11 files changed, 1405 insertions, 0 deletions
diff --git a/Flight_Eqns/Equations/Equations.aux b/Flight_Eqns/Equations/Equations.aux
new file mode 100755
index 0000000..f23e546
--- /dev/null
+++ b/Flight_Eqns/Equations/Equations.aux
@@ -0,0 +1 @@
+\relax 
diff --git a/Flight_Eqns/Equations/Equations.log b/Flight_Eqns/Equations/Equations.log
new file mode 100755
index 0000000..c5d053c
--- /dev/null
+++ b/Flight_Eqns/Equations/Equations.log
@@ -0,0 +1,184 @@
+This is pdfTeX, Version 3.14159265-2.6-1.40.18 (TeX Live 2017/Debian) (preloaded format=pdflatex 2018.5.22)  8 JUN 2018 12:57
+entering extended mode
+ restricted \write18 enabled.
+ %&-line parsing enabled.
+**Equations.tex
+(./Equations.tex
+LaTeX2e <2017-04-15>
+Babel <3.18> and hyphenation patterns for 84 language(s) loaded.
+(/usr/share/texlive/texmf-dist/tex/latex/base/article.cls
+Document Class: article 2014/09/29 v1.4h Standard LaTeX document class
+(/usr/share/texlive/texmf-dist/tex/latex/base/size10.clo
+File: size10.clo 2014/09/29 v1.4h Standard LaTeX file (size option)
+)
+\c@part=\count79
+\c@section=\count80
+\c@subsection=\count81
+\c@subsubsection=\count82
+\c@paragraph=\count83
+\c@subparagraph=\count84
+\c@figure=\count85
+\c@table=\count86
+\abovecaptionskip=\skip41
+\belowcaptionskip=\skip42
+\bibindent=\dimen102
+)
+(/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsmath.sty
+Package: amsmath 2017/09/02 v2.17a AMS math features
+\@mathmargin=\skip43
+
+For additional information on amsmath, use the `?' option.
+(/usr/share/texlive/texmf-dist/tex/latex/amsmath/amstext.sty
+Package: amstext 2000/06/29 v2.01 AMS text
+
+(/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsgen.sty
+File: amsgen.sty 1999/11/30 v2.0 generic functions
+\@emptytoks=\toks14
+\ex@=\dimen103
+))
+(/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsbsy.sty
+Package: amsbsy 1999/11/29 v1.2d Bold Symbols
+\pmbraise@=\dimen104
+)
+(/usr/share/texlive/texmf-dist/tex/latex/amsmath/amsopn.sty
+Package: amsopn 2016/03/08 v2.02 operator names
+)
+\inf@bad=\count87
+LaTeX Info: Redefining \frac on input line 213.
+\uproot@=\count88
+\leftroot@=\count89
+LaTeX Info: Redefining \overline on input line 375.
+\classnum@=\count90
+\DOTSCASE@=\count91
+LaTeX Info: Redefining \ldots on input line 472.
+LaTeX Info: Redefining \dots on input line 475.
+LaTeX Info: Redefining \cdots on input line 596.
+\Mathstrutbox@=\box26
+\strutbox@=\box27
+\big@size=\dimen105
+LaTeX Font Info:    Redeclaring font encoding OML on input line 712.
+LaTeX Font Info:    Redeclaring font encoding OMS on input line 713.
+\macc@depth=\count92
+\c@MaxMatrixCols=\count93
+\dotsspace@=\muskip10
+\c@parentequation=\count94
+\dspbrk@lvl=\count95
+\tag@help=\toks15
+\row@=\count96
+\column@=\count97
+\maxfields@=\count98
+\andhelp@=\toks16
+\eqnshift@=\dimen106
+\alignsep@=\dimen107
+\tagshift@=\dimen108
+\tagwidth@=\dimen109
+\totwidth@=\dimen110
+\lineht@=\dimen111
+\@envbody=\toks17
+\multlinegap=\skip44
+\multlinetaggap=\skip45
+\mathdisplay@stack=\toks18
+LaTeX Info: Redefining \[ on input line 2817.
+LaTeX Info: Redefining \] on input line 2818.
+) (./Equations.aux)
+\openout1 = `Equations.aux'.
+
+LaTeX Font Info:    Checking defaults for OML/cmm/m/it on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+LaTeX Font Info:    Checking defaults for T1/cmr/m/n on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+LaTeX Font Info:    Checking defaults for OT1/cmr/m/n on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+LaTeX Font Info:    Checking defaults for OMS/cmsy/m/n on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+LaTeX Font Info:    Checking defaults for OMX/cmex/m/n on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+LaTeX Font Info:    Checking defaults for U/cmr/m/n on input line 8.
+LaTeX Font Info:    ... okay on input line 8.
+
+LaTeX Warning: No \author given.
+
+
+Overfull \hbox (95.66002pt too wide) detected at line 20
+\OML/cmm/m/it/10 C[] \OT1/cmr/m/n/10 = []
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 20--23
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 30--32
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 41--51
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 41--51
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 41--51
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 41--51
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 54--71
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 54--71
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 54--71
+
+ []
+
+
+Underfull \hbox (badness 10000) in paragraph at lines 54--71
+
+ []
+
+[1
+
+{/var/lib/texmf/fonts/map/pdftex/updmap/pdftex.map}] [2] (./Equations.aux) ) 
+Here is how much of TeX's memory you used:
+ 841 strings out of 492982
+ 9389 string characters out of 6134896
+ 70413 words of memory out of 5000000
+ 4465 multiletter control sequences out of 15000+600000
+ 7803 words of font info for 29 fonts, out of 8000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 27i,8n,20p,270b,193s stack positions out of 5000i,500n,10000p,200000b,80000s
+</u
+sr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmex10.pfb></usr/sha
+re/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi10.pfb></usr/share/tex
+live/texmf-dist/fonts/type1/public/amsfonts/cm/cmmi5.pfb></usr/share/texlive/te
+xmf-dist/fonts/type1/public/amsfonts/cm/cmmi7.pfb></usr/share/texlive/texmf-dis
+t/fonts/type1/public/amsfonts/cm/cmr10.pfb></usr/share/texlive/texmf-dist/fonts
+/type1/public/amsfonts/cm/cmr12.pfb></usr/share/texlive/texmf-dist/fonts/type1/
+public/amsfonts/cm/cmr17.pfb></usr/share/texlive/texmf-dist/fonts/type1/public/
+amsfonts/cm/cmr7.pfb></usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts
+/cm/cmsy10.pfb></usr/share/texlive/texmf-dist/fonts/type1/public/amsfonts/cm/cm
+sy7.pfb>
+Output written on Equations.pdf (2 pages, 104191 bytes).
+PDF statistics:
+ 51 PDF objects out of 1000 (max. 8388607)
+ 36 compressed objects within 1 object stream
+ 0 named destinations out of 1000 (max. 500000)
+ 1 words of extra memory for PDF output out of 10000 (max. 10000000)
+
diff --git a/Flight_Eqns/Equations/Equations.pdf b/Flight_Eqns/Equations/Equations.pdf
new file mode 100755
index 0000000..a3d9af7
--- /dev/null
+++ b/Flight_Eqns/Equations/Equations.pdf
diff --git a/Flight_Eqns/Equations/Equations.tex b/Flight_Eqns/Equations/Equations.tex
new file mode 100755
index 0000000..dab0ffb
--- /dev/null
+++ b/Flight_Eqns/Equations/Equations.tex
@@ -0,0 +1,72 @@
+\documentclass{article}
+
+\usepackage{amsmath}
+\newcommand\inv[1]{#1\raisebox{1.15ex}{$\scriptscriptstyle-\!1$}}
+
+
+\title{Equation of Motions already included}
+\begin{document}
+\maketitle
+
+These are the equations already included the 6DOF model.
+
+\[
+C_{b/n}=
+  \begin{bmatrix}
+    cos(\theta)cos(\psi) & cos(\theta)sin(\psi) & -sin(\theta) \\
+    -cos(\phi)sin(\psi) + sin(\phi)sin(\theta)cos(\psi) & cos(\phi)cos(\psi) + sin(\phi)sin(\theta)sun(\psi) & sin(\phi)cos(\theta) \\
+    sin(\phi)sin(\psi) + cos(\phi)sin(\theta)cos(\psi) & -sin(\phi)cos(\psi) + cos(\phi)sin(\theta)sin(\psi) & cos(\phi)cos(\theta)
+  \end{bmatrix}
+\]\\
+Also represented as: $C_{b/n} = fn(\Theta)$
+\\
+\[
+\Omega=
+  \begin{bmatrix}
+    0 & -R & Q \\
+    R & 0 & -P\\
+    -Q & P & 0
+  \end{bmatrix}
+\]
+\\
+\[
+\left[ \begin{array}{c} 
+   \dot{\phi}
+\\ \dot{\theta}
+\\ \dot{\psi}
+ \end{array} \right] = \begin{bmatrix} 1 & tan(\theta)sin(\phi) & tan(\theta)cos(\phi) \\ 0 & cos(\phi) & -sin(\phi)\\
+0 &  sin(\phi)/cos(\theta) & cos(\phi)/cos(\theta)
+  \end{bmatrix} \times \left[ \begin{array}{c} P\\Q \\ R \end{array} \right]
+\\
+\]
+\\ Also represented as: $\dot{\Phi} = H(\Phi) \omega^b _{b/e}$
+\\
+\\
+${}^b\dot{v}^b_{CM/e} =(\frac{1}{m})F^b_{A,T} + C_{b/n} \times g + \Omega^b _{b/e}\times v^b_{CM/e} $
+\\ \\
+${}^e \dot{p}^n_{CM/T} = C_{n/b} \times v^b_{CM/e} $
+\\ \\
+${}^b\dot{\omega}^b_{b/e} = inv(J^b) \times [M^b_{A,T}- \Omega^b_{b/e}\times J^b \times \omega^b_{b/e}]$
+\\
+
+These are the equations in the force-moment model.
+
+$\alpha = tan^-1 (w/u) $
+\\
+$Q = 0.5 \times \rho \times \lVert V \rVert ^2 $
+\\\\
+$C_{L} = C_{L0} + C_{L \alpha} \times \alpha + (\frac{C_{Lq} \times q \times c_{bar}}{2 \times \lVert V \rVert}) + C_{Lde} \times \delta_{e}  $
+\\
+$C_{m} = C_{m0} + C{m \alpha} \times \alpha +(\frac{C_{mq}*q*c_{bar}}{(2 \times \lVert V \rVert})+C_{mde} \times \delta_{e}$
+\\
+$C_{D}  = C_{D0} + K_{drag} \times C_{L} ^2$
+\\ \\
+$L = C_{L} \times s \times Q$
+\\ 
+$D = C_{D} \times s \times Q$
+\\ \\
+$Force = \left[ \begin{array}{c} -D \times cos(\alpha)+L \times sin(\alpha)+ thrust - mg \times sin(\theta)\\0 \\ -D \times sin(\alpha)-L \times cos(\alpha)+mg \times cos(\theta) \end{array} \right]$
+\\ \\
+$Moment  = \left[ \begin{array}{c} 0\\C_{m} \times s\times c_{bar} \times Q \\ 0 \end{array} \right]$
+
+ \end{document}
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOF.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOF.mo
new file mode 100644
index 0000000..bff2c49
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOF.mo
@@ -0,0 +1,191 @@
+block Wind6DOF
+
+import Modelica.Math.Matrices.*;
+import Modelica.SIunits.*;
+import Modelica.Blocks.Interfaces.*;
+import Modelica.Math.Vectors.*;
+
+
+RealInput thrust annotation(
+    Placement(visible = true, transformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+    
+RealInput[3] delta annotation(
+    Placement(visible = true, transformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+    
+
+Modelica.Blocks.Interfaces.RealOutput V annotation(start =39.8858,
+    Placement(visible = true, transformation(origin = {110, 100}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 100}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); //Linear velocity
+
+Modelica.Blocks.Interfaces.RealOutput alpha annotation(start =0.1,
+    Placement(visible = true, transformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); //Angle of attack
+
+Modelica.Blocks.Interfaces.RealOutput beta annotation(start = 0,
+    Placement(visible = true, transformation(origin = {110, 20}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 20}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); //Angle of sideslip
+        
+    
+Modelica.Blocks.Interfaces.RealOutput pos[3]annotation(
+    Placement(visible = true, transformation(origin = {110, -20}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -20}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+  //Position (Displacement) //Displacement
+  
+Modelica.Blocks.Interfaces.RealOutput omega[3] annotation(
+    Placement(visible = true, transformation(origin = {110, -60}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -60}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));  //Angular velocity around the CM
+Modelica.Blocks.Interfaces.RealOutput angles[3] annotation(
+    Placement(visible = true, transformation(origin = {110, -100}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -100}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));  //mu, gamma, and chi
+    
+
+
+
+
+
+parameter Real rho;
+parameter Real m;//1.56 for zagi
+parameter Real S_ref;//reference area
+parameter Real C_bar ;//average chord
+parameter Real b ;//span
+parameter Real g  = 9.81;//gravitational force
+//parameter Real b= 1.4224, C_bar = 0.3302,s = 0.2589;
+
+
+
+parameter Real CD0;//= 0.01631;for Zagi
+parameter Real K_drag ;//for cessna
+parameter Real CD_beta;//for cessna
+parameter Real CD_alpha;
+parameter Real CD_q;
+parameter Real CD_delta_e;
+
+//side force
+parameter Real Cy_beta;//for cessna
+parameter Real Cy_p;//for cessna
+parameter Real Cy_r;//for cessna
+parameter Real Cy_delta_r; //for cessna
+parameter Real Cy_delta_a;     //for cessna
+
+// lift
+parameter Real CL0 ;   //for cessna
+parameter Real CL_alpha;//for cessna
+parameter Real CL_q;//for cessna
+parameter Real CL_delta_e;//for cessna
+
+// rolling moment
+parameter Real Cl_beta;//for cessna
+parameter Real Cl_p;//for cessna
+parameter Real Cl_r;//for cessna
+parameter Real Cl_delta_a;//for cessna
+parameter Real Cl_delta_r ;//for cessna
+
+// pitching moment
+parameter Real Cm0;//for cessna
+parameter Real Cm_alpha ;//for cessna
+parameter Real Cm_q;//for cessna
+parameter Real Cm_delta_e;//for cessna
+
+// yawing moment
+parameter Real Cn_beta;//for cessna
+parameter Real Cn_p;//for cessna
+parameter Real Cn_r;//for cessna
+parameter Real Cn_delta_a ;//for cessna
+parameter Real Cn_delta_r;//for cessna
+
+
+//Initial conditions. (delta[2], thrust[1] and the others are straightforward)
+
+parameter Real I_xx;
+parameter Real I_yy;
+parameter Real I_zz;
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+//Params
+//parameter Real delta[1] = 0;
+//parameter Real delta[3] = 0;
+
+//Modelica.Blocks.Sources.RealExpression delta[2] (y = if time > 100 and time < 105 then  -0.15625+3.1412 /180 else -0.15625)  annotation(    Placement(visible = true, transformation(origin = {-112, 1}, extent = {{-26, -47}, {26, 47}}, rotation = 0)));
+//parameter Real delta[2] = -0.15625;
+
+//parameter  Real thrust = 1112.82;
+
+
+
+Real qbar = 0.5*rho*V^2;
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real pdot;
+Real qdot;
+Real rdot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*omega[2]*C_bar)/(2*V))+CL_delta_e*delta[2];
+//CD =  CD0+CD_alpha*alpha+((CD_q*omega[2]*C_bar)/(2*V))+CD_delta_e*abs(delta[2]);// + CDbeta * beta + CDdelta[2] * Elevator;
+CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (omega[1]*b)/(2*V) + Cy_r *(omega[3]*b)/(2*V) + Cy_delta_a * delta[1] + Cy_delta_r*delta[3];//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(omega[1]*b)/(2*V) + Cl_r *(omega[3]*b)/(2*V) + Cl_delta_a * delta[1] + Cl_delta_r * delta[3];//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*omega[2]*C_bar)/(2*V))+Cm_delta_e*delta[2];//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (omega[1]*b)/(2*V) + Cn_r *(omega[3]*b) /(2*V) + Cn_delta_a * delta[1] + Cn_delta_r * delta[3];//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+pdot = der(omega[1]);
+qdot = der(omega[2]);
+rdot = der(omega[3]);
+
+xdot = der(pos[1]);
+ydot = der(pos[2]);
+zdot = der(pos[3]);
+
+mudot = der(angles[1]);
+gammadot = der(angles[2]);
+chidot = der(angles[3]);
+
+
+
+
+Vdot = 1/m*(thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta))-m*g*sin(angles[2]));
+
+alphadot = omega[2]-1/cos(beta)*((omega[1]*cos(alpha)+omega[3]*sin(alpha))*sin(beta)-g/V*cos(angles[2])*cos(angles[1])+0.5*rho*V^2*S_ref*CL/(m*V)+thrust*sin(alpha)/(m*V));
+
+betadot = (omega[1]*sin(alpha)-omega[3]*cos(alpha))+1/(m*V)*(-thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta))+m*g*cos(angles[2])*sin(angles[1]));
+
+
+pdot = (I_yy-I_zz)/I_xx*omega[2]*omega[3]+1/(2*I_xx)*rho*V^2*S_ref*b*Cl;
+qdot = (I_zz-I_xx)/I_yy*omega[1]*omega[3]+1/(2*I_yy)*rho*V^2*S_ref*C_bar*Cm;
+rdot = (I_xx-I_yy)/I_zz*omega[1]*omega[2]+1/(2*I_zz)*rho*V^2*S_ref*b*Cn;
+
+
+xdot=V*cos(angles[2])*cos(angles[3]);
+ydot=V*cos(angles[2])*sin(angles[3]);
+zdot=-V*sin(angles[2]);
+
+mudot = omega[1]+tan(angles[2])*sin(angles[1])*omega[2]+tan(angles[2])*cos(angles[1])*omega[3];
+gammadot = cos(angles[1])*omega[2]-sin(angles[1])*omega[3];
+chidot=(1/cos(angles[2]))*sin(angles[1])*omega[2]+(1/cos(angles[2]))*cos(angles[1])*omega[3];
+
+end Wind6DOF;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo
new file mode 100644
index 0000000..0d4c90c
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBasic.mo
@@ -0,0 +1,95 @@
+model Wind6DOFBasic
+
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+
+
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real[3,3] J = {{1285.31, 0.0, 0.0}, {0.0, 1824.93, 0.0}, {0.0, 0.0, 2666.893}};
+
+
+
+//12 states
+RealOutput[3] omega(start = {0.0,0.0,0})  annotation(    Placement(visible = true, transformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//omega
+
+Real OMEGA[3,3] = skew(omega);//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =39.8858);
+Real alpha (start =0.1);
+Real beta (start = 0);
+
+RealOutput[3] VAB annotation(    Placement(visible = true, transformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//V, alpha, beta
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real mu (start = 0); 
+Real gamma (start = 0);
+Real chi (start = 0); 
+
+
+RealInput Force[3] annotation(   Placement(visible = true, transformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+RealInput Moment[3] annotation(   Placement(visible = true, transformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot= der(omega);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+Vdot = 1/m*(Force[1] -m*g*sin(gamma));
+
+alphadot = omega[2]-1/cos(beta)*((omega[1]*cos(alpha)+omega[3]*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+Force[3]/(m*V));
+
+betadot = (omega[1]*sin(alpha)-omega[3]*cos(alpha))+1/(m*V)*(Force[2]+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*omega);
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = omega[1]+tan(gamma)*sin(mu)*omega[2]+tan(gamma)*cos(mu)*omega[3];
+gammadot = cos(mu)*omega[2]-sin(mu)*omega[3];
+chidot=(1/cos(gamma))*sin(mu)*omega[2]+(1/cos(gamma))*cos(mu)*omega[3];
+
+VAB = {V,alpha,beta};
+
+end Wind6DOFBasic;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBlock.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBlock.mo
new file mode 100644
index 0000000..40731a3
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFBlock.mo
@@ -0,0 +1,185 @@
+block Wind6DOFBlock
+ 
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+parameter Real rho = 1.225;
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real S_ref = 16.1651;//reference area
+parameter Real C_bar = 1.493 ;//average chord
+parameter Real b = 10.911 ;//span
+//parameter Real b= 1.4224, cbar = 0.3302,s = 0.2589;
+
+
+
+parameter Real CD0    = 0.036;//= 0.01631;for Zagi
+parameter Real K_drag  = 0.0830304;//for cessna
+parameter Real CD_beta = 0.17;//for cessna
+parameter Real CD_alpha= 0.2108;
+parameter Real CD_q = 0;
+parameter Real CD_delta_e= 0.3045;
+
+//side force
+parameter Real Cy_beta  = -0.31;//for cessna
+parameter Real Cy_p  = -0.037;//for cessna
+parameter Real Cy_r   = 0.21;//for cessna
+parameter Real Cy_delta_r = 0.187; //for cessna
+parameter Real Cy_delta_a= 0;     //for cessna
+
+// lift
+parameter Real CL0 = 0.25;   //for cessna
+parameter Real CL_alpha = 4.47;//for cessna
+parameter Real CL_q = 3.9;//for cessna
+parameter Real CL_delta_e = 0.3476;//for cessna
+
+// rolling moment
+parameter Real Cl_beta = -0.089;//for cessna
+parameter Real Cl_p = -0.47;//for cessna
+parameter Real Cl_r = 0.096;//for cessna
+parameter Real Cl_delta_a= -0.09;//for cessna
+parameter Real Cl_delta_r = 0.0147;//for cessna
+
+// pitching moment
+parameter Real Cm0 = -0.02;//for cessna
+parameter Real Cm_alpha = -1.8;//for cessna
+parameter Real Cm_q   = -12.4;//for cessna
+parameter Real Cm_delta_e = -1.28;//for cessna
+
+// yawing moment
+parameter Real Cn_beta = 0.065;//for cessna
+parameter Real Cn_p  = -0.03;//for cessna
+parameter Real Cn_r = -0.99;//for cessna
+parameter Real Cn_delta_a = -0.0053;//for cessna
+parameter Real Cn_delta_r = -0.0657;//for cessna
+
+
+//Initial conditions. (deltaE, thrust[1] and the others are straightforward)
+
+parameter Real[3,3] J = {{1285.31, 0.0, 0.0}, {0.0, 1824.93, 0.0}, {0.0, 0.0, 2666.893}};
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+//Params
+RealInput deltaE (start = -0.15625) annotation(start = 0.1,Placement(visible = true, transformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+
+//Change inelevator angle
+parameter Real deltaR = 0;
+
+parameter Real  deltaA= 0;
+
+
+
+
+RealInput thrust (start = 1112.82) annotation(Placement(visible = true, transformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force = 1112.82;
+
+//12 states
+Real p (start = 0);
+Modelica.Blocks.Interfaces.RealOutput q  (start = 0) annotation(Placement(visible = true, transformation(origin = {110, 33}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 33}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));  //Angular velocity 
+Real r (start = 0);
+
+Real OMEGA[3,3] = skew({p,q,r});//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =39.8858);
+Modelica.Blocks.Interfaces.RealOutput alpha (start = 0.1) annotation( Placement(visible = true, transformation(origin = {110, -33}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -33}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));  //Angle of attack 
+Real beta (start = 0);
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real gamma (start = 0);
+Real chi (start = 0); 
+Real mu (start = 0); 
+
+Real qbar = 0.5*rho*V^2;
+Real [3] Moment;
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*q*C_bar)/(2*V))+CL_delta_e*deltaE;
+//CD =  CD0+CD_alpha*alpha+((CD_q*q*C_bar)/(2*V))+CD_delta_e*abs(deltaE)  ;
+CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (p*b)/(2*V) + Cy_r *(r*b)/(2*V) + Cy_delta_a * deltaA + Cy_delta_r*deltaR;//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(p*b)/(2*V) + Cl_r *(r*b)/(2*V) + Cl_delta_a * deltaA + Cl_delta_r * deltaR;//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*q*C_bar)/(2*V))+Cm_delta_e*deltaE;//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (p*b)/(2*V) + Cn_r *(r*b) /(2*V) + Cn_delta_a * deltaA + Cn_delta_r * deltaR;//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+Moment[2] = Cm*qbar*S_ref*C_bar;
+Moment[1] = Cl*qbar*S_ref*b;
+Moment[3] = Cn*qbar*S_ref*b;
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot[1] = der(p);
+omegadot[2] = der(q);
+omegadot[3] = der(r);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+
+
+Vdot = 1/m*(thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta))-m*g*sin(gamma));
+
+alphadot = q-1/cos(beta)*((p*cos(alpha)+r*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+0.5*rho*V^2*S_ref*CL/(m*V)+thrust*sin(alpha)/(m*V));
+
+betadot = (p*sin(alpha)-r*cos(alpha))+1/(m*V)*(-thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta))+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*{p,q,r});
+
+
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = p+tan(gamma)*sin(mu)*q+tan(gamma)*cos(mu)*r;
+gammadot = cos(mu)*q-sin(mu)*r;
+chidot=(1/cos(gamma))*sin(mu)*q+(1/cos(gamma))*cos(mu)*r;
+
+
+annotation(experiment(StartTime = 0, StopTime = 500, Interval = 0.002),
+    uses(Modelica(version = "3.2.2")));
+end Wind6DOFBlock;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFLinTest.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFLinTest.mo
new file mode 100644
index 0000000..3005f2e
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFLinTest.mo
@@ -0,0 +1,184 @@
+model Wind6DOFLinTest
+ 
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+parameter Real rho = 1.225;
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real S_ref = 16.1651;//reference area
+parameter Real C_bar = 1.493 ;//average chord
+parameter Real b = 10.911 ;//span
+//parameter Real b= 1.4224, cbar = 0.3302,s = 0.2589;
+
+
+
+parameter Real CD0    = 0.036;//= 0.01631;for Zagi
+parameter Real K_drag  = 0.0830304;//for cessna
+parameter Real CD_beta = 0.17;//for cessna
+parameter Real CD_alpha= 0.2108;
+parameter Real CD_q = 0;
+parameter Real CD_delta_e= 0.3045;
+
+//side force
+parameter Real Cy_beta  = -0.31;//for cessna
+parameter Real Cy_p  = -0.037;//for cessna
+parameter Real Cy_r   = 0.21;//for cessna
+parameter Real Cy_delta_r = 0.187; //for cessna
+parameter Real Cy_delta_a= 0;     //for cessna
+
+// lift
+parameter Real CL0 = 0.25;   //for cessna
+parameter Real CL_alpha = 4.47;//for cessna
+parameter Real CL_q = 3.9;//for cessna
+parameter Real CL_delta_e = 0.3476;//for cessna
+
+// rolling moment
+parameter Real Cl_beta = -0.089;//for cessna
+parameter Real Cl_p = -0.47;//for cessna
+parameter Real Cl_r = 0.096;//for cessna
+parameter Real Cl_delta_a= -0.09;//for cessna
+parameter Real Cl_delta_r = 0.0147;//for cessna
+
+// pitching moment
+parameter Real Cm0 = -0.02;//for cessna
+parameter Real Cm_alpha = -1.8;//for cessna
+parameter Real Cm_q   = -12.4;//for cessna
+parameter Real Cm_delta_e = -1.28;//for cessna
+
+// yawing moment
+parameter Real Cn_beta = 0.065;//for cessna
+parameter Real Cn_p  = -0.03;//for cessna
+parameter Real Cn_r = -0.99;//for cessna
+parameter Real Cn_delta_a = -0.0053;//for cessna
+parameter Real Cn_delta_r = -0.0657;//for cessna
+
+
+//Initial conditions. (deltaE, thrust[1] and the others are straightforward)
+
+parameter Real[3,3] J = {{1285.31, 0.0, 0.0}, {0.0, 1824.93, 0.0}, {0.0, 0.0, 2666.893}};
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+//Params
+RealInput deltaE (start = -0.15625) annotation(Placement(visible = true, transformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+parameter Real deltaR = 0;
+
+parameter Real deltaA = 0;
+// Modelica.Blocks.Sources.Constant deltaA (k =0)  annotation(    Placement(visible = true, transformation(origin = {-42, 28}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+
+
+
+
+RealInput thrust (start = 1112.82)  annotation(Placement(visible = true, transformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force = 1112.82;
+
+//12 states
+Real p (start = 0);
+Real q (start = 0);
+Real r (start = 0);
+
+Real OMEGA[3,3] = skew({p,q,r});//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =39.8858);
+Real alpha (start = 0.1); 
+Real beta (start = 0);
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real gamma (start = 0);
+Real chi (start = 0); 
+Real mu (start = 0); 
+
+Real qbar = 0.5*rho*V^2;
+Real [3] Moment;
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*q*C_bar)/(2*V))+CL_delta_e*deltaE;
+//CD =  CD0+CD_alpha*alpha+((CD_q*q*C_bar)/(2*V))+CD_delta_e*abs(deltaE)  ;
+CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (p*b)/(2*V) + Cy_r *(r*b)/(2*V) + Cy_delta_a * deltaA + Cy_delta_r*deltaR;//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(p*b)/(2*V) + Cl_r *(r*b)/(2*V) + Cl_delta_a * deltaA + Cl_delta_r * deltaR;//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*q*C_bar)/(2*V))+Cm_delta_e*deltaE;//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (p*b)/(2*V) + Cn_r *(r*b) /(2*V) + Cn_delta_a * deltaA + Cn_delta_r * deltaR;//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+Moment[2] = Cm*qbar*S_ref*C_bar;
+Moment[1] = Cl*qbar*S_ref*b;
+Moment[3] = Cn*qbar*S_ref*b;
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot[1] = der(p);
+omegadot[2] = der(q);
+omegadot[3] = der(r);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+
+
+Vdot = 1/m*(thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta))-m*g*sin(gamma));
+
+alphadot = q-1/cos(beta)*((p*cos(alpha)+r*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+0.5*rho*V^2*S_ref*CL/(m*V)+thrust*sin(alpha)/(m*V));
+
+betadot = (p*sin(alpha)-r*cos(alpha))+1/(m*V)*(-thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta))+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*{p,q,r});
+
+
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = p+tan(gamma)*sin(mu)*q+tan(gamma)*cos(mu)*r;
+gammadot = cos(mu)*q-sin(mu)*r;
+chidot=(1/cos(gamma))*sin(mu)*q+(1/cos(gamma))*cos(mu)*r;
+
+
+annotation(experiment(StartTime = 0, StopTime = 500, Interval = 0.002),    uses(Modelica(version = "3.2.2")));
+
+end Wind6DOFLinTest;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFVer.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFVer.mo
new file mode 100644
index 0000000..353e365
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFVer.mo
@@ -0,0 +1,182 @@
+model Wind6DOFVer
+ 
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+parameter Real rho = 1.225;
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real S_ref = 16.1651;//reference area
+parameter Real C_bar = 1.493 ;//average chord
+parameter Real b = 10.911 ;//span
+//parameter Real b= 1.4224, cbar = 0.3302,s = 0.2589;
+
+
+
+parameter Real CD0    = 0.036;//= 0.01631;for Zagi
+parameter Real K_drag  = 0.0830304;//for cessna
+parameter Real CD_beta = 0.17;//for cessna
+parameter Real CD_alpha= 0.2108;
+parameter Real CD_q = 0;
+parameter Real CD_delta_e= 0.3045;
+
+//side force
+parameter Real Cy_beta  = -0.31;//for cessna
+parameter Real Cy_p  = -0.037;//for cessna
+parameter Real Cy_r   = 0.21;//for cessna
+parameter Real Cy_delta_r = 0.187; //for cessna
+parameter Real Cy_delta_a= 0;     //for cessna
+
+// lift
+parameter Real CL0 = 0.25;   //for cessna
+parameter Real CL_alpha = 4.47;//for cessna
+parameter Real CL_q = 3.9;//for cessna
+parameter Real CL_delta_e = 0.3476;//for cessna
+
+// rolling moment
+parameter Real Cl_beta = -0.089;//for cessna
+parameter Real Cl_p = -0.47;//for cessna
+parameter Real Cl_r = 0.096;//for cessna
+parameter Real Cl_delta_a= -0.09;//for cessna
+parameter Real Cl_delta_r = 0.0147;//for cessna
+
+// pitching moment
+parameter Real Cm0 = -0.02;//for cessna
+parameter Real Cm_alpha = -1.8;//for cessna
+parameter Real Cm_q   = -12.4;//for cessna
+parameter Real Cm_delta_e = -1.28;//for cessna
+
+// yawing moment
+parameter Real Cn_beta = 0.065;//for cessna
+parameter Real Cn_p  = -0.03;//for cessna
+parameter Real Cn_r = -0.99;//for cessna
+parameter Real Cn_delta_a = -0.0053;//for cessna
+parameter Real Cn_delta_r = -0.0657;//for cessna
+
+
+//Initial conditions. (deltaE, thrust[1] and the others are straightforward)
+
+parameter Real[3,3] J = {{1285.31, 0.0, 0.0}, {0.0, 1824.93, 0.0}, {0.0, 0.0, 2666.893}};
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+//Params
+parameter Real deltaE = -0.15625;
+parameter Real deltaR = 0;
+
+parameter Real deltaA = 0;
+
+
+
+
+parameter  Real thrust = 1112.82;
+
+//12 states
+Real p (start = 0);
+Real q (start = 0);
+Real r (start = 0);
+
+Real OMEGA[3,3] = skew({p,q,r});//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =39.8858);
+Real alpha (start =0.1);
+Real beta (start = 0);
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real mu (start = 0); 
+Real gamma (start = 0);
+Real chi (start = 0); 
+
+Real qbar = 0.5*rho*V^2;
+Real [3] Moment;
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*q*C_bar)/(2*V))+CL_delta_e*deltaE;
+//CD =  CD0+CD_alpha*alpha+((CD_q*q*C_bar)/(2*V))+CD_delta_e*abs(deltaE)  ;
+CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (p*b)/(2*V) + Cy_r *(r*b)/(2*V) + Cy_delta_a * deltaA + Cy_delta_r*deltaR;//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(p*b)/(2*V) + Cl_r *(r*b)/(2*V) + Cl_delta_a * deltaA + Cl_delta_r * deltaR;//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*q*C_bar)/(2*V))+Cm_delta_e*deltaE;//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (p*b)/(2*V) + Cn_r *(r*b) /(2*V) + Cn_delta_a * deltaA + Cn_delta_r * deltaR;//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+Moment[2] = Cm*qbar*S_ref*C_bar;
+Moment[1] = Cl*qbar*S_ref*b;
+Moment[3] = Cn*qbar*S_ref*b;
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot[1] = der(p);
+omegadot[2] = der(q);
+omegadot[3] = der(r);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+
+
+Vdot = 1/m*(thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta))-m*g*sin(gamma));
+
+alphadot = q-1/cos(beta)*((p*cos(alpha)+r*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+(0.5*rho*V^2*S_ref*CL+thrust*sin(alpha))/(m*V));
+
+betadot = (p*sin(alpha)-r*cos(alpha))+1/(m*V)*(-thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta))+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*{p,q,r});
+
+
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = p+tan(gamma)*sin(mu)*q+tan(gamma)*cos(mu)*r;
+gammadot = cos(mu)*q-sin(mu)*r;
+chidot=(1/cos(gamma))*sin(mu)*q+(1/cos(gamma))*cos(mu)*r;
+
+
+annotation(experiment(StartTime = 0, StopTime = 500, Interval = 0.002),    uses(Modelica(version = "3.2.2")));
+end Wind6DOFVer;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/Wind6DOFZagi.mo b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFZagi.mo
new file mode 100644
index 0000000..b6c90d7
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/Wind6DOFZagi.mo
@@ -0,0 +1,187 @@
+model Wind6DOFZagi
+ 
+import Modelica.Math.Matrices.*;
+import SI=Modelica.SIunits;
+import Modelica.Blocks.Interfaces.*;
+
+parameter Real rho = 1.225;
+parameter Real m = 1.56;//1.56 for zagi
+parameter Real S_ref = 0.2589;//reference area
+parameter Real C_bar = 0.3302 ;//average chord
+parameter Real b = 1.4224 ;//span
+parameter Real g  = 9.81;//gravitational force
+//parameter Real b= 1.4224, C_bar = 0.3302,s = 0.2589;
+
+// lift
+parameter Real CL0 = 0.09167;   //for cessna
+parameter Real CL_alpha = 3.5016;//for cessna
+parameter Real CL_q = 2.8932;//for cessna
+parameter Real CL_delta_e = 0.2724;//for cessna
+
+parameter Real CD0    = 0.01631;//= 0.01631;for Zagi
+parameter Real K_drag  = 0.0830304;//for cessna
+parameter Real CD_beta = 0.17;//for cessna
+parameter Real CD_alpha= 0.2108;
+parameter Real CD_q = 0;
+parameter Real CD_delta_e= 0.3045;
+
+//side force
+parameter Real Cy_0;
+parameter Real Cy_beta  = -0.07359;//for cessna
+parameter Real Cy_p  = 0;//for cessna
+parameter Real Cy_r   = 0.21;//for cessna
+parameter Real Cy_delta_r = 0.187; //for cessna
+parameter Real Cy_delta_a= 0;     //for cessna
+
+
+
+// rolling moment
+parameter Real Cl_0 = 0;
+parameter Real Cl_beta = -0.02854;//for cessna
+parameter Real Cl_p = -0.3209;//for cessna
+parameter Real Cl_r = 0.03066;//for cessna
+parameter Real Cl_delta_a= 0.1682;//for cessna
+parameter Real Cl_delta_r = 0;//for cessna
+
+// pitching moment
+parameter Real Cm0 = -0.02338;//for cessna
+parameter Real Cm_alpha = -0.5675;//for cessna
+parameter Real Cm_q   = -1.3990;//for cessna
+parameter Real Cm_delta_e = -0.3254;//for cessna
+
+// yawing moment
+parameter Real Cn_0 = 0;
+parameter Real Cn_beta = -0.00040;//for cessna
+parameter Real Cn_p  = -0.01297;//for cessna
+parameter Real Cn_r = -0.00434;//for cessna
+parameter Real Cn_delta_a = -0.00328;//for cessna
+parameter Real Cn_delta_r = 0;//for cessna
+
+
+//Initial conditions. (deltaE, thrust[1] and the others are straightforward)
+
+parameter Real[3,3] J = {{0.1147, 0.0, -0.0015}, {0.0, 0.0576, 0.0}, {-0.0015, 0.0, 0.2589}};
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+//Params
+parameter Real deltaE = -0.246251;
+parameter Real deltaR = 0;
+
+//Modelica.Blocks.Sources.RealExpression deltaA (y = if time > 100 and time < 105 then  3.1412 /180 elseif time > 105 and time < 110 then -3.1412 /180 else 0)  annotation(    Placement(visible = true, transformation(origin = {-112, 1}, extent = {{-26, -47}, {26, 47}}, rotation = 0)));
+ Modelica.Blocks.Sources.Constant deltaA (k =0)  annotation(    Placement(visible = true, transformation(origin = {-42, 28}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+
+
+
+
+parameter  Real thrust = 4.47729;
+
+//12 states
+Real p (start = 0);
+Real q (start = 0);
+Real r (start = 0);
+
+Real OMEGA[3,3] = skew({p,q,r});//Skew symmetric matrix form of the angular velocity term
+
+
+Real V (start =15.8114);
+Real alpha (start =0.1);
+Real beta (start = 0);
+
+
+Real x (start = 0);
+Real y (start = 0);
+Real z (start = 100);
+
+Real gamma (start = 0);
+Real chi (start = 0); 
+Real mu (start = 0); 
+
+Real qbar = 0.5*rho*V^2;
+Real [3] Moment;
+
+
+
+Real Vdot;
+Real alphadot;
+Real betadot;
+
+Real[3] omegadot;
+
+Real mudot;
+Real gammadot;
+Real chidot;
+
+Real xdot;
+Real ydot;
+Real zdot;
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*q*C_bar)/(2*V))+CL_delta_e*deltaE;
+CD =  CD0+CD_alpha*alpha+((CD_q*q*C_bar)/(2*V))+CD_delta_e*abs(deltaE)  ;
+//CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (p*b)/(2*V) + Cy_r *(r*b)/(2*V) + Cy_delta_a * deltaA.k + Cy_delta_r*deltaR;//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(p*b)/(2*V) + Cl_r *(r*b)/(2*V) + Cl_delta_a * deltaA.k + Cl_delta_r * deltaR;//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*q*C_bar)/(2*V))+Cm_delta_e*deltaE;//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (p*b)/(2*V) + Cn_r *(r*b) /(2*V) + Cn_delta_a * deltaA.k + Cn_delta_r * deltaR;//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+Moment[2] = Cm*qbar*S_ref*C_bar;
+Moment[1] = Cl*qbar*S_ref*b;
+Moment[3] = Cn*qbar*S_ref*b;
+
+Vdot = der(V);
+alphadot = der(alpha);
+betadot = der(beta);
+
+omegadot[1] = der(p);
+omegadot[2] = der(q);
+omegadot[3] = der(r);
+
+xdot = der(x);
+ydot = der(y);
+zdot = der(z);
+
+mudot = der(mu);
+gammadot = der(gamma);
+chidot = der(chi);
+
+
+
+
+Vdot = 1/m*(thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta))-m*g*sin(gamma));
+
+alphadot = q-1/cos(beta)*((p*cos(alpha)+r*sin(alpha))*sin(beta)-g/V*cos(gamma)*cos(mu)+0.5*rho*V^2*S_ref*CL/(m*V)+thrust*sin(alpha)/(m*V));
+
+betadot = (p*sin(alpha)-r*cos(alpha))+1/(m*V)*(-thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta))+m*g*cos(gamma)*sin(mu));
+
+
+omegadot = inv(J) * (Moment- OMEGA* J*{p,q,r});
+
+
+
+xdot=V*cos(gamma)*cos(chi);
+ydot=V*cos(gamma)*sin(chi);
+zdot=-V*sin(gamma);
+
+mudot = p+tan(gamma)*sin(mu)*q+tan(gamma)*cos(mu)*r;
+gammadot = cos(mu)*q-sin(mu)*r;
+chidot=(1/cos(gamma))*sin(mu)*q+(1/cos(gamma))*cos(mu)*r;
+
+
+annotation(experiment(StartTime = 0, StopTime = 500, Interval = 0.002),
+    uses(Modelica(version = "3.2.2")));
+end Wind6DOFZagi;
+\ No newline at end of file
diff --git a/Flight_Eqns/Wind_Axis_eqns/WindForceMoment.mo b/Flight_Eqns/Wind_Axis_eqns/WindForceMoment.mo
new file mode 100644
index 0000000..9f3c8e4
--- /dev/null
+++ b/Flight_Eqns/Wind_Axis_eqns/WindForceMoment.mo
@@ -0,0 +1,124 @@
+model WindForceMoment
+
+import Modelica.Math.Matrices.*;
+import Modelica.SIunits.*;
+import Modelica.Blocks.Interfaces.*;
+import Modelica.Math.Vectors.*;
+
+
+
+parameter Real rho = 1.225;
+parameter Real g = 9.81;
+parameter Real m = 1043.26;//1.56 for zagi
+parameter Real S_ref = 16.1651;//reference area
+parameter Real C_bar = 1.493 ;//average chord
+parameter Real b = 10.911 ;//span
+
+parameter Real CD0    = 0.036;//= 0.01631;for Zagi
+parameter Real K_drag  = 0.0830304;//for cessna
+parameter Real CD_beta = 0.17;//for cessna
+parameter Real CD_alpha= 0.2108;
+parameter Real CD_q = 0;
+parameter Real CD_delta_e= 0.3045;
+
+//side force
+parameter Real Cy_beta  = -0.31;//for cessna
+parameter Real Cy_p  = -0.037;//for cessna
+parameter Real Cy_r   = 0.21;//for cessna
+parameter Real Cy_delta_r = 0.187; //for cessna
+parameter Real Cy_delta_a= 0;     //for cessna
+
+// lift
+parameter Real CL0 = 0.25;   //for cessna
+parameter Real CL_alpha = 4.47;//for cessna
+parameter Real CL_q = 3.9;//for cessna
+parameter Real CL_delta_e = 0.3476;//for cessna
+
+// rolling moment
+parameter Real Cl_beta = -0.089;//for cessna
+parameter Real Cl_p = -0.47;//for cessna
+parameter Real Cl_r = 0.096;//for cessna
+parameter Real Cl_delta_a= -0.09;//for cessna
+parameter Real Cl_delta_r = 0.0147;//for cessna
+
+// pitching moment
+parameter Real Cm0 = -0.02;//for cessna
+parameter Real Cm_alpha = -1.8;//for cessna
+parameter Real Cm_q   = -12.4;//for cessna
+parameter Real Cm_delta_e = -1.28;//for cessna
+
+// yawing moment
+parameter Real Cn_beta = 0.065;//for cessna
+parameter Real Cn_p  = -0.03;//for cessna
+parameter Real Cn_r = -0.99;//for cessna
+parameter Real Cn_delta_a = -0.0053;//for cessna
+parameter Real Cn_delta_r = -0.0657;//for cessna
+
+Real CL;
+Real CD;
+Real CY;
+Real Cl;
+Real Cm;
+Real Cn;
+Real CX;
+Real CZ;
+
+RealInput thrust annotation(   Placement(visible = true, transformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+    
+RealInput[3] delta annotation(
+    Placement(visible = true, transformation(origin = {-110, -50}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-110, -50}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ 
+RealInput[3] VAB annotation(    Placement(visible = true, transformation(origin = {-33, 110}, extent = {{-20, -20}, {20, 20}}, rotation = -90), iconTransformation(origin = {-33, 110}, extent = {{-20, -20}, {20, 20}}, rotation = -90)));//V, alpha, beta
+
+RealInput[3] omega annotation(    Placement(visible = true, transformation(origin = {33, 110}, extent = {{-20, -20}, {20, 20}}, rotation = -90), iconTransformation(origin = {33, 110}, extent = {{-20, -20}, {20, 20}}, rotation = -90)));//Angular velocities
+
+ 
+ 
+Real V = VAB[1];
+Real alpha = VAB[2];
+Real beta = VAB[3];
+ 
+Real p = omega[1];
+Real q = omega[2];
+Real r = omega[3]; 
+    
+Real deltaE = delta[1];
+Real deltaR = delta[2];
+Real deltaA = delta[3];
+
+Real qbar = 0.5*rho*V^2;
+
+
+
+RealOutput Force[3] annotation(   Placement(visible = true, transformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, 33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+RealOutput Moment[3] annotation(   Placement(visible = true, transformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {110, -33}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));//Thrust force
+
+
+
+equation
+CL = CL0+CL_alpha*alpha+((CL_q*q*C_bar)/(2*V))+CL_delta_e*deltaE;
+//CD =  CD0+CD_alpha*alpha+((CD_q*q*C_bar)/(2*V))+CD_delta_e*abs(deltaE)  ;
+CD = CD0 + K_drag*CL^2;
+CY = Cy_beta * beta + Cy_p * (p*b)/(2*V) + Cy_r *(r*b)/(2*V) + Cy_delta_a * deltaA + Cy_delta_r*deltaR;//Sideslip coeff
+
+
+Cl = Cl_beta * beta + Cl_p*(p*b)/(2*V) + Cl_r *(r*b)/(2*V) + Cl_delta_a * deltaA + Cl_delta_r * deltaR;//Rolling coeff
+
+Cm  = Cm0+Cm_alpha*alpha+((Cm_q*q*C_bar)/(2*V))+Cm_delta_e*deltaE;//pitching coeff
+
+Cn = Cn_beta * beta + Cn_p * (p*b)/(2*V) + Cn_r *(r*b) /(2*V) + Cn_delta_a * deltaA + Cn_delta_r * deltaR;//Yawing coeff
+
+CX = -CD*cos(alpha) + CL*sin(alpha);
+CZ = -CD*sin(alpha) - CL*cos(alpha);
+
+Force[1] = thrust*cos(alpha)*cos(beta)-0.5*rho*V^2*S_ref*(CD*cos(beta)-CY*sin(beta));
+Force[2] = -thrust*cos(alpha)*sin(beta)+0.5*rho*V^2*S_ref*(CY*cos(beta)+CD*sin(beta));
+Force[3] = 0.5*rho*V^2*S_ref*CL+thrust*sin(alpha);
+
+
+Moment[2] = Cm*qbar*S_ref*C_bar;
+Moment[1] = Cl*qbar*S_ref*b;
+Moment[3] = Cn*qbar*S_ref*b;
+
+end WindForceMoment;
+\ No newline at end of file