diff --git a/docs/src/examples/quad.md b/docs/src/examples/quad.md
index edd0539f..2fee6623 100644
--- a/docs/src/examples/quad.md
+++ b/docs/src/examples/quad.md
@@ -75,6 +75,12 @@ 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.
@@ -82,6 +88,9 @@ function RotorCraft(; closed_loop = true, addload=true)
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
index 8c4f4225..8491a2cc 100644
--- 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
-
- 
+
+ 
