diff --git a/Inu/Src/main_matlab/init28335.c b/Inu/Src/main_matlab/init28335.c
index af74fd7..6298fe1 100644
--- a/Inu/Src/main_matlab/init28335.c
+++ b/Inu/Src/main_matlab/init28335.c
@@ -13,6 +13,7 @@
 #define FREQ_TIMER_3    (FREQ_PWM*2)
 
 void init28335(void) {
+    init_simple_scalar();
 
 	edrk.flag_second_PCH = 0;
 
@@ -24,6 +25,9 @@ void init28335(void) {
     //svgen_pwm24_1.phase_sequence = SIMULINK_SEQUENCE;
     //svgen_pwm24_2.phase_sequence = SIMULINK_SEQUENCE;
 
+    edrk.zadanie.iq_Izad = _IQ(1);
+    //analog_zero.iqU_1 = 2048;
+    //analog_zero.iqU_2 = 2048;
 } //void init28335(void)
 
 void edrk_init_variables_matlab(void)
diff --git a/Inu/Src/main_matlab/main_matlab.c b/Inu/Src/main_matlab/main_matlab.c
index 6fe85ef..410c73b 100644
--- a/Inu/Src/main_matlab/main_matlab.c
+++ b/Inu/Src/main_matlab/main_matlab.c
@@ -50,6 +50,7 @@ void mcu_simulate_step(void)
 	}
 
 
+	ramp_all_zadanie(0);  // тут все по штатному
 
 	calc_norm_ADC_0(0);
 
diff --git a/Inu/Src/main_matlab/param.c b/Inu/Src/main_matlab/param.c
index ef4357a..d9c5bd7 100644
--- a/Inu/Src/main_matlab/param.c
+++ b/Inu/Src/main_matlab/param.c
@@ -31,11 +31,10 @@ void readInputParameters(const real_T *u) {
 	edrk.Go = u[nn++];
 
 	u[nn++];
-
 	edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
 
-	edrk.zadanie.iq_power_zad_rmp = _IQ(u[nn++]);
-	edrk.zadanie.iq_oborots_zad_hz_rmp = _IQ(u[nn++]);
+	edrk.zadanie.iq_power_zad = _IQ(u[nn++]);
+	edrk.zadanie.iq_oborots_zad_hz = _IQ(u[nn++]);
 
 	edrk.MasterSlave = MODE_MASTER;
 	edrk.master_theta;
@@ -84,33 +83,18 @@ void writeOutputParameters(real_T* xD) {
 	xD[nn++] = t12sim.ciB;
 
 	// Только для просмотра
-	xD[nn++] = _IQtoF(0);
-	xD[nn++] = _IQtoF(0);
-
-	xD[nn++] = 0;
-	xD[nn++] = 0;
-	xD[nn++] = 0;
-
-	xD[nn++] = 0;
-	xD[nn++] = 0;
-
-	xD[nn++] = 0;
-	xD[nn++] = _IQtoF(0);//rs.wmZ;
-	xD[nn++] = _IQtoF(0) * NORMA_FROTOR * 60.0 / N_BAZ;//csp.wmLimZi;
-
-	xD[nn++] = 0;///P_NOM;
-	xD[nn++] = 0;///P_NOM;
-	xD[nn++] = 0;///P_NOM;
-
-	xD[nn++] = _IQtoF(vect_control.iqId2);//_IQtoF(vect_control.iqPzad);
-	xD[nn++] = _IQtoF(vect_control.iqIq2);// * NORMA_ACP;
-	xD[nn++] = _IQtoF(vect_control.iqId1);//_IQtoF(vect_control.iqUqCompensation1);//
-	xD[nn++] = _IQtoF(vect_control.iqIq1);
-	xD[nn++] = _IQtoF(vect_control.Iq_zad1);
-	xD[nn++] = _IQtoF(vect_control.Id_zad1);//iqZ;
-
-	xD[nn++] = 0;
-
 	xD[nn++] = xpwm_time.Ta0_0;
 	xD[nn++] = xpwm_time.Ta0_1;
+	xD[nn++] = xpwm_time.Tb0_0;
+	xD[nn++] = xpwm_time.Tb0_1;
+	xD[nn++] = xpwm_time.Tc0_0;
+	xD[nn++] = xpwm_time.Tc0_1;
+
+	xD[nn++] = _IQtoF(edrk.Iq_to_slave);
+	xD[nn++] = _IQtoF(WRotor.iqWRotorSumFilter);
+	xD[nn++] = 0;
+	xD[nn++] = 0;
+
+	xD[nn++] = _IQtoF(WRotor.iqWRotorSumFilter);
+
 }
\ No newline at end of file
diff --git a/Inu/controller.c b/Inu/controller.c
index 1a5f80f..e24e2cc 100644
--- a/Inu/controller.c
+++ b/Inu/controller.c
@@ -245,5 +245,4 @@ void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW
 
 	writeOutputParameters(xD);
 
-	mcu_simulate_step();
 } //void controller(SimStruct ...
diff --git a/inu_im_2wnd_3lvl.slx b/inu_im_2wnd_3lvl.slx
index a0cb9bd..d6b5b83 100644
Binary files a/inu_im_2wnd_3lvl.slx and b/inu_im_2wnd_3lvl.slx differ