function

Planning.DubinsPolynomial.coordinatedRollRate

Coordinated-flight roll rate at constant speed

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`curvature`	`Real`
input	`curvatureDerivative`	`Real`		Derivative with metric path distance
input	`speed`	`Real`	`(min=0.0)`
input	`gravity`	`Real`	`(min=0.0) = 9.80665`
output	`rollRate`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function coordinatedRollRate
  "Coordinated-flight roll rate at constant speed"
  input Real curvature;
  input Real curvatureDerivative "Derivative with metric path distance";
  input Real speed(min=0.0);
  input Real gravity(min=0.0) = 9.80665;
  output Real rollRate;
protected
  Real scaledCurvature;
algorithm
  assert(gravity > 0.0, "Gravity must be positive for coordinated roll mapping");
  scaledCurvature := speed^2 * curvature / gravity;
  rollRate := speed^3 * curvatureDerivative
    / (gravity * (1.0 + scaledCurvature^2));
end coordinatedRollRate;