static void c16_sf_marshallIn(void *chartInstanceVoid, const mxArray
  *c16_mxArrayInData, const char_T *c16_varName, void *c16_outData)
{
  const mxArray *c16_R;
  const char_T *c16_identifier;
  emlrtMsgIdentifier c16_thisId;
  real_T c16_y[4];
  int32_T c16_i15;
  int32_T c16_i16;
  int32_T c16_i17;
  SFc16_Final_Project_v3bInstanceStruct *chartInstance;
  chartInstance = (SFc16_Final_Project_v3bInstanceStruct *)chartInstanceVoid;
  c16_R = sf_mex_dup(c16_mxArrayInData);
  c16_identifier = c16_varName;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_R), &c16_thisId, c16_y);
  sf_mex_destroy(&c16_R);
  c16_i15 = 0;
  for (c16_i16 = 0; c16_i16 < 2; c16_i16++) {
    for (c16_i17 = 0; c16_i17 < 2; c16_i17++) {
      (*(real_T (*)[4])c16_outData)[c16_i17 + c16_i15] = c16_y[c16_i17 + c16_i15];
    }

    c16_i15 += 2;
  }

  sf_mex_destroy(&c16_mxArrayInData);
}
static void c16_emlrt_marshallIn(SFc16_Final_Project_v3bInstanceStruct
  *chartInstance, const mxArray *c16_R, const char_T *c16_identifier, real_T
  c16_y[4])
{
  emlrtMsgIdentifier c16_thisId;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_R), &c16_thisId, c16_y);
  sf_mex_destroy(&c16_R);
}
static void c16_emlrt_marshallIn(SFc16_ekffedeInstanceStruct *chartInstance,
  const mxArray *c16_quat_dot, const char_T *c16_identifier, real_T c16_y[4])
{
  emlrtMsgIdentifier c16_thisId;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_quat_dot), &c16_thisId,
    c16_y);
  sf_mex_destroy(&c16_quat_dot);
}
static void c16_emlrt_marshallIn(SFc16_HIL_model_overallInstanceStruct
  *chartInstance, const mxArray *c16_eta_ref, const char_T *c16_identifier,
  real_T c16_y[3])
{
  emlrtMsgIdentifier c16_thisId;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_eta_ref), &c16_thisId,
    c16_y);
  sf_mex_destroy(&c16_eta_ref);
}
static void c16_sf_marshallIn(void *chartInstanceVoid, const mxArray
  *c16_mxArrayInData, const char_T *c16_varName, void *c16_outData)
{
  const mxArray *c16_eta_ref;
  const char_T *c16_identifier;
  emlrtMsgIdentifier c16_thisId;
  real_T c16_y[3];
  int32_T c16_i9;
  SFc16_HIL_model_overallInstanceStruct *chartInstance;
  chartInstance = (SFc16_HIL_model_overallInstanceStruct *)chartInstanceVoid;
  c16_eta_ref = sf_mex_dup(c16_mxArrayInData);
  c16_identifier = c16_varName;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_eta_ref), &c16_thisId,
    c16_y);
  sf_mex_destroy(&c16_eta_ref);
  for (c16_i9 = 0; c16_i9 < 3; c16_i9++) {
    (*(real_T (*)[3])c16_outData)[c16_i9] = c16_y[c16_i9];
  }

  sf_mex_destroy(&c16_mxArrayInData);
}
static void c16_sf_marshallIn(void *chartInstanceVoid, const mxArray
  *c16_mxArrayInData, const char_T *c16_varName, void *c16_outData)
{
  const mxArray *c16_quat_dot;
  const char_T *c16_identifier;
  emlrtMsgIdentifier c16_thisId;
  real_T c16_y[4];
  int32_T c16_i23;
  SFc16_ekffedeInstanceStruct *chartInstance;
  chartInstance = (SFc16_ekffedeInstanceStruct *)chartInstanceVoid;
  c16_quat_dot = sf_mex_dup(c16_mxArrayInData);
  c16_identifier = c16_varName;
  c16_thisId.fIdentifier = c16_identifier;
  c16_thisId.fParent = NULL;
  c16_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c16_quat_dot), &c16_thisId,
    c16_y);
  sf_mex_destroy(&c16_quat_dot);
  for (c16_i23 = 0; c16_i23 < 4; c16_i23++) {
    (*(real_T (*)[4])c16_outData)[c16_i23] = c16_y[c16_i23];
  }

  sf_mex_destroy(&c16_mxArrayInData);
}