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241 lines
6.6 KiB
241 lines
6.6 KiB
#ifndef ASSEMBLAGE_INCLUDES_H
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#define ASSEMBLAGE_INCLUDES_H
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#include "types.h"
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#include "io.h"
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/* ***************************************************************************
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* Shared constants
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* ************************************************************************* */
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#define delta_th_eq (1.5868660794926)
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#define delta_e_eq (0.012009615652468)
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extern const REAL_TYPE h_eq;
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extern const REAL_TYPE Va_eq;
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#ifndef NBMAX_SAMPLE
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#define NBMAX_SAMPLE (6000000/4)
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#endif
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extern REAL_TYPE sample[SPL_SIZE][NBMAX_SAMPLE];
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void print_inmemory_sample();
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/* ***************************************************************************
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* The prelude imported node prototypes
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* ************************************************************************* */
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/**
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* Va filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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* @param[in] Va, airspeed (m/s)
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* @return Va_f, filtered airspeed (m/s)
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* 2nd order Butterworth filter with fc = 0.5 Hz (Matlab function butter)
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* Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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Va_filter_100(REAL_TYPE Va);
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REAL_TYPE
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Va_filter_50(REAL_TYPE Va);
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REAL_TYPE
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Va_filter_33(REAL_TYPE Va);
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REAL_TYPE
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Va_filter_25(REAL_TYPE Va);
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/**
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* Vz filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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* @param[in] Vz, vertical speed (m/s)
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* @return Vz_f, filtered vertical airspeed (m/s)
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* 2nd order Butterworth filter with fc = 0.5 Hz (Matlab function butter)
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* Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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Vz_filter_100(REAL_TYPE Vz);
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REAL_TYPE
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Vz_filter_50 (REAL_TYPE Vz);
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REAL_TYPE
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Vz_filter_33 (REAL_TYPE Vz);
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REAL_TYPE
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Vz_filter_25 (REAL_TYPE Vz);
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/**
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* q filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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* @param[in] q, pitch rate (rad/s)
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* @return q_f, filtered pitch rate (rad/s)
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* 2nd order Butterworth filter with fc = 3.0 Hz (Matlab function butter)
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* Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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q_filter_100(REAL_TYPE q);
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REAL_TYPE
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q_filter_50 (REAL_TYPE q);
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REAL_TYPE
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q_filter_33 (REAL_TYPE q);
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REAL_TYPE
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q_filter_25 (REAL_TYPE q);
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/**
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* az filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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* @param[in] az, normal acceleration (m/s^2)
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* @return az_f, filtered normal acceleration (m/s^2)
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* 2nd order Butterworth filter with fc = 10.0 Hz (Matlab function butter)
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* Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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az_filter_100(REAL_TYPE az);
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REAL_TYPE
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az_filter_50 (REAL_TYPE az);
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REAL_TYPE
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az_filter_33 (REAL_TYPE az);
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REAL_TYPE
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az_filter_25 (REAL_TYPE az);
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/**
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* h filter (100/50/33/25 Hz --> 10/20/30/40 ms period)
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* @param[in] h, altitude (m)
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* @return h_f, filtered altitude (m)
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* 2nd order Butterworth filter with fc = 3.0 Hz (Matlab function butter)
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* Discretized with Zero-order Hold method with Ts = 0.01/0.02/0.03/0.04 (Matlab function c2d)
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*/
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REAL_TYPE
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h_filter_100(REAL_TYPE h);
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REAL_TYPE
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h_filter_50 (REAL_TYPE h);
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REAL_TYPE
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h_filter_33 (REAL_TYPE h);
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REAL_TYPE
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h_filter_25 (REAL_TYPE h);
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/**
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* Altitude hold controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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* @param[in] h_f, filtered altitude (m)
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* @param[in] h_c, commanded altitude (m)
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* @return Vz_c, commanded vertical speed (m/s)
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* Generates the vertical speed command Vz_c to track altitude change h_c
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*/
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REAL_TYPE
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altitude_hold_50 (REAL_TYPE h_f, REAL_TYPE h_c);
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REAL_TYPE
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altitude_hold_33 (REAL_TYPE h_f, REAL_TYPE h_c);
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REAL_TYPE
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altitude_hold_25 (REAL_TYPE h_f, REAL_TYPE h_c);
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REAL_TYPE
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altitude_hold_10 (REAL_TYPE h_f, REAL_TYPE h_c);
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/**
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* Vz Speed controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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* @param[in] Vz_f, filtered vertical speed (m/s)
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* @param[in] Vz_c, commanded vertical speed (m/s)
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* @param[in] q_f, filtered pitch rate (rad/s)
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* @param[in] az_f, filtered normal acceleration (m/s^2)
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* @return delta_e_c, commanded elevator deflection (rad)
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* Generates the elevator deflection command to track vertical speed command Vz_c
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*/
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REAL_TYPE
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Vz_control_50 (REAL_TYPE Vz_f, REAL_TYPE Vz_c, REAL_TYPE q_f, REAL_TYPE az_f);
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REAL_TYPE
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Vz_control_33 (REAL_TYPE Vz_f, REAL_TYPE Vz_c, REAL_TYPE q_f, REAL_TYPE az_f);
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REAL_TYPE
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Vz_control_25 (REAL_TYPE Vz_f, REAL_TYPE Vz_c, REAL_TYPE q_f, REAL_TYPE az_f);
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REAL_TYPE
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Vz_control_10 (REAL_TYPE Vz_f, REAL_TYPE Vz_c, REAL_TYPE q_f, REAL_TYPE az_f);
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/**
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* Va Speed controller (rate 50/33/25/10 Hz sampling period 0.02/0.03/0.04/0.1)
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* @param[in] Va_f, filtered airspeed (m/s)
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* @param[in] Vz_f, filtered vertical speed (m/s)
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* @param[in] q_f, filtered pitch rate (rad/s)
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* @return delta_th_c, commanded throttle (-)
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* Generates the throttle command to track airspeed change Va_c
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*/
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REAL_TYPE
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Va_control_50 (REAL_TYPE Va_f, REAL_TYPE Vz_f, REAL_TYPE q_f, REAL_TYPE Va_c);
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REAL_TYPE
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Va_control_33 (REAL_TYPE Va_f, REAL_TYPE Vz_f, REAL_TYPE q_f, REAL_TYPE Va_c);
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REAL_TYPE
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Va_control_25 (REAL_TYPE Va_f, REAL_TYPE Vz_f, REAL_TYPE q_f, REAL_TYPE Va_c);
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REAL_TYPE
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Va_control_10 (REAL_TYPE Va_f, REAL_TYPE Vz_f, REAL_TYPE q_f, REAL_TYPE Va_c);
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/**
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* Engine (200 Hz --> 5ms period)
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* @param[in] delta_th_c, commanded throttle (-)
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* @return T, Thrust (N)
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* 1st order system with time constant 0.5 s
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* ODE Solver: Euler method with fixed-step = 0.005 (200 Hz)
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*/
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REAL_TYPE
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engine(REAL_TYPE delta_th_c);
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/**
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* Elevator (200 Hz --> 5ms period)
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* @param[in] delta_e_c, commanded elevator deflection (rad)
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* @return delta_e, elevator deflection (rad)
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* 2nd order system (natural frequency omega = 25.0 rad/s and damping xi = 0.85)
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* ODE Solver: Euler method with fixed-step = 0.005 s (200 Hz)
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*/
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REAL_TYPE
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elevator(REAL_TYPE delta_e_c);
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/**
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* Flight dynamics (200 Hz --> 5ms period)
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* @param[in] i, the simulation step
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* @param[in] delta_e, elevator deflection (rad)
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* @param[in] T, Thrust (N)
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* @param[out] outputs, the outputs Va, Vz, q, az, h
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* Aircraft flight dynamics
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* ODE Solver: Euler method with fixed-step = 0.005 s (200 Hz)
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*/
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void
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aircraft_dynamics (REAL_TYPE delta_e, REAL_TYPE T, struct aircraft_dynamics_outs_t *outputs);
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/* ***************************************************************************
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* The prelude sensor node prototypes
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* ************************************************************************* */
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/**
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* (200 Hz --> 5ms period)
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*/
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REAL_TYPE
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input_h_c();
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REAL_TYPE
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input_Va_c();
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/* ***************************************************************************
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* The prelude actuator node prototypes
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* ************************************************************************* */
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/**
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* (200 Hz --> 5ms period)
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*/
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void
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output_delta_th_c(REAL_TYPE delta_th_c);
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/**
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* (200 Hz --> 5ms period)
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*/
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void
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output_delta_e_c(REAL_TYPE delta_e_c);
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#endif
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