Derivatives are computed using the ‘UnitDelay’ block. For instance, to compute the derivative of heel:
"Heel_prev" : BL.UnitDelay({Src : "{Heel}" }), // deg "Heel_dot" : "({Heel}-{Heel_prev})/{Root.dt}", // deg/sNote that the boat states derivatives (dxdt, dydt, dzdt, dedt, dfdt, etc.) are already computed by the ‘RigidBody’ block.If “Body” is defined as :
"Body" : BL.RigidBody({}),Then the boat state derivatives are given by Body.dxdt, Body.dydt, etc.
Support SumToZero Changed status to publish