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    <title>
      FDC help: xyHdot
    </title>
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    <h2>
      Subsystem <i>xyHdot</i>
    </h2>
    <p><i>xyHdot</i>, which is contained in the
    subsystem <i><a href="12odes.htm">12 ODEs</a></i> of 
    <i><a href="eqmotion.htm">Aircraft Equations of Motion (Beaver)</a></i>
    within the <i><a href="beaver.htm">Beaver</a></i> model, computes
    time-derivatives of the coordinates <i>x<sub>e</sub></i> and
    <i>y<sub>e</sub></i> and the altitude <i>H</i>.</p>
    <p>The remaining nine differential
    equations are stored in the subsystems <i><a href=
    "vabdot.htm">Vabdot</a></i>, <i><a href="pqrdot.htm">pqrdot</a></i>, and
    <i><a href="eulerdot.htm">Eulerdot</a></i>, which are all contained in
    <i>12 ODEs</i>.</p> 
    <h3>
      Inputvector: <i>uxyh</i>
    </h3>
<pre>
 uxyh = [x&#39; Ftot&#39; Mtot&#39; yhlp&#39;], and [u+uw  v+vw  w+ww]&#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;
          (frequently used sines &amp; cosines, computed in <a href=
"hlpfcn.htm">Hlpfcn</a>)

 [u+uw v+vw w+ww]&#39; = [u v w]&#39; + [uw vw ww]&#39; = ybvel + uwind(1:3)
</pre>
    <p><i>ybvel</i> is computed in the masked subsystem block <i><a href=
    "uvw.htm">uvw</a></i>, <i>uwind</i> is an external inputvector with
    atmospheric disturbances.</p> 
<pre>
{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] }

 u    : component of the airspeed V along the XB-axis [m/s]
 v    : component of the airspeed V along the YB-axis [m/s]
 w    : component of the airspeed V along the ZB-axis [m/s]
 uw   : component of wind + turbulence along XB-axis [m/s]
 vw   : component of wind + turbulence along YB-axis [m/s]
 ww   : component of wind + turbulence along ZB-axis [m/s]
</pre>
    <p>The inputvariables which are not actually used by <i>xyHdot</i> have been
    displayed between curly braces.</p> 
    <h3>
      Outputvector: <i>yxyh</i>
    </h3>
<pre>
 yxyh = [xdot ydot Hdot]&#39;
 
 xdot = d(xe)/dt [m/s]
 ydot = d(ye)/dt [m/s]
 Hdot = dH/dt [m/s]
</pre>
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