			  [0, 1, 0, 0, 0]
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	  Orientation		  "left"
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "dspmtrx/Matrix\nConstant"
	  SourceType		  "Matrix Constant"
	  M			  "[1 -1; 1 1]"
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	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [595, 377, 720, 433]
	  BackgroundColor	  "cyan"
	  NamePlacement		  "alternate"
	  SourceBlock		  "libdap/Pitch Roll Control Law"
	  SourceType		  "Control Law"
	  alph			  "alphv"
	  alphs			  "alphsv"
	  DB			  "DB"
	  tmin			  "tmin"
	  delt			  "delt"
	  Port {
	    PortNumber		    1
	    Name		    "v Jets"
	    TestPoint		    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "Yaw Jets"
	  Position		  [785, 58, 815, 72]
	  BackgroundColor	  "cyan"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
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	Block {
	  BlockType		  Outport
	  Name			  "Pitch/Roll Jets"
	  Position		  [885, 313, 915, 327]
	  BackgroundColor	  "cyan"
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
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	  Name			  "u"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux3"
	  SrcPort		  1
	  Points		  [15, 0; 34, -88; 0, -52]
	  DstBlock		  "u Control Law"
	  DstPort		  1
	}
	Line {
	  Name			  "Pitch and Roll Jets"
	  SrcBlock		  "Convert u,v to\nq,r coords."
	  SrcPort		  1
	  DstBlock		  "Pitch/Roll Jets"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "u,v to q,r\nconversion matrix1"
	  SrcPort		  1
	  Points		  [-15, 0]
	  DstBlock		  "Convert u,v to\nq,r coords."
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux3"
	  SrcPort		  1
	  DstBlock		  "Convert u,v to\nq,r coords."
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux2"
	  SrcPort		  2
	  Points		  [15, 0; 33, 88; 0, 52]
	  DstBlock		  "v Control Law"
	  DstPort		  2
	}
	Line {
	  Name			  "Yaw error"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  DstBlock		  "Goto"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux2"
	  SrcPort		  1
	  DstBlock		  "u Control Law"
	  DstPort		  2
	}
	Line {
	  Name			  "v"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux3"
	  SrcPort		  2
	  DstBlock		  "v Control Law"
	  DstPort		  1
	}
	Line {
	  Name			  "u Jets"
	  Labels		  [0, 1]
	  SrcBlock		  "u Control Law"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Mux3"
	  DstPort		  1
	}
	Line {
	  Name			  "v Jets"
	  Labels		  [0, 0]
	  SrcBlock		  "v Control Law"
	  SrcPort		  1
	  Points		  [20, 0]
	  DstBlock		  "Mux3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Attitude\nCmd."
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
	Line {
	  Name			  "<Roll error, Pitch Error>"
	  Labels		  [0, 0]
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Convert Attitude to\nUV coords."
	  DstPort		  2
	}
	Line {
	  Name			  "(u,v)"
	  SrcBlock		  "Convert Attitude to\nUV coords."
	  SrcPort		  1
	  DstBlock		  "Demux3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Convert Rate to\nUV coords."
	  SrcPort		  1
	  Points		  [5, 0]
	  DstBlock		  "Demux2"
	  DstPort		  1
	}
	Line {
	  Name			  "Pitch Error"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux1"
	  SrcPort		  3
	  DstBlock		  "Mux2"
	  DstPort		  2
	}
	Line {
	  Name			  "Roll error"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Demux1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q,r to u,v \nconversion "
	  SrcPort		  1
	  Points		  [-25, 0]
	  DstBlock		  "Convert Attitude to\nUV coords."
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "From"
	  SrcPort		  1
	  DstBlock		  "Yaw Control Law"
	  DstPort		  1
	}
	Line {
	  Name			  "Yaw Jets"
	  Labels		  [0, 0]
	  SrcBlock		  "Yaw Control Law"
	  SrcPort		  1
	  DstBlock		  "Yaw Jets"
	  DstPort		  1
	}
	Line {
	  Name			  "Yaw Rate"
	  Labels		  [-1, 0]
	  SrcBlock		  "Rate Derivation (Yaw)"
	  SrcPort		  1
	  DstBlock		  "Yaw Control Law"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Attitude\nMeas."
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Demux"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Convert Rate to\nUV coords."
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "Rate Derivation (Yaw)"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  DstBlock		  "Rate Derivation (Pitch)"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "Rate Derivation (Roll)"
	  DstPort		  1
	}
	Line {
	  Name			  "Roll Rate"
	  Labels		  [1, 0]
	  SrcBlock		  "Rate Derivation (Roll)"
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  Name			  "Pitch Rate"
	  Labels		  [1, 1]
	  SrcBlock		  "Rate Derivation (Pitch)"
	  SrcPort		  1
	  Points		  [40, 0]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "q,r to u,v \nconversion"
	  SrcPort		  1
	  Points		  [-20, 0]
	  DstBlock		  "Convert Rate to\nUV coords."
	  DstPort		  1
	}
      }
    }
  }
}

# Finite State Machines
# -- File save dated 03-Jun-1999 14:38:14
#
#    Stateflow Version 2.0 (R11) dated May 21 1999, 22:46:02
#
#

Stateflow {

	machine {
		id         		1
		name       		"librcs"
		created    		"03-Jun-1999 13:55:09"
		isLibrary  		1
		firstTarget		2
		sfVersion  		20011061
	}

	target {
		id               		2
		name             		"sfun"
		description      		"Default Simulink S-Function Target."
		machine          		1
		linkNode         		[1 0 0]
	}
}