The initial (3-2-1) Euler angles yaw, pitch and roll of a vehicle are (,,).(,,) = (40, 30, 80) degrees. Assume the body angular velocity vector of the craft is given through the B frame components as B=[sin(0.1t);0.01;cos(0.1t)] 20deg/s. Write a program(matlab) to numerically integrate the yaw, pitch and roll angles over a simulation time of 1 minute. Enter the Euler angle norm sqrt{psi^2 + theta^2 + phi^2}

at the simulation time step 42s. Express angles in radians.

[Hint: if you are unsure, look at the "Optional Review: Integrating Differential Kinematic Equations" video.]

[Hint: In the integration, start with the initial angles and just integrate them without mapping them to specific quadrants. ]