Vehicle parameters are passed in a structure S containing the output of a separate vehicle parameters fie sentry m that computes the required quantities based on vehicle geometry and mass characteristics. In addition to regular coeffcients, this file generates the vectors of coeffcients and geometric parameters required to compute 2D sectional hydrodynamic forces. In the interests of space, we have not included . code from sentry m.

05_MIT_Modeling and Control of an Autonomous Underwater Vehicle with Combined FoilThruster (by JIichael V. J akuba) February 2003.pdf

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