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a guest Feb 18th, 2020 68 Never
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  1.     phidot = [1,sind(phi)*tand(theta),cosd(phi)*tand(theta)]*[p;q;r];
  2.     thetadot = [0,cosd(phi),-sind(phi)]*[p;q;r];
  3.     psidot = [0,sind(phi)*secd(theta),cosd(phi)*secd(theta)]*[p;q;r];
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