Начало работы с генератором кода

/* Code generated by Engee
 * Model name: aircraft_roll.engee
 * Code generator: release-1.0.21
 * Date: Wed May 15 14:21:24 2024
 */

#include "aircraft_roll_autopilot_roll.h"

/* External inputs */
Ext_aircraft_roll_autopilot_roll_U aircraft_roll_autopilot_roll_U;

/* External outputs */
Ext_aircraft_roll_autopilot_roll_Y aircraft_roll_autopilot_roll_Y;

/* Block states */
Ext_aircraft_roll_autopilot_roll_S aircraft_roll_autopilot_roll_S;

/* Model initialize function */
void aircraft_roll_autopilot_roll_init() {
	/* InitializeConditions for UnitDelay: /CtlMode/Unit Delay */
	aircraft_roll_autopilot_roll_S.UnitDelay_state = 0.0;
	/* InitializeConditions for UnitDelay: /RollMode/Unit Delay */
	aircraft_roll_autopilot_roll_S.UnitDelay_1_state = 0.0;
}

/* Model terminate function */
void aircraft_roll_autopilot_roll_term() {
	/* (no terminate code required) */
}

/* Model step function */
void aircraft_roll_autopilot_roll_step() {
	double UnitDelay;
	double UnitDelay_1;
	double Abs;
	bool NotEngaged;
	bool NotEngaged_1;
	bool RelationalOperator_1;
	bool RelationalOperator;
	double Add_1;
	double DispGain_1;
	bool OR;
	bool RelationalOperator_2;
	double Switch_1;
	double Saturation_3;
	double Switch;
	double Switch_2;
	double Switch_1_1;
	double ModeSwitch;
	double Saturation;
	double Add_4;
	double Gain_3;
	double Saturation_1;
	double Add;
	double Gain;
	double Gain_4;
	double Ts_1;
	double Add_1_1;
	double Saturation_2;
	double Add_2;
	double Switch_1_2;
	double Switch_2_1;

	/* Output for UnitDelay: /CtlMode/Unit Delay */
	UnitDelay = aircraft_roll_autopilot_roll_S.UnitDelay_state;
	/* Output for UnitDelay: /RollMode/Unit Delay */
	UnitDelay_1 = aircraft_roll_autopilot_roll_S.UnitDelay_1_state;
	/* Abs: /RollMode/Abs */
	Abs = fabs(aircraft_roll_autopilot_roll_U.Turn_Knob);
	/* Logic: /CtlMode/NotEngaged incorporates:
	 *  Inport: /AP_Eng
	 */
	NotEngaged = !(aircraft_roll_autopilot_roll_U.AP_Eng);
	/* Logic: /RollMode/NotEngaged incorporates:
	 *  Inport: /AP_Eng
	 */
	NotEngaged_1 = !(aircraft_roll_autopilot_roll_U.AP_Eng);
	/* RelationalOperator: /RollMode/Relational Operator-1 incorporates:
	 *  Inport: /Phi
	 *  Constant: /RollMode/LoThr-1
	 */
	RelationalOperator_1 = aircraft_roll_autopilot_roll_U.Phi <= -6;
	/* RelationalOperator: /RollMode/Relational Operator incorporates:
	 *  Inport: /Phi
	 *  Constant: /RollMode/UpThr-1
	 */
	RelationalOperator = aircraft_roll_autopilot_roll_U.Phi >= 6;
	/* Sum: /HeadingMode/Add-1 incorporates:
	 *  Inport: /HDG_Ref
	 *  Inport: /Psi
	 */
	Add_1 = aircraft_roll_autopilot_roll_U.HDG_Ref - aircraft_roll_autopilot_roll_U.Psi;
	/* Gain: /HeadingMode/DispGain-1 incorporates:
	 *  Sum: /HeadingMode/Add-1
	 */
	DispGain_1 = 0.015 * Add_1;
	/* Logic: /RollMode/OR incorporates:
	 *  RelationalOperator: /RollMode/Relational Operator
	 *  RelationalOperator: /RollMode/Relational Operator-1
	 */
	OR = RelationalOperator || RelationalOperator_1;
	/* RelationalOperator: /RollMode/Relational Operator-2 incorporates:
	 *  Abs: /RollMode/Abs
	 *  Constant: /RollMode/Constant-2
	 */
	RelationalOperator_2 = Abs < 3;
	/* Switch: /CtlMode/Switch-1 incorporates:
	 *  Constant: /CtlMode/Constant-2
	 *  Logic: /CtlMode/NotEngaged
	 *  UnitDelay: /CtlMode/Unit Delay
	 */
	if (NotEngaged > 0.0) {
		Switch_1 = 0.0;
	} else {
		Switch_1 = UnitDelay;
	}
	/* End of Switch: /CtlMode/Switch-1 */
	/* Product: /HeadingMode/Product incorporates:
	 *  Gain: /HeadingMode/DispGain-1
	 *  Inport: /TAS
	 */
	const double Product = DispGain_1 * aircraft_roll_autopilot_roll_U.TAS;
	/* Saturate: /CtlMode/Saturation-3 incorporates:
	 *  Switch: /CtlMode/Switch-1
	 */
	if (Switch_1 < -5) {
		Saturation_3 = -5;
	} else if (Switch_1 > 5) {
		Saturation_3 = 5;
	} else {
		Saturation_3 = Switch_1;
	}
	/* Switch: /RollMode/Switch incorporates:
	 *  Inport: /Phi
	 *  Logic: /RollMode/OR
	 *  Constant: /RollMode/Constant
	 */
	if (OR != 0.0) {
		Switch = aircraft_roll_autopilot_roll_U.Phi;
	} else {
		Switch = 0.0;
	}
	/* End of Switch: /RollMode/Switch */
	/* Switch: /RollMode/Switch-2 incorporates:
	 *  UnitDelay: /RollMode/Unit Delay
	 *  RelationalOperator: /RollMode/Relational Operator-2
	 *  Inport: /Turn_Knob
	 */
	if (RelationalOperator_2 != 0.0) {
		Switch_2 = UnitDelay_1;
	} else {
		Switch_2 = aircraft_roll_autopilot_roll_U.Turn_Knob;
	}
	/* End of Switch: /RollMode/Switch-2 */
	/* Switch: /RollMode/Switch-1 incorporates:
	 *  Switch: /RollMode/Switch
	 *  Logic: /RollMode/NotEngaged
	 *  UnitDelay: /RollMode/Unit Delay
	 */
	if (NotEngaged_1 > 0.0) {
		Switch_1_1 = Switch;
	} else {
		Switch_1_1 = UnitDelay_1;
	}
	/* End of Switch: /RollMode/Switch-1 */
	/* Switch: /ModeSwitch incorporates:
	 *  Product: /HeadingMode/Product
	 *  Inport: /HDG_Mode
	 *  Switch: /RollMode/Switch-2
	 */
	if (aircraft_roll_autopilot_roll_U.HDG_Mode != 0.0) {
		ModeSwitch = Product;
	} else {
		ModeSwitch = Switch_2;
	}
	/* End of Switch: /ModeSwitch */
	/* Saturate: /CtlMode/Saturation incorporates:
	 *  Switch: /ModeSwitch
	 */
	if (ModeSwitch < -30) {
		Saturation = -30;
	} else if (ModeSwitch > 30) {
		Saturation = 30;
	} else {
		Saturation = ModeSwitch;
	}
	/* Sum: /CtlMode/Add-4 incorporates:
	 *  Saturate: /CtlMode/Saturation
	 *  Inport: /Phi
	 */
	Add_4 = Saturation - aircraft_roll_autopilot_roll_U.Phi;
	/* Gain: /CtlMode/Gain-3 incorporates:
	 *  Sum: /CtlMode/Add-4
	 */
	Gain_3 = 0.75 * Add_4;
	/* Saturate: /CtlMode/Saturation-1 incorporates:
	 *  Gain: /CtlMode/Gain-3
	 */
	if (Gain_3 < -6) {
		Saturation_1 = -6;
	} else if (Gain_3 > 6) {
		Saturation_1 = 6;
	} else {
		Saturation_1 = Gain_3;
	}
	/* Sum: /CtlMode/Add incorporates:
	 *  Saturate: /CtlMode/Saturation-1
	 *  Inport: /Rate_FB
	 */
	Add = Saturation_1 - aircraft_roll_autopilot_roll_U.Rate_FB;
	/* Gain: /CtlMode/Gain incorporates:
	 *  Sum: /CtlMode/Add
	 */
	Gain = 0.5 * Add;
	/* Gain: /CtlMode/Gain-4 incorporates:
	 *  Sum: /CtlMode/Add
	 */
	Gain_4 = 2 * Add;
	/* Gain: /CtlMode/Ts-1 incorporates:
	 *  Gain: /CtlMode/Gain
	 */
	Ts_1 = 1.0/40.0 * Gain;
	/* Sum: /CtlMode/Add-1 incorporates:
	 *  Saturate: /CtlMode/Saturation-3
	 *  Gain: /CtlMode/Gain-4
	 */
	Add_1_1 = Saturation_3 + Gain_4;
	/* Saturate: /CtlMode/Saturation-2 incorporates:
	 *  Sum: /CtlMode/Add-1
	 */
	if (Add_1_1 < -15) {
		Saturation_2 = -15;
	} else if (Add_1_1 > 15) {
		Saturation_2 = 15;
	} else {
		Saturation_2 = Add_1_1;
	}
	/* Sum: /CtlMode/Add-2 incorporates:
	 *  Gain: /CtlMode/Ts-1
	 *  UnitDelay: /CtlMode/Unit Delay
	 */
	Add_2 = Ts_1 + UnitDelay;
	/* Switch: /CtlMode/Switch incorporates:
	 *  Constant: /CtlMode/Constant
	 *  Logic: /CtlMode/NotEngaged
	 *  Sum: /CtlMode/Add-2
	 */
	if (NotEngaged > 0.0) {
		Switch_1_2 = 0.0;
	} else {
		Switch_1_2 = Add_2;
	}
	/* End of Switch: /CtlMode/Switch */
	/* Switch: /Switch incorporates:
	 *  Saturate: /CtlMode/Saturation-2
	 *  Inport: /AP_Eng
	 *  Constant: /Constant
	 */
	if (aircraft_roll_autopilot_roll_U.AP_Eng != 0.0) {
		Switch_2_1 = Saturation_2;
	} else {
		Switch_2_1 = 0;
	}
	/* End of Switch: /Switch */
	/* Outport: /Ail_Cmd incorporates:
	 *  Switch: /Switch
	 */
	aircraft_roll_autopilot_roll_Y.Ail_Cmd = Switch_2_1;
	/* Update for UnitDelay: /CtlMode/Unit Delay */
	aircraft_roll_autopilot_roll_S.UnitDelay_state = Switch_1_2;
	/* Update for UnitDelay: /RollMode/Unit Delay */
	aircraft_roll_autopilot_roll_S.UnitDelay_1_state = Switch_1_1;

}