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--- ece6554:project_planarheli [2023/04/12 10:25] – classes
+++ ece6554:project_planarheli [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 21: / Line 21: @@
 \end{equation}
 where the force vector $f$ is in the body frame of the ducted fan, generated from the two fans' thrust.  Each coordinate of $f \in \mathbb{R}^2$ can be independently controlled (but can never really go negative due to the nature of the fan blades used).
-Though not used explicitly in the equation above, let $R$ be a planar rotation matrix for which $e_2$ is the vector generated from the second column of the rotation matrix,
+Regarding the functions of $\theta$ used in the equations of motion, $R$ is a planar rotation matrix for which $e_2$ is the vector generated from the second column of the rotation matrix,
 \begin{equation}
   R(\theta) = \left[ \begin{matrix} \cos(\theta) & -\sin(\theta) \\ \sin(\theta) & \cos(\theta) \end{matrix}  \right]