Hi Johannes,
I understand that you are facing an issue translating the MATLAB's euler angle quadrotor equations into body frame angular velocities.
To address the transformation of Euler angle-based quadrotor dynamics into body frame representations within MATLAB, the following code uses symbolic math to define the transformation and calculate the body frame angular velocities from given Euler angle rates.
Please go through the following code sample to proceed further,
syms phi theta psi dot_phi dot_theta dot_psi
T = [1, 0, -sin(theta);
0, cos(phi), cos(theta)*sin(phi);
0, -sin(phi), cos(theta)*cos(phi)];
eulerRates = [dot_phi; dot_theta; dot_psi];
bodyFrameVelocities = T * eulerRates;
p = bodyFrameVelocities(1);
q = bodyFrameVelocities(2);
r = bodyFrameVelocities(3);
I hope this helps!
