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% numerical evaluation of continuous - time dynamics
A = [[0, 0, 0, cos(psi)*cos(theta), cos(psi)*sin(phi)*sin(theta) - cos(phi)*sin(psi), sin(phi)*sin(psi) + cos(phi)*cos(psi)*sin(theta), sin(psi)*(w*cos(phi) + v*sin(phi)) + cos(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)), -cos(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))), - sin(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - cos(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 1, 0, 0]
[0, 0, 0, cos(theta)*sin(psi), cos(phi)*cos(psi) + sin(phi)*sin(psi)*sin(theta), cos(phi)*sin(psi)*sin(theta) - cos(psi)*sin(phi), sin(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)) - cos(psi)*(w*cos(phi) + v*sin(phi)), -sin(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))), cos(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - sin(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 0, 1, 0]
[0, 0, 0, -sin(theta), cos(theta)*sin(phi), cos(phi)*cos(theta), cos(theta)*(v*cos(phi) - w*sin(phi)), - sin(theta)*(w*cos(phi) + v*sin(phi)) - u*cos(theta), 0, 0, 0, 0, 0, 0, 0, 0, 0, 1]
[0, 0, 0, 0, rm - b_r, b_q - qm, 0, -(981*cos(theta))/100, 0, -1, 0, 0, 0, w, -v, 0, 0, 0]
[0, 0, 0, b_r - rm, 0, pm - b_p, (981*cos(phi)*cos(theta))/100, -(981*sin(phi)*sin(theta))/100, 0, 0, -1, 0, -w, 0, u, 0, 0, 0]
[0, 0, 0, qm - b_q, b_p - pm, 0, -(981*cos(theta)*sin(phi))/100, -(981*cos(phi)*sin(theta))/100, 0, 0, 0, -1, v, -u, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, sin(phi)*tan(theta)*(b_r - rm) - cos(phi)*tan(theta)*(b_q - qm), - cos(phi)*(b_r - rm)*(tan(theta)^2 + 1) - sin(phi)*(b_q - qm)*(tan(theta)^2 + 1), 0, 0, 0, 0, -1, -sin(phi)*tan(theta), -cos(phi)*tan(theta), 0, 0, 0]
[0, 0, 0, 0, 0, 0, cos(phi)*(b_r - rm) + sin(phi)*(b_q - qm), 0, 0, 0, 0, 0, 0, -cos(phi), sin(phi), 0, 0, 0]
[0, 0, 0, 0, 0, 0, (sin(phi)*(b_r - rm))/cos(theta) - (cos(phi)*(b_q - qm))/cos(theta), - (cos(phi)*sin(theta)*(b_r - rm))/cos(theta)^2 - (sin(phi)*sin(theta)*(b_q - qm))/cos(theta)^2, 0, 0, 0, 0, 0, -sin(phi)/cos(theta), -cos(phi)/cos(theta), 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]];
G = [[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[-1, 0, 0, 0, w, -v]
[ 0, -1, 0, -w, 0, u]
[ 0, 0, -1, v, -u, 0]
[ 0, 0, 0, -1, -sin(phi)*tan(theta), -cos(phi)*tan(theta)]
[ 0, 0, 0, 0, -cos(phi), sin(phi)]
[ 0, 0, 0, 0, -sin(phi)/cos(theta), -cos(phi)/cos(theta)]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0]];Editor is loading...
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