Modifications and new functions
·
Existing
functions may be deleted, new functions may replace existing functions or add
completely new ones. It is the responsibility of the user to check for
consistency of the model.
·
Parameters
for the new functions have to added in the corresponding
parameters files. It is recommended to save the parameters file with new
file names and explicit naming of file and configuration. Renaming
AUVSiumlator.mdl is also recommended.
·
Any method
may be use to develop new systems : Simulink Blocks, Matlab S-functions, C
s-functions. Be aware that any matlab S-function will slow down the
computation, therefore making it hard to keep up with real-time, especially
while simulating the wave action in Environement.
·
The
developer should use the registered
To/From Blocks as they are specified. Additional To/From variables may be
added to the one already registered. It is required also to update the source
(from) and destination (to) of each registered To/From Blocks in the Simulink
model and in the documentation.
·
Added
Subsystems have to be documented, using the recommendations and specifications for
documentation. Please follow the template.
Double-Clicking on the blue button (bottom right) will open the
different parameter files for further modifications :
·
Parameters.m
: general simulation parameters. See the existing
configurations.
·
DynamicsParameters.m
: AUV dynamic model parameters and initial conditions for the vehicle.
·
EnvironmentParameters.m:
Environment parameters
·
SensorsParameters.m:
Parameters for sensor models.
·
ControlParameters.m
: Includes the parameters of the control scheme used. It does comprehend the
tuning of controllers and the assumed vehicle dynamic model parameters if used
in an internal model.
·
NetworkingParameters.m
: parameters for networking function (output to 3D viewers).
Modify parameters as desired in the specific files. Save
modifications before starting the simulation. Saving will overwrite previous
parameters. If the user wants to use the parameters for further simulations, he
can save the specific parameter file with a new name and name the configuration
(see top of the specific parameters file). Different
configurations are already available. If a new configuration is created,
please update the configurations file.
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