Y
y
! F
E re
P N
Z
O
X x
b’ t
b
O’ O
t’ n’
n
"
s’ t’ O’ v’
s
n
t $
O
b "
v #
W
C4
H
C1
L
O
C C3
C2
C4
z
C3
A1 z1
x -y
C2
C1 A2
O %r B a
h A
-3
2
x 10
1.5
roll
1 pitch
velocities (rad/frame)
0.5 0
yaw
-0.5 -1 -1.5 -2 -2.5 -3 0
10
20
30
40
50 frames
60
70
80
90
100
-2
x 10
velocity integrals (radians)
1.5
1
roll
0.5
yaw 0
pitch
-0.5
-1 0
10
20
30
40
50 frames
&0
60
80
90
h Wf
h h O
70
W t
t*0
t0
100
-3
6
x 10
5
velocity integrals (radians)
4
3 roll 2
1 pitch 0 yaw
-1
-2 0
10
20
30
40
50 frames
60
70
80
90
100
-5
6
x 10
roll
5
velocities (rad/frame)
4
3
2
1
pitch
0
-1 yaw -2 0
10
20
30
40
50 frames
60
70
80
90
100
h/2
W
h/2 h O
t0
'f t1
t2
t3
h h/2 t4
t5
t
-4
4
x 10
roll
velocities (rad/frame)
2
pitch
0 yaw -2
-4
-6
-8 0
10
20
30
40
50 frames
60
70
80
90
100