diff --git a/modeling/ISAE/UAV.xml b/modeling/ISAE/UAV.xml
new file mode 100644
index 0000000000000000000000000000000000000000..872001b930f8fa5e0161748f5899bfdc5c2ad04a
--- /dev/null
+++ b/modeling/ISAE/UAV.xml
@@ -0,0 +1,18681 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<TURTLEGMODELING version="1.0beta">
+
+<Modeling type="Avatar Requirement" nameTab="Comments" >
+<AvatarRDPanel name="Comments" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
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+<hidden value="false" />
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+<infoparam name="UML Note" value="
+The system adressed by the model was first described by Prof. Ludovic Apvrille in 2007.
+The solution posted on soc.eurecom.fr/UMLEmb/exams.html used TTool and TAU G2,
+using the TURTLE and UML/SDL profiles, respectively.
+The model included in this file exclusively uses the SysML/AVATAR syntax and TTool.
+
+
+Last Update: July 02, 2018.
+
+Authors
+ Pierre de Saqui-Sannes
+ pdss@isae-supaero.fr
+
+ Ludovic Apvrille
+ ludovic.apvrille@telecom-paristech.fr
+
+Cooperation with ISAE-CNAM students (2017-2018).
+
+" />
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+<Line value="" />
+<Line value="The system adressed by the model was first described by Prof. Ludovic Apvrille in 2007." />
+<Line value="The solution posted on soc.eurecom.fr/UMLEmb/exams.html used TTool and TAU G2, " />
+<Line value="using the TURTLE and UML/SDL profiles, respectively." />
+<Line value="The model included in this file exclusively uses the SysML/AVATAR syntax and TTool." />
+<Line value="" />
+<Line value="" />
+<Line value="Last Update: July 02, 2018." />
+<Line value="" />
+<Line value="Authors" />
+<Line value=" Pierre de Saqui-Sannes" />
+<Line value=" pdss@isae-supaero.fr" />
+<Line value="" />
+<Line value=" Ludovic Apvrille" />
+<Line value=" ludovic.apvrille@telecom-paristech.fr" />
+<Line value=" " />
+<Line value="Cooperation with ISAE-CNAM students (2017-2018)." />
+<Line value=" " />
+</extraparam>
+</COMPONENT>
+
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+</AvatarRDPanel>
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+</Modeling>
+
+
+
+
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+</AvatarMADPanel>
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+</AvatarMADPanel>
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+<TGConnectingPoint num="1" id="453" />
+<TGConnectingPoint num="2" id="454" />
+<TGConnectingPoint num="3" id="455" />
+<TGConnectingPoint num="4" id="456" />
+<TGConnectingPoint num="5" id="457" />
+<TGConnectingPoint num="6" id="458" />
+<TGConnectingPoint num="7" id="459" />
+<TGConnectingPoint num="8" id="460" />
+<TGConnectingPoint num="9" id="461" />
+<TGConnectingPoint num="10" id="462" />
+<TGConnectingPoint num="11" id="463" />
+<TGConnectingPoint num="12" id="464" />
+<TGConnectingPoint num="13" id="465" />
+<TGConnectingPoint num="14" id="466" />
+<TGConnectingPoint num="15" id="467" />
+<TGConnectingPoint num="16" id="468" />
+<TGConnectingPoint num="17" id="469" />
+<TGConnectingPoint num="18" id="470" />
+<TGConnectingPoint num="19" id="471" />
+<TGConnectingPoint num="20" id="472" />
+<TGConnectingPoint num="21" id="473" />
+<TGConnectingPoint num="22" id="474" />
+<TGConnectingPoint num="23" id="475" />
+<TGConnectingPoint num="24" id="476" />
+<TGConnectingPoint num="25" id="477" />
+<TGConnectingPoint num="26" id="478" />
+<TGConnectingPoint num="27" id="479" />
+<TGConnectingPoint num="28" id="480" />
+<TGConnectingPoint num="29" id="481" />
+<TGConnectingPoint num="30" id="482" />
+<extraparam>
+<textline data="The capacity of the " />
+<textline data="Compact Flash " />
+<textline data="memory is limited" />
+<textline data="to 3 pictures." />
+<type data="1" />
+<durability data="2" />
+<source data="3" />
+<status data="2" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="515" >
+<cdparam x="117" y="203" />
+<sizeparam width="171" height="123" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="123" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Assumption" value="UnlimitedMemory" />
+<TGConnectingPoint num="0" id="484" />
+<TGConnectingPoint num="1" id="485" />
+<TGConnectingPoint num="2" id="486" />
+<TGConnectingPoint num="3" id="487" />
+<TGConnectingPoint num="4" id="488" />
+<TGConnectingPoint num="5" id="489" />
+<TGConnectingPoint num="6" id="490" />
+<TGConnectingPoint num="7" id="491" />
+<TGConnectingPoint num="8" id="492" />
+<TGConnectingPoint num="9" id="493" />
+<TGConnectingPoint num="10" id="494" />
+<TGConnectingPoint num="11" id="495" />
+<TGConnectingPoint num="12" id="496" />
+<TGConnectingPoint num="13" id="497" />
+<TGConnectingPoint num="14" id="498" />
+<TGConnectingPoint num="15" id="499" />
+<TGConnectingPoint num="16" id="500" />
+<TGConnectingPoint num="17" id="501" />
+<TGConnectingPoint num="18" id="502" />
+<TGConnectingPoint num="19" id="503" />
+<TGConnectingPoint num="20" id="504" />
+<TGConnectingPoint num="21" id="505" />
+<TGConnectingPoint num="22" id="506" />
+<TGConnectingPoint num="23" id="507" />
+<TGConnectingPoint num="24" id="508" />
+<TGConnectingPoint num="25" id="509" />
+<TGConnectingPoint num="26" id="510" />
+<TGConnectingPoint num="27" id="511" />
+<TGConnectingPoint num="28" id="512" />
+<TGConnectingPoint num="29" id="513" />
+<TGConnectingPoint num="30" id="514" />
+<extraparam>
+<textline data="The capacity of the " />
+<textline data="Compact Flash " />
+<textline data="memory is unlimited" />
+<type data="1" />
+<durability data="2" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="547" >
+<cdparam x="470" y="358" />
+<sizeparam width="380" height="136" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="88" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Assumption" value="Turbulence" />
+<TGConnectingPoint num="0" id="516" />
+<TGConnectingPoint num="1" id="517" />
+<TGConnectingPoint num="2" id="518" />
+<TGConnectingPoint num="3" id="519" />
+<TGConnectingPoint num="4" id="520" />
+<TGConnectingPoint num="5" id="521" />
+<TGConnectingPoint num="6" id="522" />
+<TGConnectingPoint num="7" id="523" />
+<TGConnectingPoint num="8" id="524" />
+<TGConnectingPoint num="9" id="525" />
+<TGConnectingPoint num="10" id="526" />
+<TGConnectingPoint num="11" id="527" />
+<TGConnectingPoint num="12" id="528" />
+<TGConnectingPoint num="13" id="529" />
+<TGConnectingPoint num="14" id="530" />
+<TGConnectingPoint num="15" id="531" />
+<TGConnectingPoint num="16" id="532" />
+<TGConnectingPoint num="17" id="533" />
+<TGConnectingPoint num="18" id="534" />
+<TGConnectingPoint num="19" id="535" />
+<TGConnectingPoint num="20" id="536" />
+<TGConnectingPoint num="21" id="537" />
+<TGConnectingPoint num="22" id="538" />
+<TGConnectingPoint num="23" id="539" />
+<TGConnectingPoint num="24" id="540" />
+<TGConnectingPoint num="25" id="541" />
+<TGConnectingPoint num="26" id="542" />
+<TGConnectingPoint num="27" id="543" />
+<TGConnectingPoint num="28" id="544" />
+<TGConnectingPoint num="29" id="545" />
+<TGConnectingPoint num="30" id="546" />
+<extraparam>
+<textline data="The drone can encounter turbulence. The autopilot can" />
+<textline data="automatically adapt its flight orders as long as" />
+<textline data="the turbulence remains under a given threshold" />
+<type data="0" />
+<durability data="2" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5250" id="579" >
+<cdparam x="117" y="362" />
+<sizeparam width="234" height="123" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="104" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Assumption" value="NoTurbulence" />
+<TGConnectingPoint num="0" id="548" />
+<TGConnectingPoint num="1" id="549" />
+<TGConnectingPoint num="2" id="550" />
+<TGConnectingPoint num="3" id="551" />
+<TGConnectingPoint num="4" id="552" />
+<TGConnectingPoint num="5" id="553" />
+<TGConnectingPoint num="6" id="554" />
+<TGConnectingPoint num="7" id="555" />
+<TGConnectingPoint num="8" id="556" />
+<TGConnectingPoint num="9" id="557" />
+<TGConnectingPoint num="10" id="558" />
+<TGConnectingPoint num="11" id="559" />
+<TGConnectingPoint num="12" id="560" />
+<TGConnectingPoint num="13" id="561" />
+<TGConnectingPoint num="14" id="562" />
+<TGConnectingPoint num="15" id="563" />
+<TGConnectingPoint num="16" id="564" />
+<TGConnectingPoint num="17" id="565" />
+<TGConnectingPoint num="18" id="566" />
+<TGConnectingPoint num="19" id="567" />
+<TGConnectingPoint num="20" id="568" />
+<TGConnectingPoint num="21" id="569" />
+<TGConnectingPoint num="22" id="570" />
+<TGConnectingPoint num="23" id="571" />
+<TGConnectingPoint num="24" id="572" />
+<TGConnectingPoint num="25" id="573" />
+<TGConnectingPoint num="26" id="574" />
+<TGConnectingPoint num="27" id="575" />
+<TGConnectingPoint num="28" id="576" />
+<TGConnectingPoint num="29" id="577" />
+<TGConnectingPoint num="30" id="578" />
+<extraparam>
+<textline data="We first assume a perfect flight" />
+<textline data="thanks to the absence of turbulence" />
+<type data="0" />
+<durability data="2" />
+<source data="3" />
+<status data="1" />
+<limitation data="3" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5254" id="581" >
+<cdparam x="287" y="113" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<versioning>>" />
+<TGConnectingPoint num="0" id="580" />
+<P1 x="287" y="106" id="424" />
+<P2 x="404" y="106" id="389" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<oldVersion data="1" />
+<newVersion data="2" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5254" id="583" >
+<cdparam x="288" y="264" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<versioning>>" />
+<TGConnectingPoint num="0" id="582" />
+<P1 x="288" y="264" id="488" />
+<P2 x="403" y="264" id="453" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<oldVersion data="1" />
+<newVersion data="2" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5254" id="585" >
+<cdparam x="461" y="471" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<versioning>>" />
+<TGConnectingPoint num="0" id="584" />
+<P1 x="351" y="423" id="552" />
+<P2 x="470" y="426" id="517" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<oldVersion data="1" />
+<newVersion data="2" />
+</extraparam>
+</CONNECTOR>
+
+</AvatarMADPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="Avatar Requirement" nameTab="Requirements" >
+<AvatarRDPanel name="AVATAR RD" minX="10" maxX="1400" minY="10" maxY="900" zoom="1.0" >
+<COMPONENT type="5200" id="629" >
+<cdparam x="260" y="418" />
+<sizeparam width="439" height="140" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="150" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="TakingPictureDuration" />
+<TGConnectingPoint num="0" id="586" />
+<TGConnectingPoint num="1" id="587" />
+<TGConnectingPoint num="2" id="588" />
+<TGConnectingPoint num="3" id="589" />
+<TGConnectingPoint num="4" id="590" />
+<TGConnectingPoint num="5" id="591" />
+<TGConnectingPoint num="6" id="592" />
+<TGConnectingPoint num="7" id="593" />
+<TGConnectingPoint num="8" id="594" />
+<TGConnectingPoint num="9" id="595" />
+<TGConnectingPoint num="10" id="596" />
+<TGConnectingPoint num="11" id="597" />
+<TGConnectingPoint num="12" id="598" />
+<TGConnectingPoint num="13" id="599" />
+<TGConnectingPoint num="14" id="600" />
+<TGConnectingPoint num="15" id="601" />
+<TGConnectingPoint num="16" id="602" />
+<TGConnectingPoint num="17" id="603" />
+<TGConnectingPoint num="18" id="604" />
+<TGConnectingPoint num="19" id="605" />
+<TGConnectingPoint num="20" id="606" />
+<TGConnectingPoint num="21" id="607" />
+<TGConnectingPoint num="22" id="608" />
+<TGConnectingPoint num="23" id="609" />
+<TGConnectingPoint num="24" id="610" />
+<TGConnectingPoint num="25" id="611" />
+<TGConnectingPoint num="26" id="612" />
+<TGConnectingPoint num="27" id="613" />
+<TGConnectingPoint num="28" id="614" />
+<TGConnectingPoint num="29" id="615" />
+<TGConnectingPoint num="30" id="616" />
+<TGConnectingPoint num="31" id="617" />
+<TGConnectingPoint num="32" id="618" />
+<TGConnectingPoint num="33" id="619" />
+<TGConnectingPoint num="34" id="620" />
+<TGConnectingPoint num="35" id="621" />
+<TGConnectingPoint num="36" id="622" />
+<TGConnectingPoint num="37" id="623" />
+<TGConnectingPoint num="38" id="624" />
+<TGConnectingPoint num="39" id="625" />
+<TGConnectingPoint num="40" id="626" />
+<TGConnectingPoint num="41" id="627" />
+<TGConnectingPoint num="42" id="628" />
+<extraparam>
+<textline data="The system may take up to 2 seconds" />
+<textline data="to take one picture." />
+<kind data="Performance" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="8" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+<extraAttribute id="Assumption" value="Duration is the same whatever the available memory" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="673" >
+<cdparam x="661" y="296" />
+<sizeparam width="253" height="90" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="96" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="TimeToStore" />
+<TGConnectingPoint num="0" id="630" />
+<TGConnectingPoint num="1" id="631" />
+<TGConnectingPoint num="2" id="632" />
+<TGConnectingPoint num="3" id="633" />
+<TGConnectingPoint num="4" id="634" />
+<TGConnectingPoint num="5" id="635" />
+<TGConnectingPoint num="6" id="636" />
+<TGConnectingPoint num="7" id="637" />
+<TGConnectingPoint num="8" id="638" />
+<TGConnectingPoint num="9" id="639" />
+<TGConnectingPoint num="10" id="640" />
+<TGConnectingPoint num="11" id="641" />
+<TGConnectingPoint num="12" id="642" />
+<TGConnectingPoint num="13" id="643" />
+<TGConnectingPoint num="14" id="644" />
+<TGConnectingPoint num="15" id="645" />
+<TGConnectingPoint num="16" id="646" />
+<TGConnectingPoint num="17" id="647" />
+<TGConnectingPoint num="18" id="648" />
+<TGConnectingPoint num="19" id="649" />
+<TGConnectingPoint num="20" id="650" />
+<TGConnectingPoint num="21" id="651" />
+<TGConnectingPoint num="22" id="652" />
+<TGConnectingPoint num="23" id="653" />
+<TGConnectingPoint num="24" id="654" />
+<TGConnectingPoint num="25" id="655" />
+<TGConnectingPoint num="26" id="656" />
+<TGConnectingPoint num="27" id="657" />
+<TGConnectingPoint num="28" id="658" />
+<TGConnectingPoint num="29" id="659" />
+<TGConnectingPoint num="30" id="660" />
+<TGConnectingPoint num="31" id="661" />
+<TGConnectingPoint num="32" id="662" />
+<TGConnectingPoint num="33" id="663" />
+<TGConnectingPoint num="34" id="664" />
+<TGConnectingPoint num="35" id="665" />
+<TGConnectingPoint num="36" id="666" />
+<TGConnectingPoint num="37" id="667" />
+<TGConnectingPoint num="38" id="668" />
+<TGConnectingPoint num="39" id="669" />
+<TGConnectingPoint num="40" id="670" />
+<TGConnectingPoint num="41" id="671" />
+<TGConnectingPoint num="42" id="672" />
+<extraparam>
+<textline data="The flash shall take 4 to 5 seconds" />
+<textline data=" to store one picture." />
+<kind data="Non-functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="7" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="717" >
+<cdparam x="16" y="312" />
+<sizeparam width="260" height="88" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="208" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="TakingPictureAtTheRightPosition" />
+<TGConnectingPoint num="0" id="674" />
+<TGConnectingPoint num="1" id="675" />
+<TGConnectingPoint num="2" id="676" />
+<TGConnectingPoint num="3" id="677" />
+<TGConnectingPoint num="4" id="678" />
+<TGConnectingPoint num="5" id="679" />
+<TGConnectingPoint num="6" id="680" />
+<TGConnectingPoint num="7" id="681" />
+<TGConnectingPoint num="8" id="682" />
+<TGConnectingPoint num="9" id="683" />
+<TGConnectingPoint num="10" id="684" />
+<TGConnectingPoint num="11" id="685" />
+<TGConnectingPoint num="12" id="686" />
+<TGConnectingPoint num="13" id="687" />
+<TGConnectingPoint num="14" id="688" />
+<TGConnectingPoint num="15" id="689" />
+<TGConnectingPoint num="16" id="690" />
+<TGConnectingPoint num="17" id="691" />
+<TGConnectingPoint num="18" id="692" />
+<TGConnectingPoint num="19" id="693" />
+<TGConnectingPoint num="20" id="694" />
+<TGConnectingPoint num="21" id="695" />
+<TGConnectingPoint num="22" id="696" />
+<TGConnectingPoint num="23" id="697" />
+<TGConnectingPoint num="24" id="698" />
+<TGConnectingPoint num="25" id="699" />
+<TGConnectingPoint num="26" id="700" />
+<TGConnectingPoint num="27" id="701" />
+<TGConnectingPoint num="28" id="702" />
+<TGConnectingPoint num="29" id="703" />
+<TGConnectingPoint num="30" id="704" />
+<TGConnectingPoint num="31" id="705" />
+<TGConnectingPoint num="32" id="706" />
+<TGConnectingPoint num="33" id="707" />
+<TGConnectingPoint num="34" id="708" />
+<TGConnectingPoint num="35" id="709" />
+<TGConnectingPoint num="36" id="710" />
+<TGConnectingPoint num="37" id="711" />
+<TGConnectingPoint num="38" id="712" />
+<TGConnectingPoint num="39" id="713" />
+<TGConnectingPoint num="40" id="714" />
+<TGConnectingPoint num="41" id="715" />
+<TGConnectingPoint num="42" id="716" />
+<extraparam>
+<textline data="The system will receive information " />
+<textline data="from GNSS to compute its current location." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="5" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="761" >
+<cdparam x="629" y="165" />
+<sizeparam width="200" height="87" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="140" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="TransmittingPictures" />
+<TGConnectingPoint num="0" id="718" />
+<TGConnectingPoint num="1" id="719" />
+<TGConnectingPoint num="2" id="720" />
+<TGConnectingPoint num="3" id="721" />
+<TGConnectingPoint num="4" id="722" />
+<TGConnectingPoint num="5" id="723" />
+<TGConnectingPoint num="6" id="724" />
+<TGConnectingPoint num="7" id="725" />
+<TGConnectingPoint num="8" id="726" />
+<TGConnectingPoint num="9" id="727" />
+<TGConnectingPoint num="10" id="728" />
+<TGConnectingPoint num="11" id="729" />
+<TGConnectingPoint num="12" id="730" />
+<TGConnectingPoint num="13" id="731" />
+<TGConnectingPoint num="14" id="732" />
+<TGConnectingPoint num="15" id="733" />
+<TGConnectingPoint num="16" id="734" />
+<TGConnectingPoint num="17" id="735" />
+<TGConnectingPoint num="18" id="736" />
+<TGConnectingPoint num="19" id="737" />
+<TGConnectingPoint num="20" id="738" />
+<TGConnectingPoint num="21" id="739" />
+<TGConnectingPoint num="22" id="740" />
+<TGConnectingPoint num="23" id="741" />
+<TGConnectingPoint num="24" id="742" />
+<TGConnectingPoint num="25" id="743" />
+<TGConnectingPoint num="26" id="744" />
+<TGConnectingPoint num="27" id="745" />
+<TGConnectingPoint num="28" id="746" />
+<TGConnectingPoint num="29" id="747" />
+<TGConnectingPoint num="30" id="748" />
+<TGConnectingPoint num="31" id="749" />
+<TGConnectingPoint num="32" id="750" />
+<TGConnectingPoint num="33" id="751" />
+<TGConnectingPoint num="34" id="752" />
+<TGConnectingPoint num="35" id="753" />
+<TGConnectingPoint num="36" id="754" />
+<TGConnectingPoint num="37" id="755" />
+<TGConnectingPoint num="38" id="756" />
+<TGConnectingPoint num="39" id="757" />
+<TGConnectingPoint num="40" id="758" />
+<TGConnectingPoint num="41" id="759" />
+<TGConnectingPoint num="42" id="760" />
+<extraparam>
+<textline data="The system shall transmit" />
+<textline data="images to a ground station." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="4" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="805" >
+<cdparam x="344" y="299" />
+<sizeparam width="233" height="85" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="103" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="CompactFlash" />
+<TGConnectingPoint num="0" id="762" />
+<TGConnectingPoint num="1" id="763" />
+<TGConnectingPoint num="2" id="764" />
+<TGConnectingPoint num="3" id="765" />
+<TGConnectingPoint num="4" id="766" />
+<TGConnectingPoint num="5" id="767" />
+<TGConnectingPoint num="6" id="768" />
+<TGConnectingPoint num="7" id="769" />
+<TGConnectingPoint num="8" id="770" />
+<TGConnectingPoint num="9" id="771" />
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+<TGConnectingPoint num="13" id="775" />
+<TGConnectingPoint num="14" id="776" />
+<TGConnectingPoint num="15" id="777" />
+<TGConnectingPoint num="16" id="778" />
+<TGConnectingPoint num="17" id="779" />
+<TGConnectingPoint num="18" id="780" />
+<TGConnectingPoint num="19" id="781" />
+<TGConnectingPoint num="20" id="782" />
+<TGConnectingPoint num="21" id="783" />
+<TGConnectingPoint num="22" id="784" />
+<TGConnectingPoint num="23" id="785" />
+<TGConnectingPoint num="24" id="786" />
+<TGConnectingPoint num="25" id="787" />
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+<TGConnectingPoint num="27" id="789" />
+<TGConnectingPoint num="28" id="790" />
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+<TGConnectingPoint num="30" id="792" />
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+<TGConnectingPoint num="38" id="800" />
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+<TGConnectingPoint num="40" id="802" />
+<TGConnectingPoint num="41" id="803" />
+<TGConnectingPoint num="42" id="804" />
+<extraparam>
+<textline data="The system shall save pictures" />
+<textline data="on a compact flash memory." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="3" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="849" >
+<cdparam x="336" y="163" />
+<sizeparam width="252" height="88" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="98" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="SavingPicture" />
+<TGConnectingPoint num="0" id="806" />
+<TGConnectingPoint num="1" id="807" />
+<TGConnectingPoint num="2" id="808" />
+<TGConnectingPoint num="3" id="809" />
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+<TGConnectingPoint num="7" id="813" />
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+<TGConnectingPoint num="19" id="825" />
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+<TGConnectingPoint num="41" id="847" />
+<TGConnectingPoint num="42" id="848" />
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+<textline data="The system will save pictures " />
+<textline data="if storing space is available." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="2" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="893" >
+<cdparam x="10" y="163" />
+<sizeparam width="290" height="87" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="107" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="TakingPictures" />
+<TGConnectingPoint num="0" id="850" />
+<TGConnectingPoint num="1" id="851" />
+<TGConnectingPoint num="2" id="852" />
+<TGConnectingPoint num="3" id="853" />
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+<TGConnectingPoint num="6" id="856" />
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+<TGConnectingPoint num="20" id="870" />
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+<TGConnectingPoint num="41" id="891" />
+<TGConnectingPoint num="42" id="892" />
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+<textline data="The system will take pictures at a position " />
+<textline data="received from a ground station." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="1" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="937" >
+<cdparam x="314" y="10" />
+<sizeparam width="296" height="84" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="136" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="Requirement" value="PictureManagement" />
+<TGConnectingPoint num="0" id="894" />
+<TGConnectingPoint num="1" id="895" />
+<TGConnectingPoint num="2" id="896" />
+<TGConnectingPoint num="3" id="897" />
+<TGConnectingPoint num="4" id="898" />
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+<TGConnectingPoint num="8" id="902" />
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+<TGConnectingPoint num="41" id="935" />
+<TGConnectingPoint num="42" id="936" />
+<extraparam>
+<textline data="The system will take picture, save them " />
+<textline data="and transmit them to a ground station." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="SafetyRequirement" color="-1773070" />
+<id data="0" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<CONNECTOR type="5206" id="943" >
+<cdparam x="168" y="435" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<refine>>" />
+<TGConnectingPoint num="0" id="940" />
+<TGConnectingPoint num="1" id="941" />
+<TGConnectingPoint num="2" id="942" />
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+<Point x="284" y="390" />
+<Point x="284" y="294" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="938" >
+<father id="943" num="0" />
+<cdparam x="284" y="390" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="939" >
+<father id="943" num="1" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+</SUBCOMPONENT>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<refine>>" />
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+<AutomaticDrawing data="true" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<composition>>" />
+<TGConnectingPoint num="0" id="948" />
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+<TGConnectingPoint num="2" id="950" />
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+<Point x="536" y="137" />
+<AutomaticDrawing data="true" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="5202" id="953" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<deriveReqt>>" />
+<TGConnectingPoint num="0" id="952" />
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+<P2 x="155" y="250" id="860" />
+<AutomaticDrawing data="true" />
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+<CONNECTOR type="5202" id="955" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<deriveReqt>>" />
+<TGConnectingPoint num="0" id="954" />
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+<P2 x="462" y="251" id="816" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5205" id="957" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<composition>>" />
+<TGConnectingPoint num="0" id="956" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="5205" id="963" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="<<composition>>" />
+<TGConnectingPoint num="0" id="960" />
+<TGConnectingPoint num="1" id="961" />
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+<Point x="388" y="127" />
+<AutomaticDrawing data="true" />
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="1400" minY="10" maxY="900" />
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+
+</AvatarRDPanel>
+
+<AvatarRDPanel name="AVATAR RD" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
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+<sizeparam width="375" height="111" minWidth="1" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="121" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Requirement" value="AltitudeDetection" />
+<TGConnectingPoint num="0" id="964" />
+<TGConnectingPoint num="1" id="965" />
+<TGConnectingPoint num="2" id="966" />
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+<TGConnectingPoint num="41" id="1005" />
+<TGConnectingPoint num="42" id="1006" />
+<extraparam>
+<textline data="The system shall access to the value " />
+<textline data="of its current altitude." />
+<kind data="Functional" />
+<criticality data="Low" />
+<reqType data="Requirement" color="-1773070" />
+<id data="0" />
+<satisfied data="false" />
+<verified data="false" />
+<attackTreeNode data="" />
+<violatedAction data="" />
+<referenceElements data="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5200" id="1051" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Requirement" value="Requirement_0" />
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+<TGConnectingPoint num="0" id="2227" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+</SUBCOMPONENT>
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+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+<TGConnectingPoint num="0" id="2235" />
+</SUBCOMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+</SUBCOMPONENT>
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+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
+<infoparam name="port" value="port" />
+<TGConnectingPoint num="0" id="2249" />
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+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
+<infoparam name="port" value="port" />
+<TGConnectingPoint num="0" id="2251" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="630" id="2254" >
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+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
+<infoparam name="port" value="port" />
+<TGConnectingPoint num="0" id="2253" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="630" id="2256" >
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+<cdparam x="105" y="110" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="5" maxX="5" minY="10" maxY="475" />
+<infoparam name="port" value="port" />
+<TGConnectingPoint num="0" id="2255" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="107" id="2258" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="takePicture(100,100)" />
+<P1 x="105" y="323" id="2229" />
+<P2 x="705" y="323" id="1985" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="107" id="2259" >
+<cdparam x="105" y="290" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="eraseMemory" />
+<P1 x="105" y="290" id="2233" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="107" id="2260" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="Full" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="107" id="2261" >
+<cdparam x="555" y="223" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="Full" />
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+<P2 x="705" y="223" id="1997" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="107" id="2262" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="savePicture(pic)" />
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+<P2 x="555" y="190" id="2062" />
+<AutomaticDrawing data="true" />
+</CONNECTOR>
+<CONNECTOR type="107" id="2263" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="PictureWasTaken(pic)" />
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+</CONNECTOR>
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="takePicture" />
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+<AutomaticDrawing data="true" />
+</CONNECTOR>
+
+</SequenceDiagramPanelZV>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="BasicDesign" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="2266" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="2265" />
+<P1 x="456" y="203" id="2387" />
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+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in gotoPosition(Point p)" />
+<osd value="out gotoPosition(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2268" >
+<cdparam x="342" y="149" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="2267" />
+<P1 x="239" y="203" id="2346" />
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+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in currentPosition(Point p)" />
+<osd value="out currentPosition(Point p)" />
+<isd value="in getCurrentPosition()" />
+<oso value="out getCurrentPosition()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2270" >
+<cdparam x="591" y="117" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="2269" />
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+<P2 x="459" y="84" id="2412" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasTaken()" />
+<osd value="out pictureWasTaken()" />
+<isd value="in takePicture()" />
+<oso value="out takePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2272" >
+<cdparam x="235" y="97" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="2271" />
+<P1 x="204" y="83" id="2288" />
+<P2 x="239" y="84" id="2344" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in picture()" />
+<osd value="out picture()" />
+<isd value="in flight()" />
+<isd value="in takePictureOrder(Point p)" />
+<isd value="in transmitPicture()" />
+<oso value="out flight()" />
+<oso value="out takePictureOrder(Point p)" />
+<oso value="out transmitPicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="2274" >
+<cdparam x="466" y="116" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="2273" />
+<P1 x="331" y="263" id="2340" />
+<P2 x="332" y="287" id="2310" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasSaved()" />
+<osd value="out pictureWasSaved()" />
+<isd value="in savePicture()" />
+<oso value="out savePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="5003" id="2283" >
+<cdparam x="75" y="324" />
+<sizeparam width="96" height="74" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="Point" />
+<TGConnectingPoint num="0" id="2275" />
+<TGConnectingPoint num="1" id="2276" />
+<TGConnectingPoint num="2" id="2277" />
+<TGConnectingPoint num="3" id="2278" />
+<TGConnectingPoint num="4" id="2279" />
+<TGConnectingPoint num="5" id="2280" />
+<TGConnectingPoint num="6" id="2281" />
+<TGConnectingPoint num="7" id="2282" />
+<extraparam>
+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="y" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2308" >
+<cdparam x="34" y="15" />
+<sizeparam width="170" height="136" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="TransmissionDevices" />
+<TGConnectingPoint num="0" id="2284" />
+<TGConnectingPoint num="1" id="2285" />
+<TGConnectingPoint num="2" id="2286" />
+<TGConnectingPoint num="3" id="2287" />
+<TGConnectingPoint num="4" id="2288" />
+<TGConnectingPoint num="5" id="2289" />
+<TGConnectingPoint num="6" id="2290" />
+<TGConnectingPoint num="7" id="2291" />
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+<TGConnectingPoint num="14" id="2298" />
+<TGConnectingPoint num="15" id="2299" />
+<TGConnectingPoint num="16" id="2300" />
+<TGConnectingPoint num="17" id="2301" />
+<TGConnectingPoint num="18" id="2302" />
+<TGConnectingPoint num="19" id="2303" />
+<TGConnectingPoint num="20" id="2304" />
+<TGConnectingPoint num="21" id="2305" />
+<TGConnectingPoint num="22" id="2306" />
+<TGConnectingPoint num="23" id="2307" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Signal value="out flight()" attached="true" />
+<Signal value="out takePictureOrder(Point p)" attached="true" />
+<Signal value="out transmitPicture()" attached="true" />
+<Signal value="in picture()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="2333" >
+<cdparam x="250" y="287" />
+<sizeparam width="164" height="133" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="CompactFlashDriver" />
+<TGConnectingPoint num="0" id="2309" />
+<TGConnectingPoint num="1" id="2310" />
+<TGConnectingPoint num="2" id="2311" />
+<TGConnectingPoint num="3" id="2312" />
+<TGConnectingPoint num="4" id="2313" />
+<TGConnectingPoint num="5" id="2314" />
+<TGConnectingPoint num="6" id="2315" />
+<TGConnectingPoint num="7" id="2316" />
+<TGConnectingPoint num="8" id="2317" />
+<TGConnectingPoint num="9" id="2318" />
+<TGConnectingPoint num="10" id="2319" />
+<TGConnectingPoint num="11" id="2320" />
+<TGConnectingPoint num="12" id="2321" />
+<TGConnectingPoint num="13" id="2322" />
+<TGConnectingPoint num="14" id="2323" />
+<TGConnectingPoint num="15" id="2324" />
+<TGConnectingPoint num="16" id="2325" />
+<TGConnectingPoint num="17" id="2326" />
+<TGConnectingPoint num="18" id="2327" />
+<TGConnectingPoint num="19" id="2328" />
+<TGConnectingPoint num="20" id="2329" />
+<TGConnectingPoint num="21" id="2330" />
+<TGConnectingPoint num="22" id="2331" />
+<TGConnectingPoint num="23" id="2332" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="savingTimeMin" value="9" type="8" typeOther="" />
+<Attribute access="0" id="savingTimeMax" value="11" type="8" typeOther="" />
+<Method value="isMemoryAvailable()" />
+<Signal value="in savePicture()" attached="true" />
+<Signal value="out pictureWasSaved()" attached="true" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5000" id="2358" >
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+<sizeparam width="185" height="238" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
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+<TGConnectingPoint num="23" id="2357" />
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+<CryptoBlock value="false" />
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+<Signal value="in takePictureOrder(Point p)" attached="true" />
+<Signal value="in flight()" attached="true" />
+<Signal value="out getCurrentPosition()" attached="true" />
+<Signal value="in currentPosition(Point p)" attached="true" />
+<Signal value="out gotoPosition(Point p)" attached="true" />
+<Signal value="in pictureWasTaken()" attached="true" />
+<Signal value="out savePicture()" attached="true" />
+<Signal value="out takePicture()" attached="true" />
+<Signal value="in pictureWasSaved()" attached="true" />
+<Signal value="in transmitPicture()" attached="true" />
+<Signal value="out picture()" attached="true" />
+</extraparam>
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+<COMPONENT type="5000" id="2383" >
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+<hidden value="false" />
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+<Signal value="in getCurrentPosition()" attached="true" />
+<Signal value="out currentPosition(Point p)" attached="true" />
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+<Signal value="in gotoPosition(Point p)" attached="true" />
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+<Signal value="in takePicture()" attached="true" />
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+
+
+</AVATARBlockDiagramPanel>
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+<AVATARStateMachineDiagramPanel name="TransmissionDevices" minX="10" maxX="2500" minY="10" maxY="1500" >
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+<computeMax value="" />
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+<AutomaticDrawing data="true" />
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+<TGConnectingPoint num="1" id="3248" />
+<TGConnectingPoint num="2" id="3249" />
+<TGConnectingPoint num="3" id="3250" />
+<TGConnectingPoint num="4" id="3251" />
+<TGConnectingPoint num="5" id="3252" />
+<TGConnectingPoint num="6" id="3253" />
+<TGConnectingPoint num="7" id="3254" />
+<TGConnectingPoint num="8" id="3255" />
+<TGConnectingPoint num="9" id="3256" />
+<TGConnectingPoint num="10" id="3257" />
+<TGConnectingPoint num="11" id="3258" />
+<TGConnectingPoint num="12" id="3259" />
+<TGConnectingPoint num="13" id="3260" />
+<TGConnectingPoint num="14" id="3261" />
+<TGConnectingPoint num="15" id="3262" />
+<TGConnectingPoint num="16" id="3263" />
+<TGConnectingPoint num="17" id="3264" />
+<TGConnectingPoint num="18" id="3265" />
+<TGConnectingPoint num="19" id="3266" />
+<TGConnectingPoint num="20" id="3267" />
+<TGConnectingPoint num="21" id="3268" />
+<TGConnectingPoint num="22" id="3269" />
+<TGConnectingPoint num="23" id="3270" />
+<TGConnectingPoint num="24" id="3271" />
+<TGConnectingPoint num="25" id="3272" />
+<TGConnectingPoint num="26" id="3273" />
+<TGConnectingPoint num="27" id="3274" />
+<TGConnectingPoint num="28" id="3275" />
+<TGConnectingPoint num="29" id="3276" />
+<TGConnectingPoint num="30" id="3277" />
+<TGConnectingPoint num="31" id="3278" />
+<TGConnectingPoint num="32" id="3279" />
+<TGConnectingPoint num="33" id="3280" />
+<TGConnectingPoint num="34" id="3281" />
+<TGConnectingPoint num="35" id="3282" />
+<TGConnectingPoint num="36" id="3283" />
+<TGConnectingPoint num="37" id="3284" />
+<TGConnectingPoint num="38" id="3285" />
+<TGConnectingPoint num="39" id="3286" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="3289" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="3288" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+<Modeling type="AVATAR Design" nameTab="DesignVersion1" >
+<AVATARBlockDiagramPanel name="Block Diagram" minX="10" maxX="2500" minY="10" maxY="1500" zoom="1.0" >
+<MainCode value="void __user_init() {"/>
+<MainCode value="}"/>
+<Optimized value="true" />
+<Validated value="" />
+<Ignored value="" />
+
+<CONNECTOR type="5002" id="3295" >
+<cdparam x="157" y="432" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3292" />
+<TGConnectingPoint num="1" id="3293" />
+<TGConnectingPoint num="2" id="3294" />
+<P1 x="157" y="432" id="3444" />
+<P2 x="497" y="432" id="3468" />
+<Point x="157" y="459" />
+<Point x="465" y="459" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<isd value="in getCurrentPosition(Point p)" />
+<oso value="out positionToAP(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR><SUBCOMPONENT type="-1" id="3290" >
+<father id="3295" num="0" />
+<cdparam x="157" y="459" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+<SUBCOMPONENT type="-1" id="3291" >
+<father id="3295" num="1" />
+<cdparam x="465" y="459" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="5002" id="3297" >
+<cdparam x="472" y="497" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3296" />
+<P1 x="472" y="497" id="3331" />
+<P2 x="540" y="432" id="3460" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in getSpeed(Speed s)" />
+<osd value="out setSpeed(Speed s)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3301" >
+<cdparam x="117" y="294" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3299" />
+<TGConnectingPoint num="1" id="3300" />
+<P1 x="115" y="432" id="3435" />
+<P2 x="222" y="597" id="3332" />
+<Point x="115" y="597" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in setNewPosition(Point p)" />
+<osd value="out setNewPosition(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR><SUBCOMPONENT type="-1" id="3298" >
+<father id="3301" num="0" />
+<cdparam x="115" y="597" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="5002" id="3303" >
+<cdparam x="719" y="459" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3302" />
+<P1 x="454" y="335" id="3457" />
+<P2 x="422" y="361" id="3417" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in gotoPosition(Point p)" />
+<osd value="out gotoPosition(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3305" >
+<cdparam x="340" y="307" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3304" />
+<P1 x="237" y="361" id="3416" />
+<P2 x="200" y="377" id="3433" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in currentPosition(Point p)" />
+<osd value="out positionToPPM(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3307" >
+<cdparam x="589" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3306" />
+<P1 x="422" y="242" id="3415" />
+<P2 x="452" y="165" id="3482" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasTaken()" />
+<osd value="out pictureWasTaken()" />
+<isd value="in takePicture()" />
+<oso value="out takePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3309" >
+<cdparam x="233" y="255" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3308" />
+<P1 x="202" y="241" id="3358" />
+<P2 x="237" y="242" id="3414" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in picture()" />
+<osd value="out picture()" />
+<isd value="in flight()" />
+<isd value="in takePictureOrder(Point p)" />
+<isd value="in transmitPicture()" />
+<oso value="out flight()" />
+<oso value="out takePictureOrder(Point p)" />
+<oso value="out transmitPicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="3311" >
+<cdparam x="464" y="274" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="3310" />
+<P1 x="329" y="183" id="3405" />
+<P2 x="328" y="153" id="3385" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasSaved()" />
+<osd value="out pictureWasSaved()" />
+<isd value="in savePicture()" />
+<oso value="out savePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="301" id="3328" >
+<cdparam x="225" y="709" />
+<sizeparam width="256" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This block contains the initial position
+" />
+<TGConnectingPoint num="0" id="3312" />
+<TGConnectingPoint num="1" id="3313" />
+<TGConnectingPoint num="2" id="3314" />
+<TGConnectingPoint num="3" id="3315" />
+<TGConnectingPoint num="4" id="3316" />
+<TGConnectingPoint num="5" id="3317" />
+<TGConnectingPoint num="6" id="3318" />
+<TGConnectingPoint num="7" id="3319" />
+<TGConnectingPoint num="8" id="3320" />
+<TGConnectingPoint num="9" id="3321" />
+<TGConnectingPoint num="10" id="3322" />
+<TGConnectingPoint num="11" id="3323" />
+<TGConnectingPoint num="12" id="3324" />
+<TGConnectingPoint num="13" id="3325" />
+<TGConnectingPoint num="14" id="3326" />
+<TGConnectingPoint num="15" id="3327" />
+<extraparam>
+<Line value="This block contains the initial position" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3353" >
+<cdparam x="222" y="497" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="LocationManager" />
+<TGConnectingPoint num="0" id="3329" />
+<TGConnectingPoint num="1" id="3330" />
+<TGConnectingPoint num="2" id="3331" />
+<TGConnectingPoint num="3" id="3332" />
+<TGConnectingPoint num="4" id="3333" />
+<TGConnectingPoint num="5" id="3334" />
+<TGConnectingPoint num="6" id="3335" />
+<TGConnectingPoint num="7" id="3336" />
+<TGConnectingPoint num="8" id="3337" />
+<TGConnectingPoint num="9" id="3338" />
+<TGConnectingPoint num="10" id="3339" />
+<TGConnectingPoint num="11" id="3340" />
+<TGConnectingPoint num="12" id="3341" />
+<TGConnectingPoint num="13" id="3342" />
+<TGConnectingPoint num="14" id="3343" />
+<TGConnectingPoint num="15" id="3344" />
+<TGConnectingPoint num="16" id="3345" />
+<TGConnectingPoint num="17" id="3346" />
+<TGConnectingPoint num="18" id="3347" />
+<TGConnectingPoint num="19" id="3348" />
+<TGConnectingPoint num="20" id="3349" />
+<TGConnectingPoint num="21" id="3350" />
+<TGConnectingPoint num="22" id="3351" />
+<TGConnectingPoint num="23" id="3352" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="speed" value="" type="5" typeOther="Speed" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Signal value="out setNewPosition(Point p)" attached="true" />
+<Signal value="in getSpeed(Speed s)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3378" >
+<cdparam x="32" y="173" />
+<sizeparam width="170" height="136" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="TransmissionDevices" />
+<TGConnectingPoint num="0" id="3354" />
+<TGConnectingPoint num="1" id="3355" />
+<TGConnectingPoint num="2" id="3356" />
+<TGConnectingPoint num="3" id="3357" />
+<TGConnectingPoint num="4" id="3358" />
+<TGConnectingPoint num="5" id="3359" />
+<TGConnectingPoint num="6" id="3360" />
+<TGConnectingPoint num="7" id="3361" />
+<TGConnectingPoint num="8" id="3362" />
+<TGConnectingPoint num="9" id="3363" />
+<TGConnectingPoint num="10" id="3364" />
+<TGConnectingPoint num="11" id="3365" />
+<TGConnectingPoint num="12" id="3366" />
+<TGConnectingPoint num="13" id="3367" />
+<TGConnectingPoint num="14" id="3368" />
+<TGConnectingPoint num="15" id="3369" />
+<TGConnectingPoint num="16" id="3370" />
+<TGConnectingPoint num="17" id="3371" />
+<TGConnectingPoint num="18" id="3372" />
+<TGConnectingPoint num="19" id="3373" />
+<TGConnectingPoint num="20" id="3374" />
+<TGConnectingPoint num="21" id="3375" />
+<TGConnectingPoint num="22" id="3376" />
+<TGConnectingPoint num="23" id="3377" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Signal value="out flight()" attached="true" />
+<Signal value="out takePictureOrder(Point p)" attached="true" />
+<Signal value="out transmitPicture()" attached="true" />
+<Signal value="in picture()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3403" >
+<cdparam x="246" y="10" />
+<sizeparam width="164" height="143" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="CompactFlashDriver" />
+<TGConnectingPoint num="0" id="3379" />
+<TGConnectingPoint num="1" id="3380" />
+<TGConnectingPoint num="2" id="3381" />
+<TGConnectingPoint num="3" id="3382" />
+<TGConnectingPoint num="4" id="3383" />
+<TGConnectingPoint num="5" id="3384" />
+<TGConnectingPoint num="6" id="3385" />
+<TGConnectingPoint num="7" id="3386" />
+<TGConnectingPoint num="8" id="3387" />
+<TGConnectingPoint num="9" id="3388" />
+<TGConnectingPoint num="10" id="3389" />
+<TGConnectingPoint num="11" id="3390" />
+<TGConnectingPoint num="12" id="3391" />
+<TGConnectingPoint num="13" id="3392" />
+<TGConnectingPoint num="14" id="3393" />
+<TGConnectingPoint num="15" id="3394" />
+<TGConnectingPoint num="16" id="3395" />
+<TGConnectingPoint num="17" id="3396" />
+<TGConnectingPoint num="18" id="3397" />
+<TGConnectingPoint num="19" id="3398" />
+<TGConnectingPoint num="20" id="3399" />
+<TGConnectingPoint num="21" id="3400" />
+<TGConnectingPoint num="22" id="3401" />
+<TGConnectingPoint num="23" id="3402" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="savingTimeMin" value="9" type="8" typeOther="" />
+<Attribute access="0" id="savingTimeMax" value="11" type="8" typeOther="" />
+<Method value="isMemoryAvailable()" />
+<Signal value="in savePicture()" attached="true" />
+<Signal value="out pictureWasSaved()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3428" >
+<cdparam x="237" y="183" />
+<sizeparam width="185" height="238" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="PictureProcessingManager" />
+<TGConnectingPoint num="0" id="3404" />
+<TGConnectingPoint num="1" id="3405" />
+<TGConnectingPoint num="2" id="3406" />
+<TGConnectingPoint num="3" id="3407" />
+<TGConnectingPoint num="4" id="3408" />
+<TGConnectingPoint num="5" id="3409" />
+<TGConnectingPoint num="6" id="3410" />
+<TGConnectingPoint num="7" id="3411" />
+<TGConnectingPoint num="8" id="3412" />
+<TGConnectingPoint num="9" id="3413" />
+<TGConnectingPoint num="10" id="3414" />
+<TGConnectingPoint num="11" id="3415" />
+<TGConnectingPoint num="12" id="3416" />
+<TGConnectingPoint num="13" id="3417" />
+<TGConnectingPoint num="14" id="3418" />
+<TGConnectingPoint num="15" id="3419" />
+<TGConnectingPoint num="16" id="3420" />
+<TGConnectingPoint num="17" id="3421" />
+<TGConnectingPoint num="18" id="3422" />
+<TGConnectingPoint num="19" id="3423" />
+<TGConnectingPoint num="20" id="3424" />
+<TGConnectingPoint num="21" id="3425" />
+<TGConnectingPoint num="22" id="3426" />
+<TGConnectingPoint num="23" id="3427" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="pTemp" value="" type="5" typeOther="Point" />
+<Signal value="in takePictureOrder(Point p)" attached="true" />
+<Signal value="in flight()" attached="true" />
+<Signal value="in currentPosition(Point p)" attached="true" />
+<Signal value="out gotoPosition(Point p)" attached="true" />
+<Signal value="in pictureWasTaken()" attached="true" />
+<Signal value="out savePicture()" attached="true" />
+<Signal value="out takePicture()" attached="true" />
+<Signal value="in pictureWasSaved()" attached="true" />
+<Signal value="in transmitPicture()" attached="true" />
+<Signal value="out picture()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3453" >
+<cdparam x="31" y="323" />
+<sizeparam width="169" height="109" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="GNSSDeviceDriver" />
+<TGConnectingPoint num="0" id="3429" />
+<TGConnectingPoint num="1" id="3430" />
+<TGConnectingPoint num="2" id="3431" />
+<TGConnectingPoint num="3" id="3432" />
+<TGConnectingPoint num="4" id="3433" />
+<TGConnectingPoint num="5" id="3434" />
+<TGConnectingPoint num="6" id="3435" />
+<TGConnectingPoint num="7" id="3436" />
+<TGConnectingPoint num="8" id="3437" />
+<TGConnectingPoint num="9" id="3438" />
+<TGConnectingPoint num="10" id="3439" />
+<TGConnectingPoint num="11" id="3440" />
+<TGConnectingPoint num="12" id="3441" />
+<TGConnectingPoint num="13" id="3442" />
+<TGConnectingPoint num="14" id="3443" />
+<TGConnectingPoint num="15" id="3444" />
+<TGConnectingPoint num="16" id="3445" />
+<TGConnectingPoint num="17" id="3446" />
+<TGConnectingPoint num="18" id="3447" />
+<TGConnectingPoint num="19" id="3448" />
+<TGConnectingPoint num="20" id="3449" />
+<TGConnectingPoint num="21" id="3450" />
+<TGConnectingPoint num="22" id="3451" />
+<TGConnectingPoint num="23" id="3452" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Signal value="in setNewPosition(Point p)" attached="true" />
+<Signal value="out positionToPPM(Point p)" attached="true" />
+<Signal value="out positionToAP(Point p)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3478" >
+<cdparam x="454" y="238" />
+<sizeparam width="173" height="194" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="Autopilot" />
+<TGConnectingPoint num="0" id="3454" />
+<TGConnectingPoint num="1" id="3455" />
+<TGConnectingPoint num="2" id="3456" />
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+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="currentPosition" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="targetPosition" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="currentSpeed" value="" type="5" typeOther="Speed" />
+<Attribute access="0" id="diffX" value="" type="8" typeOther="" />
+<Attribute access="0" id="diffY" value="" type="8" typeOther="" />
+<Attribute access="0" id="neg" value="" type="8" typeOther="" />
+<Signal value="in gotoPosition(Point p)" attached="true" />
+<Signal value="out setSpeed(Speed s)" attached="true" />
+<Signal value="in getCurrentPosition(Point p)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="3503" >
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+<hidden value="false" />
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+<infoparam name="Block0" value="CameraDriver" />
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+<TGConnectingPoint num="23" id="3502" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Signal value="out pictureWasTaken()" attached="true" />
+<Signal value="in takePicture()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="3512" >
+<cdparam x="672" y="298" />
+<sizeparam width="164" height="74" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="Speed" />
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+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="y" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<COMPONENT type="5003" id="3521" >
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="DataType0" value="Point" />
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+<Attribute access="0" id="x" value="" type="8" typeOther="" />
+<Attribute access="0" id="y" value="" type="8" typeOther="" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="UAV x and y speeds are always within the limits
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+<Line value="UAV x and y speeds are always within the limits" />
+</extraparam>
+</COMPONENT>
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+A[] Autopilot.currentSpeed__y >= Autopilot.neg && Autopilot.currentSpeed__y < 2
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+<Line value="A[] Autopilot.currentSpeed__y >= Autopilot.neg && Autopilot.currentSpeed__y < 2" />
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+</COMPONENT>
+
+
+</AVATARBlockDiagramPanel>
+
+<AVATARStateMachineDiagramPanel name="LocationManager" minX="10" maxX="2500" minY="10" maxY="1500" >
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+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
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+<AutomaticDrawing data="true" />
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+<father id="3562" num="0" />
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+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
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+<TGConnectingPoint num="3" id="3559" />
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+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+</extraparam>
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+<infoparam name="connector" value="null" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
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+<hidden value="false" />
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+<afterMin value="1" />
+<afterMax value="1" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+<actions value="p.x = p.x + speed.x" />
+<actions value="p.y = p.y + speed.y" />
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+</SUBCOMPONENT>
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+<hidden value="false" />
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+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+<actions value="p.x = 98" />
+<actions value="p.y = 98" />
+<actions value="speed.x = 0" />
+<actions value="speed.y = 0" />
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+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
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+
+
+</AVATARStateMachineDiagramPanel>
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+</Modeling>
+
+
+
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+<Ignored value="" />
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+<osd value="out setNewPosition(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR><SUBCOMPONENT type="-1" id="5099" >
+<father id="5102" num="0" />
+<cdparam x="115" y="597" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="point " value="null" />
+</SUBCOMPONENT>
+
+<CONNECTOR type="5002" id="5104" >
+<cdparam x="719" y="459" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5103" />
+<P1 x="454" y="335" id="5275" />
+<P2 x="422" y="361" id="5235" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in gotoPosition(Point p)" />
+<osd value="out gotoPosition(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="5106" >
+<cdparam x="340" y="307" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5105" />
+<P1 x="237" y="361" id="5234" />
+<P2 x="200" y="377" id="5251" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in currentPosition(Point p)" />
+<osd value="out positionToPPM(Point p)" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="5108" >
+<cdparam x="589" y="275" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5107" />
+<P1 x="422" y="242" id="5233" />
+<P2 x="452" y="165" id="5300" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasTaken()" />
+<osd value="out pictureWasTaken()" />
+<isd value="in takePicture()" />
+<oso value="out takePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="5110" >
+<cdparam x="233" y="255" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5109" />
+<P1 x="202" y="241" id="5176" />
+<P2 x="237" y="242" id="5232" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in picture()" />
+<iso value="in pictureWasNotSaved()" />
+<osd value="out picture()" />
+<osd value="out pictureWasNotSaved()" />
+<isd value="in flight()" />
+<isd value="in takePictureOrder(Point p)" />
+<isd value="in transmitPicture()" />
+<oso value="out flight()" />
+<oso value="out takePictureOrder(Point p)" />
+<oso value="out transmitPicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<CONNECTOR type="5002" id="5112" >
+<cdparam x="464" y="274" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="" />
+<TGConnectingPoint num="0" id="5111" />
+<P1 x="329" y="183" id="5223" />
+<P2 x="328" y="153" id="5203" />
+<AutomaticDrawing data="true" />
+<extraparam>
+<iso value="in pictureWasSaved()" />
+<iso value="in fullMemory()" />
+<osd value="out pictureWasSaved()" />
+<osd value="out full()" />
+<isd value="in savePicture()" />
+<oso value="out savePicture()" />
+<FIFOType asynchronous="false" size="1" blocking="false" private="true" broadcast="false" lossy="false" />
+</extraparam>
+</CONNECTOR>
+<COMPONENT type="301" id="5129" >
+<cdparam x="760" y="446" />
+<sizeparam width="499" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="UAV x and y speeds are always within the limits even in the presence of turbulence
+" />
+<TGConnectingPoint num="0" id="5113" />
+<TGConnectingPoint num="1" id="5114" />
+<TGConnectingPoint num="2" id="5115" />
+<TGConnectingPoint num="3" id="5116" />
+<TGConnectingPoint num="4" id="5117" />
+<TGConnectingPoint num="5" id="5118" />
+<TGConnectingPoint num="6" id="5119" />
+<TGConnectingPoint num="7" id="5120" />
+<TGConnectingPoint num="8" id="5121" />
+<TGConnectingPoint num="9" id="5122" />
+<TGConnectingPoint num="10" id="5123" />
+<TGConnectingPoint num="11" id="5124" />
+<TGConnectingPoint num="12" id="5125" />
+<TGConnectingPoint num="13" id="5126" />
+<TGConnectingPoint num="14" id="5127" />
+<TGConnectingPoint num="15" id="5128" />
+<extraparam>
+<Line value="UAV x and y speeds are always within the limits even in the presence of turbulence" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="301" id="5146" >
+<cdparam x="225" y="709" />
+<sizeparam width="235" height="15" minWidth="20" minHeight="10" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="UML Note" value="This block contains the initial position
+" />
+<TGConnectingPoint num="0" id="5130" />
+<TGConnectingPoint num="1" id="5131" />
+<TGConnectingPoint num="2" id="5132" />
+<TGConnectingPoint num="3" id="5133" />
+<TGConnectingPoint num="4" id="5134" />
+<TGConnectingPoint num="5" id="5135" />
+<TGConnectingPoint num="6" id="5136" />
+<TGConnectingPoint num="7" id="5137" />
+<TGConnectingPoint num="8" id="5138" />
+<TGConnectingPoint num="9" id="5139" />
+<TGConnectingPoint num="10" id="5140" />
+<TGConnectingPoint num="11" id="5141" />
+<TGConnectingPoint num="12" id="5142" />
+<TGConnectingPoint num="13" id="5143" />
+<TGConnectingPoint num="14" id="5144" />
+<TGConnectingPoint num="15" id="5145" />
+<extraparam>
+<Line value="This block contains the initial position" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5171" >
+<cdparam x="221" y="497" />
+<sizeparam width="250" height="200" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="LocationManager" />
+<TGConnectingPoint num="0" id="5147" />
+<TGConnectingPoint num="1" id="5148" />
+<TGConnectingPoint num="2" id="5149" />
+<TGConnectingPoint num="3" id="5150" />
+<TGConnectingPoint num="4" id="5151" />
+<TGConnectingPoint num="5" id="5152" />
+<TGConnectingPoint num="6" id="5153" />
+<TGConnectingPoint num="7" id="5154" />
+<TGConnectingPoint num="8" id="5155" />
+<TGConnectingPoint num="9" id="5156" />
+<TGConnectingPoint num="10" id="5157" />
+<TGConnectingPoint num="11" id="5158" />
+<TGConnectingPoint num="12" id="5159" />
+<TGConnectingPoint num="13" id="5160" />
+<TGConnectingPoint num="14" id="5161" />
+<TGConnectingPoint num="15" id="5162" />
+<TGConnectingPoint num="16" id="5163" />
+<TGConnectingPoint num="17" id="5164" />
+<TGConnectingPoint num="18" id="5165" />
+<TGConnectingPoint num="19" id="5166" />
+<TGConnectingPoint num="20" id="5167" />
+<TGConnectingPoint num="21" id="5168" />
+<TGConnectingPoint num="22" id="5169" />
+<TGConnectingPoint num="23" id="5170" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="speed" value="" type="5" typeOther="Speed" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="turbulenceX" value="" type="8" typeOther="" />
+<Attribute access="0" id="turbulenceY" value="" type="8" typeOther="" />
+<Attribute access="0" id="turbulence" value="false" type="4" typeOther="" />
+<Attribute access="0" id="alwaysTurbulence" value="false" type="4" typeOther="" />
+<Signal value="out setNewPosition(Point p)" attached="true" />
+<Signal value="in getSpeed(Speed s)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5196" >
+<cdparam x="32" y="173" />
+<sizeparam width="170" height="136" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="TransmissionDevices" />
+<TGConnectingPoint num="0" id="5172" />
+<TGConnectingPoint num="1" id="5173" />
+<TGConnectingPoint num="2" id="5174" />
+<TGConnectingPoint num="3" id="5175" />
+<TGConnectingPoint num="4" id="5176" />
+<TGConnectingPoint num="5" id="5177" />
+<TGConnectingPoint num="6" id="5178" />
+<TGConnectingPoint num="7" id="5179" />
+<TGConnectingPoint num="8" id="5180" />
+<TGConnectingPoint num="9" id="5181" />
+<TGConnectingPoint num="10" id="5182" />
+<TGConnectingPoint num="11" id="5183" />
+<TGConnectingPoint num="12" id="5184" />
+<TGConnectingPoint num="13" id="5185" />
+<TGConnectingPoint num="14" id="5186" />
+<TGConnectingPoint num="15" id="5187" />
+<TGConnectingPoint num="16" id="5188" />
+<TGConnectingPoint num="17" id="5189" />
+<TGConnectingPoint num="18" id="5190" />
+<TGConnectingPoint num="19" id="5191" />
+<TGConnectingPoint num="20" id="5192" />
+<TGConnectingPoint num="21" id="5193" />
+<TGConnectingPoint num="22" id="5194" />
+<TGConnectingPoint num="23" id="5195" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="p1" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="p2" value="" type="5" typeOther="Point" />
+<Signal value="out flight()" attached="true" />
+<Signal value="out takePictureOrder(Point p)" attached="true" />
+<Signal value="out transmitPicture()" attached="true" />
+<Signal value="in picture()" attached="true" />
+<Signal value="in pictureWasNotSaved()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5221" >
+<cdparam x="246" y="10" />
+<sizeparam width="164" height="143" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="CompactFlashDriver" />
+<TGConnectingPoint num="0" id="5197" />
+<TGConnectingPoint num="1" id="5198" />
+<TGConnectingPoint num="2" id="5199" />
+<TGConnectingPoint num="3" id="5200" />
+<TGConnectingPoint num="4" id="5201" />
+<TGConnectingPoint num="5" id="5202" />
+<TGConnectingPoint num="6" id="5203" />
+<TGConnectingPoint num="7" id="5204" />
+<TGConnectingPoint num="8" id="5205" />
+<TGConnectingPoint num="9" id="5206" />
+<TGConnectingPoint num="10" id="5207" />
+<TGConnectingPoint num="11" id="5208" />
+<TGConnectingPoint num="12" id="5209" />
+<TGConnectingPoint num="13" id="5210" />
+<TGConnectingPoint num="14" id="5211" />
+<TGConnectingPoint num="15" id="5212" />
+<TGConnectingPoint num="16" id="5213" />
+<TGConnectingPoint num="17" id="5214" />
+<TGConnectingPoint num="18" id="5215" />
+<TGConnectingPoint num="19" id="5216" />
+<TGConnectingPoint num="20" id="5217" />
+<TGConnectingPoint num="21" id="5218" />
+<TGConnectingPoint num="22" id="5219" />
+<TGConnectingPoint num="23" id="5220" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="savingTimeMin" value="9" type="8" typeOther="" />
+<Attribute access="0" id="savingTimeMax" value="11" type="8" typeOther="" />
+<Attribute access="0" id="isFull" value="false" type="4" typeOther="" />
+<Method value="isMemoryAvailable()" />
+<Signal value="in savePicture()" attached="true" />
+<Signal value="out pictureWasSaved()" attached="true" />
+<Signal value="out full()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5246" >
+<cdparam x="237" y="183" />
+<sizeparam width="185" height="238" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="PictureProcessingManager" />
+<TGConnectingPoint num="0" id="5222" />
+<TGConnectingPoint num="1" id="5223" />
+<TGConnectingPoint num="2" id="5224" />
+<TGConnectingPoint num="3" id="5225" />
+<TGConnectingPoint num="4" id="5226" />
+<TGConnectingPoint num="5" id="5227" />
+<TGConnectingPoint num="6" id="5228" />
+<TGConnectingPoint num="7" id="5229" />
+<TGConnectingPoint num="8" id="5230" />
+<TGConnectingPoint num="9" id="5231" />
+<TGConnectingPoint num="10" id="5232" />
+<TGConnectingPoint num="11" id="5233" />
+<TGConnectingPoint num="12" id="5234" />
+<TGConnectingPoint num="13" id="5235" />
+<TGConnectingPoint num="14" id="5236" />
+<TGConnectingPoint num="15" id="5237" />
+<TGConnectingPoint num="16" id="5238" />
+<TGConnectingPoint num="17" id="5239" />
+<TGConnectingPoint num="18" id="5240" />
+<TGConnectingPoint num="19" id="5241" />
+<TGConnectingPoint num="20" id="5242" />
+<TGConnectingPoint num="21" id="5243" />
+<TGConnectingPoint num="22" id="5244" />
+<TGConnectingPoint num="23" id="5245" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="pTemp" value="" type="5" typeOther="Point" />
+<Signal value="in takePictureOrder(Point p)" attached="true" />
+<Signal value="in flight()" attached="true" />
+<Signal value="in currentPosition(Point p)" attached="true" />
+<Signal value="out gotoPosition(Point p)" attached="true" />
+<Signal value="in pictureWasTaken()" attached="true" />
+<Signal value="out savePicture()" attached="true" />
+<Signal value="out takePicture()" attached="true" />
+<Signal value="in pictureWasSaved()" attached="true" />
+<Signal value="in transmitPicture()" attached="true" />
+<Signal value="out picture()" attached="true" />
+<Signal value="in fullMemory()" attached="true" />
+<Signal value="out pictureWasNotSaved()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5271" >
+<cdparam x="31" y="323" />
+<sizeparam width="169" height="109" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="GNSSDeviceDriver" />
+<TGConnectingPoint num="0" id="5247" />
+<TGConnectingPoint num="1" id="5248" />
+<TGConnectingPoint num="2" id="5249" />
+<TGConnectingPoint num="3" id="5250" />
+<TGConnectingPoint num="4" id="5251" />
+<TGConnectingPoint num="5" id="5252" />
+<TGConnectingPoint num="6" id="5253" />
+<TGConnectingPoint num="7" id="5254" />
+<TGConnectingPoint num="8" id="5255" />
+<TGConnectingPoint num="9" id="5256" />
+<TGConnectingPoint num="10" id="5257" />
+<TGConnectingPoint num="11" id="5258" />
+<TGConnectingPoint num="12" id="5259" />
+<TGConnectingPoint num="13" id="5260" />
+<TGConnectingPoint num="14" id="5261" />
+<TGConnectingPoint num="15" id="5262" />
+<TGConnectingPoint num="16" id="5263" />
+<TGConnectingPoint num="17" id="5264" />
+<TGConnectingPoint num="18" id="5265" />
+<TGConnectingPoint num="19" id="5266" />
+<TGConnectingPoint num="20" id="5267" />
+<TGConnectingPoint num="21" id="5268" />
+<TGConnectingPoint num="22" id="5269" />
+<TGConnectingPoint num="23" id="5270" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="p" value="" type="5" typeOther="Point" />
+<Signal value="in setNewPosition(Point p)" attached="true" />
+<Signal value="out positionToPPM(Point p)" attached="true" />
+<Signal value="out positionToAP(Point p)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5296" >
+<cdparam x="454" y="238" />
+<sizeparam width="173" height="194" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="Autopilot" />
+<TGConnectingPoint num="0" id="5272" />
+<TGConnectingPoint num="1" id="5273" />
+<TGConnectingPoint num="2" id="5274" />
+<TGConnectingPoint num="3" id="5275" />
+<TGConnectingPoint num="4" id="5276" />
+<TGConnectingPoint num="5" id="5277" />
+<TGConnectingPoint num="6" id="5278" />
+<TGConnectingPoint num="7" id="5279" />
+<TGConnectingPoint num="8" id="5280" />
+<TGConnectingPoint num="9" id="5281" />
+<TGConnectingPoint num="10" id="5282" />
+<TGConnectingPoint num="11" id="5283" />
+<TGConnectingPoint num="12" id="5284" />
+<TGConnectingPoint num="13" id="5285" />
+<TGConnectingPoint num="14" id="5286" />
+<TGConnectingPoint num="15" id="5287" />
+<TGConnectingPoint num="16" id="5288" />
+<TGConnectingPoint num="17" id="5289" />
+<TGConnectingPoint num="18" id="5290" />
+<TGConnectingPoint num="19" id="5291" />
+<TGConnectingPoint num="20" id="5292" />
+<TGConnectingPoint num="21" id="5293" />
+<TGConnectingPoint num="22" id="5294" />
+<TGConnectingPoint num="23" id="5295" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="currentPosition" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="targetPosition" value="" type="5" typeOther="Point" />
+<Attribute access="0" id="currentSpeed" value="" type="5" typeOther="Speed" />
+<Attribute access="0" id="diffX" value="" type="8" typeOther="" />
+<Attribute access="0" id="diffY" value="" type="8" typeOther="" />
+<Attribute access="0" id="neg" value="" type="8" typeOther="" />
+<Signal value="in gotoPosition(Point p)" attached="true" />
+<Signal value="out setSpeed(Speed s)" attached="true" />
+<Signal value="in getCurrentPosition(Point p)" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5000" id="5321" >
+<cdparam x="452" y="97" />
+<sizeparam width="176" height="136" minWidth="5" minHeight="2" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Block0" value="CameraDriver" />
+<TGConnectingPoint num="0" id="5297" />
+<TGConnectingPoint num="1" id="5298" />
+<TGConnectingPoint num="2" id="5299" />
+<TGConnectingPoint num="3" id="5300" />
+<TGConnectingPoint num="4" id="5301" />
+<TGConnectingPoint num="5" id="5302" />
+<TGConnectingPoint num="6" id="5303" />
+<TGConnectingPoint num="7" id="5304" />
+<TGConnectingPoint num="8" id="5305" />
+<TGConnectingPoint num="9" id="5306" />
+<TGConnectingPoint num="10" id="5307" />
+<TGConnectingPoint num="11" id="5308" />
+<TGConnectingPoint num="12" id="5309" />
+<TGConnectingPoint num="13" id="5310" />
+<TGConnectingPoint num="14" id="5311" />
+<TGConnectingPoint num="15" id="5312" />
+<TGConnectingPoint num="16" id="5313" />
+<TGConnectingPoint num="17" id="5314" />
+<TGConnectingPoint num="18" id="5315" />
+<TGConnectingPoint num="19" id="5316" />
+<TGConnectingPoint num="20" id="5317" />
+<TGConnectingPoint num="21" id="5318" />
+<TGConnectingPoint num="22" id="5319" />
+<TGConnectingPoint num="23" id="5320" />
+<extraparam>
+<blockType data="block" color="-4072719" />
+<CryptoBlock value="false" />
+<Attribute access="0" id="full" value="false" type="4" typeOther="" />
+<Signal value="out pictureWasTaken()" attached="true" />
+<Signal value="in takePicture()" attached="true" />
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5003" id="5330" >
+<cdparam x="672" y="298" />
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+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="7664" >
+<cdparam x="407" y="70" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="7663" />
+<P1 x="407" y="70" id="7742" />
+<P2 x="413" y="103" id="7702" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7662" >
+<father id="7664" num="0" />
+<cdparam x="411" y="91" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="7658" />
+<TGConnectingPoint num="1" id="7659" />
+<TGConnectingPoint num="2" id="7660" />
+<TGConnectingPoint num="3" id="7661" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="7671" >
+<cdparam x="425" y="153" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="7670" />
+<P1 x="425" y="153" id="7731" />
+<P2 x="425" y="181" id="7690" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7669" >
+<father id="7671" num="0" />
+<cdparam x="423" y="170" />
+<sizeparam width="10" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="7665" />
+<TGConnectingPoint num="1" id="7666" />
+<TGConnectingPoint num="2" id="7667" />
+<TGConnectingPoint num="3" id="7668" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="" />
+<afterMax value="" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<CONNECTOR type="5102" id="7678" >
+<cdparam x="425" y="211" />
+<sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<infoparam name="connector" value="null" />
+<TGConnectingPoint num="0" id="7677" />
+<P1 x="425" y="211" id="7691" />
+<P2 x="425" y="246" id="7679" />
+<AutomaticDrawing data="true" />
+</CONNECTOR><SUBCOMPONENT type="-1" id="7676" >
+<father id="7678" num="0" />
+<cdparam x="438" y="234" />
+<sizeparam width="68" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="List of all parameters of an Avatar SMD transition" value="" />
+<TGConnectingPoint num="0" id="7672" />
+<TGConnectingPoint num="1" id="7673" />
+<TGConnectingPoint num="2" id="7674" />
+<TGConnectingPoint num="3" id="7675" />
+<extraparam>
+<guard value="[ ]" />
+<afterMin value="2" />
+<afterMax value="2" />
+<computeMin value="" />
+<computeMax value="" />
+<probability value="" />
+</extraparam>
+</SUBCOMPONENT>
+
+<COMPONENT type="5103" id="7689" >
+<cdparam x="361" y="251" />
+<sizeparam width="128" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Send signal" value="pictureWasTaken()" />
+<TGConnectingPoint num="0" id="7679" />
+<TGConnectingPoint num="1" id="7680" />
+<TGConnectingPoint num="2" id="7681" />
+<TGConnectingPoint num="3" id="7682" />
+<TGConnectingPoint num="4" id="7683" />
+<TGConnectingPoint num="5" id="7684" />
+<TGConnectingPoint num="6" id="7685" />
+<TGConnectingPoint num="7" id="7686" />
+<TGConnectingPoint num="8" id="7687" />
+<TGConnectingPoint num="9" id="7688" />
+</COMPONENT>
+
+<COMPONENT type="5104" id="7700" >
+<cdparam x="375" y="186" />
+<sizeparam width="100" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="Receive signal" value="takePicture()" />
+<TGConnectingPoint num="0" id="7690" />
+<TGConnectingPoint num="1" id="7691" />
+<TGConnectingPoint num="2" id="7692" />
+<TGConnectingPoint num="3" id="7693" />
+<TGConnectingPoint num="4" id="7694" />
+<TGConnectingPoint num="5" id="7695" />
+<TGConnectingPoint num="6" id="7696" />
+<TGConnectingPoint num="7" id="7697" />
+<TGConnectingPoint num="8" id="7698" />
+<TGConnectingPoint num="9" id="7699" />
+</COMPONENT>
+
+<COMPONENT type="5106" id="7741" >
+<cdparam x="363" y="103" />
+<sizeparam width="100" height="50" minWidth="40" minHeight="30" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="State" value="Loop" />
+<TGConnectingPoint num="0" id="7701" />
+<TGConnectingPoint num="1" id="7702" />
+<TGConnectingPoint num="2" id="7703" />
+<TGConnectingPoint num="3" id="7704" />
+<TGConnectingPoint num="4" id="7705" />
+<TGConnectingPoint num="5" id="7706" />
+<TGConnectingPoint num="6" id="7707" />
+<TGConnectingPoint num="7" id="7708" />
+<TGConnectingPoint num="8" id="7709" />
+<TGConnectingPoint num="9" id="7710" />
+<TGConnectingPoint num="10" id="7711" />
+<TGConnectingPoint num="11" id="7712" />
+<TGConnectingPoint num="12" id="7713" />
+<TGConnectingPoint num="13" id="7714" />
+<TGConnectingPoint num="14" id="7715" />
+<TGConnectingPoint num="15" id="7716" />
+<TGConnectingPoint num="16" id="7717" />
+<TGConnectingPoint num="17" id="7718" />
+<TGConnectingPoint num="18" id="7719" />
+<TGConnectingPoint num="19" id="7720" />
+<TGConnectingPoint num="20" id="7721" />
+<TGConnectingPoint num="21" id="7722" />
+<TGConnectingPoint num="22" id="7723" />
+<TGConnectingPoint num="23" id="7724" />
+<TGConnectingPoint num="24" id="7725" />
+<TGConnectingPoint num="25" id="7726" />
+<TGConnectingPoint num="26" id="7727" />
+<TGConnectingPoint num="27" id="7728" />
+<TGConnectingPoint num="28" id="7729" />
+<TGConnectingPoint num="29" id="7730" />
+<TGConnectingPoint num="30" id="7731" />
+<TGConnectingPoint num="31" id="7732" />
+<TGConnectingPoint num="32" id="7733" />
+<TGConnectingPoint num="33" id="7734" />
+<TGConnectingPoint num="34" id="7735" />
+<TGConnectingPoint num="35" id="7736" />
+<TGConnectingPoint num="36" id="7737" />
+<TGConnectingPoint num="37" id="7738" />
+<TGConnectingPoint num="38" id="7739" />
+<TGConnectingPoint num="39" id="7740" />
+<extraparam>
+</extraparam>
+</COMPONENT>
+
+<COMPONENT type="5100" id="7743" >
+<cdparam x="400" y="50" />
+<sizeparam width="15" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<hidden value="false" />
+<cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
+<infoparam name="start state" value="null" />
+<TGConnectingPoint num="0" id="7742" />
+</COMPONENT>
+
+
+</AVATARStateMachineDiagramPanel>
+
+</Modeling>
+
+
+
+
+</TURTLEGMODELING>
\ No newline at end of file
diff --git a/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java b/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
old mode 100755
new mode 100644
index ea9850406111c856ba3e155716103c4af2e4570b..2e847ef96351549eb94059f561859da106646ef7
--- a/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
+++ b/src/main/java/ddtranslatorSoclib/toTopCell/NetList.java
@@ -530,7 +530,6 @@ public class NetList
}
if (nb_clusters == 0)
{
-
if (icn == "vgmn")
{
netlist =
@@ -548,8 +547,21 @@ public class NetList
"]);" + CR2;
}
else
- {
+ { netlist =
+ netlist +
+ "vcifdtrom.begin_device_node(\"vci_multi_tty" +
+ i + "\",\"soclib:vci_multi_tty" + tty.getIndex() + "\");" +
+ CR2;
+ netlist =
+ netlist + "vgsb.p_to_target[" +
+ tty.getNo_target () + "](signal_vci_tty" + tty.getIndex() +
+ ");" + CR2;
netlist =
+ netlist + tty.getTTYName () +
+ ".p_irq[0](signal_xicu_irq[" + no_irq_tty +
+ "]);" + CR2;
+
+ /* netlist =
netlist +
"vcifdtrom.begin_device_node(\"vci_multi_tty" +
i + "\",\"soclib:vci_multi_tty" +tty.getIndex ()+"_"+
@@ -562,7 +574,7 @@ public class NetList
netlist =
netlist + tty.getTTYName () +
".p_irq[0](signal_xicu_irq[" + no_irq_tty +
- "]);" + CR2;
+ "]);" + CR2;*/
}
}