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<code> #include <stdio.h> #include <stdlib.h>

int main(int argc, char *argv[]) {

FILE *fone;
fone = fopen("Results2.txt","w+");
printf("glider simulation\n");
float heading ;
float deltaheading;
float angular_acceleration;
float gps;
float integral;
float derivative;
float damping_constant;
float rudder_constant;
float P_constant;
float I_constant;
float D_constant;
float rudder;
float gpsdelta;
int iterations;
float pseudogps;
float pseudogpsdelta;
int n;
int k;
printf("input rudder constant, damping constant, P, I, D, iterations, and heading offset\n");
scanf("%f",&rudder_constant);
scanf("%f",&damping_constant);
scanf("%f",&P_constant);
scanf("%f",&I_constant);
scanf("%f",&D_constant);
scanf("%d",&iterations);
scanf("%f",&heading);
integral=0;
deltaheading=0;
rudder=0;
fprintf(fone,"%f\t%f\t%f\t%f\t%f\n",rudder_constant,damping_constant,P_constant,I_constant,D_constant);
printf("and we're off!\n");
for (n=1;n<=iterations;n++)
 {
 gpsdelta=heading-gps; 
 gps=heading ;                                                                      /*a GPS measurement*/
 pseudogpsdelta=heading+gpsdelta-pseudogps;
 pseudogps=heading+gpsdelta;
 pseudogpsdelta=gpsdelta;
 pseudogps=gps;
 for (k=1;k<=50;k++)                                                                 /*one second of flight*/
  {angular_acceleration=(rudder_constant*rudder)-(deltaheading*damping_constant);
   deltaheading+=(angular_acceleration/50);
   heading+=(deltaheading/50);}
 integral+=pseudogps;                                                                      /*gps is processed*/
 rudder=(P_constant*pseudogps)+(D_constant*pseudogpsdelta)+(I_constant*integral);
 fprintf(fone,"%f\t%f\n",heading,rudder);
 }
system("PAUSE");	
return 0;

} ,/code>