function [X,Xdot] = propogate_state11(xyz, uvw, a, pqr, Q, g, dt)% This will compute the X dot equations for the model%   Inputs:%   xyz = [X; Y; Z]%   uvw = [u; v; w]%   a = [ax; ay; az]%   pqr = [p; q; r]%   Q = [q0; q1; q2; q3]%   g = g%   dt = dt%%	[X,Xdot] = propogate_state(xyz, uvw, a, pqr, Q, g, dt);%			  .  .  .  .  .  .   .   .   .   .  . %	Xdot = [x; y; z; u; v; w; q0; q1; q2; q3; g]%	X = [x; y; z; u; v; w; q0; q1; q2; q3; g]Wxq = quatwx(pqr');Wx = eulerwx(pqr');dcm = quatdcm(Q');NEDdot = dcm'*uvw;uvwdot = a + dcm*[0;0;g] - Wx*uvw;quatdot = Wxq*Q;Xdot = [NEDdot; uvwdot; quatdot; 0];NED = xyz + NEDdot*dt;uvw = uvw + uvwdot*dt;pqr = pqr;quat = Q + quatdot*dt;quat = (normq(quat'))';X = [NED; uvw; quat; g];