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This commit is contained in:
Antoine Drouin
2010-02-24 09:52:45 +00:00
parent 178d4d5037
commit 9e06211dc4
1 changed files with 2 additions and 2 deletions
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sw/simulator/scilab/q6d/q6d_diff_flatness.sci
+2 -2
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@@ -48,7 +48,7 @@ function [state] = df_state_of_fo(fo)
z2dmg = z2d - DF_G;
av = sqrt(axpsi^2 + z2dmg^2);
state(DF_REF_PHI) = atan(aypsi/av);
state(DF_REF_PHI) = sign(z2dmg)*atan(aypsi/av);
state(DF_REF_THETA) = atan(axpsi/z2dmg);
x3d = fo(1,4);
@@ -132,7 +132,7 @@ function [inp] = df_input_of_fo(fo)
b = -adv*(axpsi*adxpsi + zddmg*zddd);
addv = (a+b)/av^2;
phi = atan(aypsi/av);
phi = sign(zddmg)*atan(aypsi/av);
theta = atan(axpsi/zddmg);
phid = (adypsi*av-adv*aypsi)/(aypsi^2+av^2);