tweak docs

JuliaComputing · Jul 31, 2024 · 9d7e3ee · 9d7e3ee
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Showing 2 changed files with 14 additions and 5 deletions.
diff --git a/docs/src/examples/quad.md b/docs/src/examples/quad.md
@@ -75,13 +75,22 @@ function RotorCraft(; closed_loop = true, addload=true)
  ) for i = 1:num_arms
  ]
 
+ @variables begin
+ y_alt(t)
+ y_roll(t)
+ y_pitch(t)
+ end
+
  thrusters = [Thruster(name = Symbol("thruster$i")) for i = 1:num_arms]
  @named body = Body(m = body_mass, state_priority = 0, I_11=0.01, I_22=0.01, I_33=0.01, air_resistance=1)
  @named freemotion = FreeMotion(state=true, isroot=true, quat=false) # We use Euler angles to describe the orientation of the rotorcraft.
 
  connections = [
  connect(world.frame_b, freemotion.frame_a)
  connect(freemotion.frame_b, body.frame_a)
+ y_alt ~ body.r_0[2]
+ y_roll ~ freemotion.phi[3]
+ y_pitch ~ freemotion.phi[1]
  [connect(body.frame_a, arms[i].frame_a) for i = 1:num_arms]
  [connect(arms[i].frame_b, thrusters[i].frame_b) for i = 1:num_arms]
  ]
@@ -122,9 +131,9 @@ function RotorCraft(; closed_loop = true, addload=true)
  append!(connections, [thrusters[i].u ~ uc[i] for i = 1:num_arms])
 
  append!(connections, [
- Calt.err_input.u ~ -body.r_0[2]
- Croll.err_input.u ~ -freemotion.phi[3]
- Cpitch.err_input.u ~ -freemotion.phi[1]
+ Calt.err_input.u ~ -y_alt
+ Croll.err_input.u ~ -y_roll
+ Cpitch.err_input.u ~ -y_pitch
  ])
  append!(systems, [Calt; Croll; Cpitch])
 

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -134,8 +134,8 @@ The following animations give a quick overview of simple mechanisms that can be
  <a class="grid-item" href="https://help.juliahub.com/multibody/dev/examples/ropes_and_cables/">
  <img src="https://help.juliahub.com/multibody/dev/examples/mounted_chain.gif" alt="mounted_chain">
  </a>
- <a class="grid-item" href="https://help.juliahub.com/multibody/dev/examples/ropes_and_cables/">
- <img src="https://help.juliahub.com/multibody/dev/examples/stiff_rope.gif" alt="stiff_rope">
+ <a class="grid-item" href="https://help.juliahub.com/multibody/dev/examples/quad/">
+ <img src="https://help.juliahub.com/multibody/dev/examples/quadrotor.gif" alt="quadrotor">
  </a>
  <a class="grid-item" href="https://help.juliahub.com/multibody/dev/examples/kinematic_loops/">
  <img src="https://help.juliahub.com/multibody/dev/examples/fourbar2.gif" alt="fourbar2">