[paparazzi-commits] [4586] swing psi

[antoine drouin]

Revision: 4586
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4586
Author:   poine
Date:     2010-02-24 14:37:40 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
swing psi

Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
14:35:03 UTC (rev 4585)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
14:37:40 UTC (rev 4586)
@@ -41,8 +41,11 @@
   fo_traj = zeros(n_comp, order, length(time));
 
   // psi
+  omega = rad_of_deg(45);
   for i=1:length(time)
-    fo_traj(4,1,i) = rad_of_deg(30);
+    fo_traj(4,1,i) = sin(omega*time(i));
+    fo_traj(4,2,i) = omega*cos(omega*time(i));
+    fo_traj(4,3,i) = -omega^2*sin(omega*time(i));
   end
   
   // x and y