AC:

Path: AC/ACDynamics

% Dynamics model for an aircraft. Updates the data structure x.
 This model can include:

 * Flexible appendages
 * Spinning rotors
 * Nonlinear aerodynamics
 * Disturbance models

 You can supply up to six routine names to customize the simulation:

   d.aero.name     = 'YourAeroFunctionName'        - default []
   d.actuator.name = 'YourActuatorFunctionName'    - default []
   d.engine.name   = 'YourEngineFunctionName'      - default []
   d.rotor.name    = 'YourRotorFunctionName'       - default []
   d.sensor.name   = 'YourSensorFunctionName'      - default []
   d.disturb.name  = 'YourDisturbanceFunctionName' - default []

   -----------------------------------------------------------
   Your aerodynamics routine must be in the form:

   gAero = YourAeroFunctionName( alpha, beta, x, d.aero, qBar, control )

 where gAero is a data structure that computes
 the forces and torques on all of the components
 and an addition the the mass and inertia matrix.

 gAero is a data structure of the form:

   gAero.torque  (3,1) Core torques
   gAero.force   (3,1) Core forces
   gAero.modal   (:,1) Modal forces
   gAero.inertia (3,3) Delta inertia due to aerodynamics
   gAero.mass    (3,3) Delta mass matrix due to aerodynamics

 If the last terms are zero return [] for them.
 All terms are in the body frame.

   -----------------------------------------------------------
   Your engine routine must be in the form:

   gEngine = YourEngineFunctionName( x.engine, d.engine, control, altitude, machNo )

 where gEngine is a data structure that contains
 the forces and torques on the aircraft due to the engines
 and the engine state derivatives.

 gEngine is a data structure of the form

   gEngine.torque      (3,1) Core torques
   gEngine.force       (3,1) Core forces
   gEngine.dX          (:,1) Engine state derivatives
   gEngine.mDot        (1,1) Fuel consumption
   gEngine.inertiaDot  (3,3) Inertia derivative due to fuel consumption
   gEngine.cGDot       (3,1) CG derivative due to fuel consumption
   gEngine.torqueRotor (:,1) Torques on rotors

   -----------------------------------------------------------
   Your rotor routine must be in the form:

   torque = YourRotorFunctionName( gEngine.torqueRotor, d.control, d.rotor )

 where torque is a data structure that contains the torques on all rotors.

   gEngine.torqueRotor (:,1) Torques on rotors

   -----------------------------------------------------------
   Your actuator routine must be in the form:

   [dXActuator, control] = YourActuatorFunctionName( x.actuator, d.control, d.actuator )

   where torque is a data structure that contains the torques on all rotors.

   -----------------------------------------------------------
   Your sensor routine must be in the form:

   x = YourSensorFunctionName( x, d, opt )
   when opt = 'rhs'
   x = dXSensor
   when opt = 'meas'
   x = measurement

   -----------------------------------------------------------
   Your disturbance routine must be in the form:

   disturb = YourDisturbanceFunctionName( x.disturb, d.disturb )

   where
     disturb.xDot   - disturbance state derivatives
     disturb.torque - disturbance torque
     disturb.force  - disturbance force

--------------------------------------------------------------------------
   Form:
   [x, measurement] = AC( x, t, dT, d, opt )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   x             (:)         Aircraft state
                             r          (3,1) ECI position vector
                             q          (4,1) Quaternion from ECI to body
                             w          (3,1) Inertial body rate in body frame
                             v          (3,1) Velocity of cm wrt air
                             wR         (:,1) Angular velocity of rotors
                             mass       (1,1) Mass
                             inertia    (6,1) Inertia
                             cG         (3,1) Center of mass
                             engine     (:,1) Engine states
                             actuator   (:,1) Actuator states
                             sensor     (:,1) Sensor states
                             flex       (:,1) Flex model states organized [x;v] by appendage
                             disturb    (:,1) Disturbance model states
   t             (1,1)       Time
   dT            (1,1)       Time step
   d             (:)         Aircraft data structure
                             d.wPlanet  (3,1) Planet rate
                             d.mu       (1,1) Planet gravitational parameter
                             d.theta0   (1,1) Initial angle between planet
                                              x-axis and ECI x-axis
                             d.atmData  (1,:) Atmospheric data
                             d.atmUnits (1,:) Atmospheric data units
                             d.rotor    (:)   Rotor data structure
                                        .u       (3,1) Unit vector
                                        .inertia (1,1) Spin axis inertia
                             d.flex     (:)   See get BldFlex
                             d.engine   (:)   Private engine data structure
                             d.aero     (:)   Private aerodynamics data structure
                             d.actuator (:)   Private actuator data structure
                             d.sensor   (:)   Private sensor data structure
                             d.disturb  (:)   Private disturbance data structure
                             d.control  (:)   Control data structure
                                              .elevator
                                              .aileron
                                              .rudder
                                              .throttle
   opt           (1,:)       Options
                             'integrate'   (default)
                             'xdot'
                             'meas'
   -------
   Outputs
   -------
   x             (:)         Aircraft state  'integrate'
                             acceleration    'xdot'
   measurement   (:)         Measurement data structure
                                              opt
--------------------------------------------------------------------------

Children:

AC: ACCoord/AlphBeta
AC: ACCoord/ECIToNED
AC: Classes/@acstate/abs.m
AC: Classes/@acstate/acstate.m
AC: Classes/@acstate/get.m
AC: Classes/@acstate/length.m
AC: Classes/@acstate/minus.m
AC: Classes/@acstate/mrdivide.m
AC: Classes/@acstate/mtimes.m
AC: Classes/@acstate/plus.m
AC: Classes/@acstate/subsasgn.m
AC: Classes/@acstate/subsref.m
AC: Classes/@acstate/zeros.m
AerospaceUtils: AeroData/AtmData
AerospaceUtils: AtmosphericCalculations/AirData
AerospaceUtils: Coord/QIToBDot
Common: Atmosphere/StdAtm
Common: Classes/@statespace/and.m
Common: Classes/@statespace/close.m
Common: Classes/@statespace/connect.m
Common: Classes/@statespace/eig.m
Common: Classes/@statespace/get.m
Common: Classes/@statespace/getabcd.m
Common: Classes/@statespace/getsub.m
Common: Classes/@statespace/isempty.m
Common: Classes/@statespace/mtimes.m
Common: Classes/@statespace/plus.m
Common: Classes/@statespace/series.m
Common: Classes/@statespace/set.m
Common: Classes/@statespace/statespace.m
Common: CommonData/SwooshWatermark
Common: Control/Append
Common: Control/C2DZOH
Common: Control/Parallel
Common: Control/Series
Common: Control/SizeABCD
Common: General/CellToMat
Common: General/DeBlankLT
Common: General/MatToCell
Common: General/Watermark
Common: Graphics/NewFig
Common: Graphics/Plot2D
Common: Graphics/PltStyle
Common: Graphics/XLabelS
Common: Graphics/YLabelS
Common: Graphics/ZLabelS
Common: Quaternion/Mat2Q
Common: Quaternion/Q2Eul
Common: Quaternion/Q2Mat
Common: Quaternion/QForm
Common: Quaternion/QMult
Common: Quaternion/QPose
Common: Quaternion/QTForm
Common: Quaternion/QUnit
Common: Transform/Altitude
Common: Transform/Eul2Q
Common: Transform/Mat2Eul
Math: Linear/Cross
Math: Linear/DupVect
Math: Linear/Mag
Math: Linear/SkewSymm

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