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      FDC help: pqrdot
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    <h2>
      Subsystem <i>pqrdot</i>
    </h2>
    <p><i>pqrdot</i> computes the
    time-derivatives of the angular body-axes velocities <i>p</i>, <i>q</i>,
    and <i>r</i>. The block <i>pqrdot</i> is contained in the block <i><a href="12odes.htm">12 ODEs</a></i> of the subsystem <i><a href=
    "eqmotion.htm">Aircraft Equations of Motion</a></i> in the <i><a
    href="beaver.htm">Beaver</a></i> model. The remaining nine differential equations
    are stored in the subsystems <i><a href="vabdot.htm">Vabdot</a></i>, <i><a
    href="eulerdot.htm">Eulerdot</a></i>, and <i><a href=
    "xyhdot.htm">xyHdot</a></i>, which are all contained in <i>12 ODEs</i>.</p> 
    <h3>
      Inputvector: <i>upqr</i>
    </h3>
<pre>
  upqr = [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 forces along the body-axes,
                                    computed in the block <a href=
"fmsort.htm">FMsort</a>)

  Mtot = [L M N]&#39;             (total moments along the body-axes,
                                    computed in the block <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, coming from the block <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>pqrdot</i> have been
    displayed between curly braces. None of the elements of <i>yhlp</i> are used
    by <i>pqrdot</i>.</p> 
    <h3>
      Outputvector: <i>ypqr</i>
    </h3>
<pre>
  ypqr = [pdot qdot rdot]&#39;

  pdot : dp/dt [rad/s^2]
  qdot : dq/dt [rad/s^2]
  rdot : dr/dt [rad/s^2]
</pre>
    <h3>
      Parameters to be defined in the Matlab workspace
    </h3>
    <i>GM2</i>: matrix with inertia parameters of the &#39;Beaver&#39; aircraft
    (which is assumed to be constant during the motions of interest).
    <i>GM2</i> can be loaded into the workspace by calling the routine <i><a
    href="datload.htm">DATLOAD</a></i>. Use <i><a href=
    "modbuild.htm">MODBUILD</a></i> if the datafile with model parameters does
    not yet exist.
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