代码里有很完整的注释和解释，仿真效率很高的，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Code, there are very complete notes and explanations High simulation efficiency, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle.