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      FDC help: Eulerdot
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    <h2>
      Subsystem <i>Eulerdot</i>
    </h2>
    <p><i>Eulerdot</i> contains the
    equations to calculate time derivatives of the Euler angles <i>psi</i>,
    <i>theta</i>, and <i>phi</i>. The block <i>Eulerdot</i> is contained in the
    subsystem <i><a href="12odes.htm">12 ODEs</a></i>, which itself is contained in 
    <i><a href="eqmotion.htm">Aircraft Equations of Motion</a></i> within the
    <i><a href="beaver.htm">Beaver</a></i> model. The remaining nine
    differential equations are evaluated in the subsystems <i><a href=
    "vabdot.htm">Vabdot</a></i>, <i><a href="pqrdot.htm">pqrdot</a></i>, and
    <i><a href="xyhdot.htm">xyHdot</a></i>, which are all contained in <i>12
    ODEs</i>. </p>
    <h3>
      Inputvector: <i>ueul</i>
    </h3>
<pre>
  ueul = [x&#39; Ftot&#39; Mtot&#39; yhlp&#39;],

  x    = [V alpha beta p q r psi theta phi xe ye H]&#39;     (states)
  Ftot = [Fx Fy Fz]&#39;                     (total body-axes forces,
                                              computed in <a href=
"fmsort.htm">FMsort</a>)
  Mtot = [L M N]&#39;                       (total body-axes moments,
                                              computed in <a href=
"fmsort.htm">FMsort</a>)
  yhlp = [cos(alpha) sin(alpha) cos(beta) sin(beta) ...
          ... tan(beta) sin(psi) cos(psi) sin(theta) ...
          ... cos(theta) sin(phi) cos(phi)]&#39;
                          (sines and cosines, computed in <a href=
"hlpfcn.htm">Hlpfcn</a>)


 {V    : airspeed [m/s]                                         }
 {alpha: angle of attack [rad]                                  }
 {beta : sideslip angle [rad]                                   }
  p    : roll rate [rad/s]
  q    : pitch rate [rad/s]
  r    : yaw rate [rad/s]
 {psi  : yaw angle [rad]                                        }
 {theta: pitch angle [rad]                                      }
 {phi  : roll angle [rad]                                       }
 {xe   : x-coordinate in Earth-fixed reference frame [m]        }
 {ye   : y-coordinate &#39;&#39;     &#39;&#39;          &#39;&#39;      &#39;&#39;  [m]        }
 {H    : altitude above sea-level [m]                           }

 {Fx, Fy, Fz: total forces along the aircraft&#39;s body-axes [N]   }
 {L, M, N   : total moments along the aircraft&#39;s body-axes [Nm] }
</pre>
    <p>The inputvariables which are not actually used by <i>Eulerdot</i> have been
    displayed between curly braces. Of the inputvector <i>yhlp</i>,
    <i>sin(phi)</i>, <i>cos(phi)</i>, <i>sin(theta)</i>, and <i>cos(theta)</i>
    are used.</p> 
    <h3>
      Outputvector: <i>yeul</i>
    </h3>
<pre>
  yeul = [psidot thetadot phidot]&#39;

  psidot, thetadot, phidot: time derivatives of the 
                            Euler angles [rad/s^2].
</pre>
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