def update(self, delta, wind):
    '\n            Integrate the differential equations defining dynamics, update sensors\n            delta = (delta_a, delta_e, delta_r, delta_t) are the control inputs\n            wind is the wind vector in inertial coordinates\n            Ts is the time step between function calls.\n        '
    forces_moments = self._forces_moments(delta)
    time_step = self._ts_simulation
    k1 = self._derivatives(self._state, forces_moments)
    k2 = self._derivatives((self._state + ((time_step / 2.0) * k1)), forces_moments)
    k3 = self._derivatives((self._state + ((time_step / 2.0) * k2)), forces_moments)
    k4 = self._derivatives((self._state + (time_step * k3)), forces_moments)
    self._state += ((time_step / 6) * (((k1 + (2 * k2)) + (2 * k3)) + k4))
    e0 = self._state.item(6)
    e1 = self._state.item(7)
    e2 = self._state.item(8)
    e3 = self._state.item(9)
    normE = np.sqrt(((((e0 ** 2) + (e1 ** 2)) + (e2 ** 2)) + (e3 ** 2)))
    self._state[6][0] = (self._state.item(6) / normE)
    self._state[7][0] = (self._state.item(7) / normE)
    self._state[8][0] = (self._state.item(8) / normE)
    self._state[9][0] = (self._state.item(9) / normE)
    self._update_velocity_data(wind)
    self._update_true_state()
Integrate the differential equations defining dynamics, update sensors
delta = (delta_a, delta_e, delta_r, delta_t) are the control inputs
wind is the wind vector in inertial coordinates
Ts is the time step between function calls.
def update(self, delta, wind):
    '\n            Integrate the differential equations defining dynamics, update sensors\n            delta = (delta_a, delta_e, delta_r, delta_t) are the control inputs\n            wind is the wind vector in inertial coordinates\n            Ts is the time step between function calls.\n        '
    forces_moments = self._forces_moments(delta)
    time_step = self._ts_simulation
    k1 = self._derivatives(self._state, forces_moments)
    k2 = self._derivatives((self._state + ((time_step / 2.0) * k1)), forces_moments)
    k3 = self._derivatives((self._state + ((time_step / 2.0) * k2)), forces_moments)
    k4 = self._derivatives((self._state + (time_step * k3)), forces_moments)
    self._state += ((time_step / 6) * (((k1 + (2 * k2)) + (2 * k3)) + k4))
    e0 = self._state.item(6)
    e1 = self._state.item(7)
    e2 = self._state.item(8)
    e3 = self._state.item(9)
    normE = np.sqrt(((((e0 ** 2) + (e1 ** 2)) + (e2 ** 2)) + (e3 ** 2)))
    self._state[6][0] = (self._state.item(6) / normE)
    self._state[7][0] = (self._state.item(7) / normE)
    self._state[8][0] = (self._state.item(8) / normE)
    self._state[9][0] = (self._state.item(9) / normE)
    self._update_velocity_data(wind)
    self._update_true_state()