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By: a guest on May 25th, 2012  |  syntax: None  |  size: 0.29 KB  |  hits: 12  |  expires: Never
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  1. u =(GPS.ground_speed / 100)*-DCM_Matrix[3][1];
  2. v = 0.0;
  3. w = (GPS.ground_speed / 100)*(1+DCM_Matrix[3][1]);
  4.  
  5. p = Omega[0];
  6. q = Omega[1];
  7. r = Omega[2];
  8.  
  9. Accel_Vector[0] += Accel_Scale(-q*w + r*v);
  10. Accel_Vector[1] += Accel_Scale(-r*u + p*w);  
  11. Accel_Vector[2] += Accel_Scale(-p*v + q*u);
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