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more bugs, thanx gustavo

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This commit is contained in:
Antoine Drouin
2010-02-24 13:10:13 +00:00
parent cb2932875a
commit a9918da90c
1 changed files with 4 additions and 2 deletions
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sw/simulator/scilab/q6d/q6d_diff_flatness.sci
+4 -2
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@@ -132,7 +132,8 @@ function [inp] = df_input_of_fo(fo)
z3d = fo(3,4);
adv = (axpsi*adxpsi + z2dmg*z3d)/av;
z4d = fo(3,5);
a = (axpsi*a2dxpsi + adxpsi^2 + (z2dmg)*z4d +z3d)*av;
a = (axpsi*a2dxpsi + adxpsi^2 + (z2dmg)*z4d +z3d^2)*av;
// a = (axpsi*a2dxpsi + adxpsi^2 + (z2dmg)*z4d +z3d)*av;
b = -adv*(axpsi*adxpsi + z2dmg*z3d);
a2dv = (a+b)/av^2;
@@ -140,7 +141,8 @@ function [inp] = df_input_of_fo(fo)
theta = atan(axpsi/z2dmg);
phid = sign(z2dmg)*(adypsi*av-adv*aypsi)/(aypsi^2+av^2);
thetad = (adxpsi*z2dmg-z3d*aypsi)/(axpsi^2+z2dmg^2);
//thetad = (adxpsi*z2dmg-z3d*aypsi)/(axpsi^2+z2dmg^2);
thetad = (adxpsi*z2dmg-z3d*axpsi)/(axpsi^2+z2dmg^2);
a = (a2dypsi*av + adv*(adypsi-aypsi)-a2dv*aypsi)*(aypsi^2+av^2);
b = -2*(aypsi*adypsi+av*adv)*(adypsi*av-adv*aypsi);