Model {
  Name			  "punto4rumbonolineal"
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    NumTestPointedSignals   0
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  CovPath		  "/"
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  Created		  "Mon Jul 01 17:09:14 2002"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Juan Manuel"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jun 26 12:27:34 2007"
  ModelVersionFormat	  "1.%<AutoIncrement:50>"
  ConfigurationManager	  "none"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
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  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
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  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
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  BufferReuse		  on
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  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
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      Name		      "Add"
      Ports		      [2, 1]
      Position		      [442, 490, 473, 520]
      Orientation	      "down"
      NamePlacement	      "alternate"
      Inputs		      "-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "Aileron"
      Position		      [70, 106, 110, 124]
      DropShadow	      on
      Value		      "Aileron"
    }
    Block {
      BlockType		      Display
      Name		      "Aircraft states"
      Ports		      [1]
      Position		      [625, 40, 710, 330]
      BackgroundColor	      "cyan"
      DropShadow	      on
      Decimation	      "1"
    }
    Block {
      BlockType		      Display
      Name		      "Airspeed"
      Ports		      [1]
      Position		      [475, 81, 560, 109]
      BackgroundColor	      "yellow"
      DropShadow	      on
      Decimation	      "1"
    }
    Block {
      BlockType		      Display
      Name		      "Bank angle"
      Ports		      [1]
      Position		      [490, 231, 575, 259]
      BackgroundColor	      "yellow"
      DropShadow	      on
      Decimation	      "1"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [385, 425, 415, 455]
      Value		      "psi"
    }
    Block {
      BlockType		      Gain
      Name		      "D2R"
      Position		      [445, 545, 475, 575]
      Orientation	      "down"
      NamePlacement	      "alternate"
      Gain		      "pi/180"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 3]
      Position		      [360, 81, 365, 149]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "3"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux1"
      Ports		      [1, 3]
      Position		      [445, 261, 450, 329]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "3"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux2"
      Ports		      [1, 15]
      Position		      [610, 483, 615, 747]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "15"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Constant
      Name		      "Elevator"
      Position		      [70, 66, 110, 84]
      DropShadow	      on
      Value		      "Elevator"
    }
    Block {
      BlockType		      Constant
      Name		      "Flap"
      Position		      [70, 26, 110, 44]
      DropShadow	      on
      Value		      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "FlightGear 0.9.8 \nInterface"
      Ports		      [12]
      Position		      [760, 379, 845, 621]
      SourceBlock	      "aerosimlib/Pilot Interface/FlightGear 0.9.8 \nI"
"nterface"
      SourceType	      "FlightGear 0.9.8 interface"
      ShowPortLabels	      on
      hostname		      "'localhost'"
      port		      "5500"
      tsamp		      "0.02"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [155, 585, 185, 615]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-1/3.0245"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [155, 715, 185, 745]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-1/3.0245"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Display
      Name		      "Heading"
      Ports		      [1]
      Position		      [500, 331, 585, 359]
      BackgroundColor	      "yellow"
      DropShadow	      on
      Decimation	      "1"
    }
    Block {
      BlockType		      Constant
      Name		      "Ignition"
      Position		      [70, 266, 110, 284]
      DropShadow	      on
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator1"
      Ports		      [1, 1]
      Position		      [270, 650, 300, 680]
      Orientation	      "left"
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator2"
      Ports		      [1, 1]
      Position		      [270, 780, 300, 810]
      Orientation	      "left"
    }
    Block {
      BlockType		      Gain
      Name		      "Ki1"
      Position		      [360, 780, 390, 810]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-2.555"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Ki2"
      Position		      [360, 650, 390, 680]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-3.2751"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Kp1"
      Position		      [355, 715, 385, 745]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-19.1639"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Kp2"
      Position		      [355, 585, 385, 615]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-24.5632"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "Mixture"
      Position		      [70, 226, 110, 244]
      DropShadow	      on
      Value		      "13"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [7, 1]
      Position		      [175, 14, 180, 296]
      ShowName		      off
      Inputs		      "7"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [3, 1]
      Position		      [670, 545, 675, 595]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux2"
      Ports		      [3, 1]
      Position		      [675, 654, 680, 696]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      SubSystem
      Name		      "North American Navion"
      Ports		      [3, 15]
      Position		      [215, 42, 330, 348]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      AncestorBlock	      "aerosimlib/Complete Aircraft/6-DOF Aircraft Mod"
"el\n(Body-frame EOM)"
      TreatAsAtomicUnit	      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskType		      "6-DOF Aircraft Model"
      MaskDescription	      "Nonlinear 6-DOF aircraft model with equations o"
"f motion in body frame."
      MaskHelp		      "The block implements the 6-DOF nonlinear aircra"
"ft model using AeroSim blocks. Velocities are computed in body frame.\n<P><B>"
"Inputs:</B>\n<LI>Controls = the 7x1 vector of aircraft controls [flap elevato"
"r aileron rudder throttle mixture ignition]. Aerodynamic controls are in radi"
"ans, throttle is from 0 to 1, mixture is fraction air/fuel flow, ignition is "
"0 (engine off) or 1 (engine on).</LI>\n<LI>Winds = the 3x1 vector of backgrou"
"nd wind speed components in navigation frame [North East Down]</LI>\n<LI>RST "
"= the integrator reset flag (0 or 1, all integrators on rising edge)\n</P>\n<"
"P><B>Outputs:</B> \n<LI>States = the 15x1 aircraft state vector [Velocities, "
"Angular rates, Quaternions, Position, Fuel mass, Engine speed].</LI>\n<LI>Sen"
"sors = the 18x1 vector of sensor outputs [GPS Position, GPS Groundspeed, Acce"
"lerometers, Gyros, Air data, Magnetometer].</LI>\n<LI>VelW = the 3x1 vector o"
"f aircraft velocity in wind axes [Airspeed, sideslip, angle of attack]</LI>\n"
"<LI>Mach = the Mach number</LI>\n<LI>Ang Acc = the 3x1 vector of angular acce"
"lerations\n<LI>Euler = the 3x1 vector of Euler angles (roll, pitch, yaw)</LI>"
"\n<LI>AeroCoeff = the 6x1 vector of aerodynamic coefficients [CD CY CL Cl Cm "
"Cn]</LI>\n<LI>PropCoeff = the 3x1 vector of propeller coefficients [J CT CP]<"
"/LI>\n<LI>EngCoeff = the 5x1 vector of engine coefficients [MAP Airflow Fuelf"
"low BSFC Power]</LI>\n<LI>Mass = the current aircraft mass</LI>\n<LI>ECEF = 3"
"x1 vector of position of the aircraft in the Earth-centered, Earth-fixed fram"
"e</LI>\n<LI>MSL = the aircraft altitude above mean-sea-level</LI>\n<LI>AGL = "
"the aircraft altitude above terrain</LI>\n<LI>REarth = the Earth equivalent r"
"adius at current location\n<LI>AConGnd = the aircraft-on-ground flag (0 if ai"
"rcraft above ground, 1 if aircraft on the ground)</LI>\n</P>\n<P><B>Parameter"
"s:</B>\n<LI>Aircraft configuration file = the MAT-file with aircraft data</LI"
">\n<LI>Initial velocities = the 3x1 vector of initial aircraft velocities in "
"body axes [u v w]</LI>\n<LI>Initial angular rates = the 3x1 vector of initial"
" angular rates [p q r]</LI>\n<LI>Initial attitude = the 4x1 vector of initial"
" quaternions [e0 ex ey ez]</LI>\n<LI>Initial position = the 3x1 vector of ini"
"tial aircraft location [Lat Lon Alt]</LI>\n<LI>Initial fuel mass = the initia"
"l quantity of fuel on-board the aircraft</LI>\n<LI>Initial engine speed = the"
" initial engine rotation speed</LI>\n<LI>Ground altitude = the ground altitud"
"e at aircraft location</LI>\n<LI>WMM coefficient file = the path to the magne"
"tic model coefficient file</LI>\n<LI>Simulation date = the date to be used fo"
"r the magnetic model [day month year]</LI>\n<LI>Sample time = the aircraft mo"
"del sample time.</LI>\n</P>"
      MaskPromptString	      "Aircraft configuration file:|Initial velocities"
":|Initial angular rates:|Initial attitude:|Initial position:|Initial fuel mas"
"s:|Initial engine speed:|Ground altitude:|WMM coefficient file:|Simulation da"
"te:|Sample time:"
      MaskStyleString	      "edit,edit,edit,edit,edit,edit,edit,edit,edit,ed"
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      MaskTunableValueString  "on,on,on,on,on,on,on,on,on,on,on"
      MaskCallbackString      "||||||||||"
      MaskEnableString	      "on,on,on,on,on,on,on,on,on,on,on"
      MaskVisibilityString    "on,on,on,on,on,on,on,on,on,on,on"
      MaskToolTipString	      "on,on,on,on,on,on,on,on,on,on,on"
      MaskVarAliasString      ",,,,,,,,,,"
      MaskVariables	      "aircraftcfg=@1;VelocitiesIni=@2;RatesIni=@3;Qua"
"ternionsIni=@4;PositionIni=@5;FuelIni=@6;OmegaIni=@7;GndAlt=@8;wmmfile=@9;dmy"
"=@10;tsamp=@11;"
      MaskInitialization      "load(aircraftcfg);"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "'navioncfg.mat'|[u v w]'|[p q r]'*pi/180|[q0 q1"
" q2 q3]'|[45*pi/180 -122*pi/180 Alt]'|Fuel|Engine*pi/30|0|'C:\\Archivos de pr"
"ograma\\AeroSim\\wmm.cof'|[08 02 2003]|0.02"
      MaskTabNameString	      ",,,,,,,,,,"
      System {
	Name			"North American Navion"
	Location		[2, 82, 773, 559]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "Controls"
	  Position		  [15, 153, 45, 167]
	  Port			  "1"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "Winds"
	  Position		  [365, 508, 395, 522]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  Inport
	  Name			  "RST"
	  Position		  [70, 418, 100, 432]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  LatchInput		  off
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Aerodynamics"
	  Ports			  [7, 6]
	  Position		  [180, 36, 280, 184]
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
	    Name		    "Aerodynamics"
	    Location		    [312, 142, 1054, 942]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "VelB"
	      Position		      [20, 58, 50, 72]
	      Port		      "1"
	      IconDisplay	      "Port number"
	      PortDimensions	      "[3 1]"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "WindB"
	      Position		      [20, 88, 50, 102]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      PortDimensions	      "[3 1]"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "Rates"
	      Position		      [20, 258, 50, 272]
	      Port		      "3"
	      IconDisplay	      "Port number"
	      PortDimensions	      "[3 1]"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "WindRates"
	      Position		      [20, 288, 50, 302]
	      Port		      "4"
	      IconDisplay	      "Port number"
	      PortDimensions	      "[3 1]"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "AeroCon"
	      Position		      [20, 168, 50, 182]
	      Port		      "5"
	      IconDisplay	      "Port number"
	      PortDimensions	      "[4 1]"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "rho"
	      Position		      [20, 198, 50, 212]
	      Port		      "6"
	      IconDisplay	      "Port number"
	      PortDimensions	      "1"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "a"
	      Position		      [20, 228, 50, 242]
	      Port		      "7"
	      IconDisplay	      "Port number"
	      PortDimensions	      "1"
	      LatchInput	      off
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Aerodynamic\nForce"
	      Ports		      [5, 1]
	      Position		      [515, 53, 615, 157]
	      SourceBlock	      "aerosimlib/Aerodynamics/Aerodynamic\nFo"
"rce"
	      SourceType	      "Aerodynamic force"
	      ShowPortLabels	      on
	      S			      "S"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Aerodynamic\nMoment"
	      Ports		      [4, 1]
	      Position		      [515, 199, 615, 281]
	      SourceBlock	      "aerosimlib/Aerodynamics/Aerodynamic\nMo"
"ment"
	      SourceType	      "Aerodynamic moment"
	      ShowPortLabels	      on
	      c			      "MAC"
	      b			      "b"
	      S			      "S"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Drag Coefficient"
	      Ports		      [4, 1]
	      Position		      [300, 211, 400, 289]
	      SourceBlock	      "aerosimlib/Aerodynamics/Drag Coefficien"
"t"
	      SourceType	      "Drag coefficient"
	      ShowPortLabels	      on
	      CL0		      "CLmind"
	      CD0		      "CDmin"
	      CDdf		      "CDdf"
	      CDde		      "CDde"
	      CDda		      "CDda"
	      CDdr		      "CDdr"
	      CDM		      "CDM"
	      e			      "osw"
	      b			      "b"
	      S			      "S"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Dynamic Pressure"
	      Ports		      [2, 1]
	      Position		      [115, 187, 200, 238]
	      SourceBlock	      "aerosimlib/Aerodynamics/Dynamic Pressur"
"e"
	      SourceType	      "Dynamic pressure"
	      ShowPortLabels	      on
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Lift Coefficient"
	      Ports		      [5, 1]
	      Position		      [300, 52, 400, 158]
	      SourceBlock	      "aerosimlib/Aerodynamics/Lift Coefficien"
"t"
	      SourceType	      "Lift coefficient"
	      ShowPortLabels	      on
	      CL0		      "CL0"
	      CLalpha		      "CLa"
	      CLdf		      "CLdf"
	      CLde		      "CLde"
	      CLalphadot	      "CLalphadot"
	      CLq		      "CLq"
	      CLM		      "CLM"
	      c			      "MAC"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux"
	      Ports		      [6, 1]
	      Position		      [515, 322, 520, 438]
	      ShowName		      off
	      Inputs		      "6"
	      DisplayOption	      "bar"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Pitch Moment\nCoefficient"
	      Ports		      [5, 1]
	      Position		      [300, 423, 400, 527]
	      SourceBlock	      "aerosimlib/Aerodynamics/Pitch Moment\nC"
"oefficient"
	      SourceType	      "Pitch moment coefficient"
	      ShowPortLabels	      on
	      Cm0		      "Cm0"
	      Cma		      "Cma"
	      Cmdf		      "Cmdf"
	      Cmde		      "Cmde"
	      Cmalphadot	      "Cmalphadot"
	      Cmq		      "Cmq"
	      CmM		      "CmM"
	      c			      "MAC"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Roll Moment\nCoefficient"
	      Ports		      [3, 1]
	      Position		      [300, 560, 400, 640]
	      SourceBlock	      "aerosimlib/Aerodynamics/Roll Moment\nCo"
"efficient"
	      SourceType	      "Roll moment coefficient"
	      ShowPortLabels	      on
	      Clbeta		      "Clbeta"
	      Clda		      "Clda"
	      Cldr		      "Cldr"
	      Clp		      "Clp"
	      Clr		      "Clr"
	      b			      "b"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Side Force Coefficient"
	      Ports		      [3, 1]
	      Position		      [300, 321, 400, 399]
	      SourceBlock	      "aerosimlib/Aerodynamics/Side Force Coef"
"ficient"
	      SourceType	      "Side force coefficient"
	      ShowPortLabels	      on
	      CYbeta		      "CYbeta"
	      CYda		      "CYda"
	      CYdr		      "CYdr"
	      CYp		      "CYp"
	      CYr		      "CYr"
	      b			      "b"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum"
	      Ports		      [2, 1]
	      Position		      [75, 255, 95, 275]
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|+-"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Wind-axes Velocities"
	      Ports		      [3, 3]
	      Position		      [110, 52, 210, 128]
	      SourceBlock	      "aerosimlib/Aerodynamics/Wind-axes Veloc"
"ities"
	      SourceType	      "Wind-axes velocities"
	      ShowPortLabels	      on
	      Vabnd		      "VaBnd"
	      betabnd		      "BetaBnd"
	      alphabnd		      "AlphaBnd"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Yaw Moment\nCoefficient"
	      Ports		      [3, 1]
	      Position		      [300, 675, 400, 755]
	      SourceBlock	      "aerosimlib/Aerodynamics/Yaw Moment\nCoe"
"fficient"
	      SourceType	      "Yaw moment coefficient"
	      ShowPortLabels	      on
	      Cnbeta		      "Cnbeta"
	      Cnda		      "Cnda"
	      Cndr		      "Cndr"
	      Cnp		      "Cnp"
	      Cnr		      "Cnr"
	      b			      "b"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Faero"
	      Position		      [680, 98, 710, 112]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Maero"
	      Position		      [680, 128, 710, 142]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "AeroCoeff"
	      Position		      [680, 158, 710, 172]
	      Port		      "3"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "VelW"
	      Position		      [680, 188, 710, 202]
	      Port		      "4"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Mach"
	      Position		      [680, 218, 710, 232]
	      Port		      "5"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "pdyn"
	      Position		      [680, 248, 710, 262]
	      Port		      "6"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      SrcBlock		      "Sum"
	      SrcPort		      1
	      Points		      [135, 0]
	      Branch {
		Points			[0, 120]
		Branch {
		  Points		  [0, 110]
		  Branch {
		    Points		    [0, 130]
		    Branch {
		    DstBlock		    "Roll Moment\nCoefficient"
		    DstPort		    3
		    }
		    Branch {
		    Points		    [0, 115]
		    DstBlock		    "Yaw Moment\nCoefficient"
		    DstPort		    3
		    }
		  }
		  Branch {
		    DstBlock		    "Pitch Moment\nCoefficient"
		    DstPort		    4
		  }
		}
		Branch {
		  DstBlock		  "Side Force Coefficient"
		  DstPort		  3
		}
	      }
	      Branch {
		Points			[0, -140]
		DstBlock		"Lift Coefficient"
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	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
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	      Name		      "Rearth"
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	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
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	    Block {
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	    Block {
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	      IconDisplay	      "Port number"
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	      IconDisplay	      "Port number"
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	Block {
	  BlockType		  SubSystem
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	  Position		  [795, 88, 895, 277]
	  TreatAsAtomicUnit	  off
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
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	    Block {
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	      Position		      [15, 43, 45, 57]
	      Port		      "1"
	      IconDisplay	      "Port number"
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	      LatchInput	      off
	    }
	    Block {
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	      IconDisplay	      "Port number"
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	      LatchInput	      off
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	    Block {
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	    Block {
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	    Block {
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	      IconDisplay	      "Port number"
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	    Block {
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	      LatchInput	      off
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	    Block {
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	      LatchInput	      off
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	    Block {
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	      Position		      [300, 305, 395, 365]
	      SourceBlock	      "aerosimlib/Transformations/Body-Inertia"
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	      SourceType	      "Body-Inertial DCM"
	      ShowPortLabels	      on
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	    Block {
	      BlockType		      Demux
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	      Ports		      [1, 2]
	      Position		      [120, 397, 125, 448]
	      BackgroundColor	      "black"
	      ShowName		      off
	      Outputs		      "2"
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	    Block {
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	      Position		      [300, 220, 395, 280]
	      AncestorBlock	      "aerosimlib/Transformations/Euler Angles"
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	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
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"ions.\n<P><B>Input:</B> the 4x1 vector of quaternions;</P>\n<P><B>Output:</B>"
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	      MaskIconUnits	      "autoscale"
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		ModelBrowserVisibility	off
		ModelBrowserWidth	200
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		  IconDisplay		  "Port number"
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		  LatchInput		  off
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		Block {
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		  Position		  [100, 41, 105, 134]
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		Block {
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		  Position		  [210, 426, 215, 519]
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		  ShowName		  off
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		Block {
		  BlockType		  Gain
		  Name			  "Gain6"
		  Position		  [415, 60, 445, 90]
		  Gain			  "2"
		}
		Block {
		  BlockType		  Gain
		  Name			  "Gain7"
		  Position		  [415, 205, 445, 235]
		  Gain			  "2"
		}
		Block {
		  BlockType		  Gain
		  Name			  "Gain8"
		  Position		  [415, 275, 445, 305]
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		Block {
		  BlockType		  Math
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		  Ports			  [1, 1]
		  Position		  [155, 460, 185, 490]
		  Operator		  "square"
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		Block {
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		  Position		  [650, 192, 655, 248]
		  ShowName		  off
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		Block {
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		  Position		  [360, 106, 385, 184]
		  ShowName		  off
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		Block {
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		  Position		  [360, 200, 385, 240]
		  ShowName		  off
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		Block {
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		  Position		  [360, 270, 385, 310]
		  ShowName		  off
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		Block {
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		  Ports			  [4, 1]
		  Position		  [360, 321, 385, 399]
		  ShowName		  off
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		Block {
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		  Ports			  [2, 1]
		  Position		  [360, 55, 385, 95]
		  ShowName		  off
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		Block {
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		  Ports			  [2, 1]
		  Position		  [480, 64, 510, 106]
		  Operator		  "atan2"
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		Block {
		  BlockType		  Trigonometry
		  Name			  "Trigonometric\nFunction1"
		  Ports			  [1, 1]
		  Position		  [480, 205, 510, 235]
		  Operator		  "asin"
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		Block {
		  BlockType		  Trigonometry
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		  Ports			  [2, 1]
		  Position		  [480, 279, 510, 321]
		  Operator		  "atan2"
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		Block {
		  BlockType		  Product
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		  Position		  [185, 354, 215, 396]
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		Block {
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		Block {
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		Block {
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		  Position		  [185, 234, 215, 276]
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		Block {
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		  RndMeth		  "Floor"
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		Block {
		  BlockType		  Product
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		  Position		  [185, 114, 215, 156]
		  RndMeth		  "Floor"
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		Block {
		  BlockType		  Outport
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		  Position		  [685, 213, 715, 227]
		  IconDisplay		  "Port number"
		  BusOutputAsStruct	  off
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		  DstBlock		  "Euler"
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		Line {
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		  Branch {
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		    DstBlock		    "Sum10"
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		Line {
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		  Points		  [90, 0; 0, -110]
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		  Branch {
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		    DstBlock		    "Sum10"
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		Line {
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		  Points		  [80, 0; 0, -105]
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		  Branch {
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		  Branch {
		    Points		    [0, 80]
		    Branch {
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		    DstBlock		    "eyez"
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		    Branch {
		    DstBlock		    "exez"
		    DstPort		    2
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		  }
		  Branch {
		    DstBlock		    "eze0"
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		Line {
		  SrcBlock		  "Demux"
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		  Points		  [0, 0; 40, 0]
		  Branch {
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		    Branch {
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		    DstBlock		    "eyez"
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		    Branch {
		    DstBlock		    "eye0"
		    DstPort		    1
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		  }
		  Branch {
		    Points		    [0, -15]
		    DstBlock		    "exey"
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		Line {
		  SrcBlock		  "Demux"
		  SrcPort		  2
		  Points		  [0, 0; 30, 0]
		  Branch {
		    Points		    [0, 110]
		    Branch {
		    Points		    [0, 180]
		    DstBlock		    "exe0"
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		    Branch {
		    DstBlock		    "exez"
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		  }
		  Branch {
		    Points		    [0, -10]
		    DstBlock		    "exey"
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		Line {
		  SrcBlock		  "Demux"
		  SrcPort		  1
		  Points		  [20, 0; 0, 95]
		  Branch {
		    Points		    [0, 120]
		    Branch {
		    Points		    [0, 120]
		    DstBlock		    "exe0"
		    DstPort		    2
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		    Branch {
		    DstBlock		    "eye0"
		    DstPort		    2
		    }
		  }
		  Branch {
		    DstBlock		    "eze0"
		    DstPort		    2
		  }
		}
		Line {
		  SrcBlock		  "Quaternions"
		  SrcPort		  1
		  Points		  [0, 0; 15, 0]
		  Branch {
		    DstBlock		    "Demux"
		    DstPort		    1
		  }
		  Branch {
		    Points		    [0, 385]
		    DstBlock		    "Math\nFunction"
		    DstPort		    1
		  }
		}
		Line {
		  SrcBlock		  "Trigonometric\nFunction2"
		  SrcPort		  1
		  Points		  [115, 0; 0, -60]
		  DstBlock		  "Mux"
		  DstPort		  3
		}
		Line {
		  SrcBlock		  "Trigonometric\nFunction"
		  SrcPort		  1
		  Points		  [115, 0; 0, 115]
		  DstBlock		  "Mux"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Trigonometric\nFunction1"
		  SrcPort		  1
		  DstBlock		  "Mux"
		  DstPort		  2
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		Line {
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		  SrcPort		  1
		  Points		  [65, 0; 0, -50]
		  DstBlock		  "Trigonometric\nFunction2"
		  DstPort		  2
		}
		Line {
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		  SrcPort		  1
		  DstBlock		  "Trigonometric\nFunction2"
		  DstPort		  1
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		Line {
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		  SrcPort		  1
		  DstBlock		  "Gain8"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Gain7"
		  SrcPort		  1
		  DstBlock		  "Trigonometric\nFunction1"
		  DstPort		  1
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		Line {
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		  DstBlock		  "Gain7"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "Sum10"
		  SrcPort		  1
		  Points		  [65, 0; 0, -50]
		  DstBlock		  "Trigonometric\nFunction"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "Gain6"
		  SrcPort		  1
		  DstBlock		  "Trigonometric\nFunction"
		  DstPort		  1
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		Line {
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		Annotation {
		  Name			  "Quaternion products"
		  Position		  [210, 36]
		}
		Annotation {
		  Name			  "Sources"
		  Position		  [87, 26]
		}
		Annotation {
		  Name			  "Compute Euler angles"
		  Position		  [418, 35]
		}
	      }
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Forces"
	      Ports		      [5, 1]
	      Position		      [150, 16, 250, 124]
	      SourceBlock	      "aerosimlib/Equations of Motion/Body-Fra"
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	      SourceType	      "Force equations"
	      ShowPortLabels	      on
	      VelocitiesIni	      "VelocitiesIni"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Kinematics (Quaternions)"
	      Ports		      [2, 1]
	      Position		      [150, 245, 250, 325]
	      SourceBlock	      "aerosimlib/Equations of Motion/Body-Fra"
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