imported node Va_filter_100 (Va : real) returns (Va_f : real) wcet 1;
imported node Vz_filter_100 (Vz : real) returns (Vz_f : real) wcet 1;
imported node Va_filter_50 (Va : real) returns (Va_f : real) wcet 1;
imported node Vz_filter_50 (Vz : real) returns (Vz_f : real) wcet 1;
imported node q_filter_100  (q : real)  returns (q_f  : real) wcet 1;
imported node az_filter_100 (az: real)  returns (az_f : real) wcet 1;
imported node h_filter_100  (h: real)   returns (h_f  : real) wcet 1;
imported node h_filter_50  (h: real)   returns (h_f  : real) wcet 1;
imported node altitude_hold_50(h_f : real;  h_c : real  ) returns (Vz_c : real) wcet 1;
imported node altitude_hold_10(h_f : real;  h_c : real  ) returns (Vz_c : real) wcet 1;
imported node Va_control_50(Va_f, Vz_f, q_f,  Va_c : real) returns (delta_th_c : real) wcet 1;
imported node Vz_control_50(Vz_f, Vz_c, q_f, az_f : real ) returns (delta_e_c: real) wcet 1;
imported node Va_control_25(Va_f, Vz_f, q_f,  Va_c : real) returns (delta_th_c : real) wcet 1;
imported node Vz_control_25(Vz_f, Vz_c, q_f, az_f : real ) returns (delta_e_c: real) wcet 1;
imported node engine (delta_th_c : real) returns (T : real) wcet 1;
imported node elevator (delta_e_c : real) returns (delta_e : real) wcet 1;
imported node aircraft_dynamics (delta_e, T : real) returns (Va, Vz, q, az, h : real) wcet 1;

actuator delta_e_c wcet 1;
actuator delta_th_c  wcet 1;

-- target altitude
sensor h_c wcet 1;
-- target speed for reaching altitude
sensor Va_c wcet 1;



node assemblage (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_100(h/^2);
  Va_f = Va_filter_100(Va/^2);
  Vz_f = Vz_filter_100(Vz/^2);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_50 
        (h_f/^2,  h_c*^5);
  delta_th_c = Va_control_50 
        (Va_f/^2, Vz_f/^2, q_f/^2,  Va_c*^5 );
  delta_e_c = Vz_control_50
        (Vz_f/^2, Vz_c, q_f/^2, az_f/^2);
  T = engine (delta_th_c*^4);
  delta_e = elevator (delta_e_c*^4);
  (Va, Vz, q, az, h)= aircraft_dynamics
        ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel


node assemblage_v2 (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_100(h/^2);
  Va_f = Va_filter_100(Va/^2);
  Vz_f = Vz_filter_100(Vz/^2);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_50 (h_f/^2,  h_c*^5);
  delta_th_c = Va_control_50 
        (Va_f/^2, Vz_f/^2, q_f/^2,  Va_c*^5);
  delta_e_c = Vz_control_50
        (Vz_f/^2, Vz_c, q_f/^2, az_f/^2);
  T = engine ((1.5868660794926 fby delta_th_c)*^4);
  delta_e = elevator ((0.012009615652468  fby delta_e_c)*^4);
  (Va, Vz, q, az, h)= aircraft_dynamics
        ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel

node assemblage_v3 (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_50(h/^4);
  Va_f = Va_filter_50(Va/^4);
  Vz_f = Vz_filter_50(Vz/^4);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_10 (h_f/^5,  h_c);
  delta_th_c = Va_control_50 
        (Va_f, Vz_f, q_f/^2,  Va_c*^5);
  delta_e_c = Vz_control_50
        (Vz_f, Vz_c*^5, q_f/^2, az_f/^2);
  T = engine (delta_th_c*^4);
  delta_e = elevator (delta_e_c*^4);
  (Va, Vz, q, az, h)= aircraft_dynamics
         ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel



node assemblage_v4 (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_50(h/^4);
  Va_f = Va_filter_50(Va/^4);
  Vz_f = Vz_filter_50(Vz/^4);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_10 (h_f/^5,  h_c);
  delta_th_c = Va_control_50 
        (Va_f, Vz_f, q_f/^2,  Va_c*^5);
  delta_e_c = Vz_control_50
        (Vz_f, Vz_c*^5, q_f/^2, az_f/^2);
  T = engine ((1.5868660794926 fby delta_th_c)*^4);
  delta_e = elevator ((0.012009615652468  fby delta_e_c)*^4);
  (Va, Vz, q, az, h)= aircraft_dynamics
       ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel


node assemblage_v41 (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_50(h/^4);
  Va_f = Va_filter_50(Va/^4);
  Vz_f = Vz_filter_50(Vz/^4);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_10 (h_f/^5,  h_c);
  delta_th_c = Va_control_50 
        (Va_f, Vz_f, q_f/^2,  Va_c*^5);
  delta_e_c = Vz_control_50
        (Vz_f, (0.0 fby Vz_c)*^5, q_f/^2, az_f/^2);
  T = engine ((1.5868660794926 fby delta_th_c)*^4);
  delta_e = elevator ((0.012009615652468  fby delta_e_c)*^4);
  (Va, Vz, q, az, h)= aircraft_dynamics
       ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel


node assemblage_v5 (h_c,  Va_c: real rate (1000,0))
returns (delta_e_c, delta_th_c : real)
var Va, Vz, q, az, h: real;
  Va_f, Vz_f, q_f, az_f, h_f : real;
  Vz_c, delta_e, T : real;
let
  h_f = h_filter_50(h/^4);
  Va_f = Va_filter_50(Va/^4);
  Vz_f = Vz_filter_50(Vz/^4);
  q_f = q_filter_100(q/^2);
  az_f = az_filter_100(az/^2);
  Vz_c = altitude_hold_10 (h_f/^5,  h_c);
  delta_th_c = Va_control_25 
        (Va_f/^2, Vz_f/^2, q_f/^4,  Va_c*^5/^2);
  delta_e_c = Vz_control_25
        (Vz_f/^2, Vz_c*^5/^2, q_f/^4, az_f/^4);
  T = engine (delta_th_c*^8);
  delta_e = elevator (delta_e_c*^8);
  (Va, Vz, q, az, h)= aircraft_dynamics
        ((0.012009615652468 fby delta_e), (41813.92119463 fby T));
tel