[paparazzi-commits] [4583] more bugs, thanx gustavo

[antoine drouin]

Revision: 4583
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4583
Author:   poine
Date:     2010-02-24 13:10:13 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
more bugs, thanx gustavo

Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci      
2010-02-24 12:49:23 UTC (rev 4582)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci      
2010-02-24 13:10:13 UTC (rev 4583)
@@ -132,7 +132,8 @@
   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 @@
   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);