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Fig. 2. Definition of the state variables u, w, q and {theta}. Each of the variables is signed positive in the direction shown. The body axes are centred upon the centre of mass and are aligned so that the x-axis points in the direction of flight at equilibrium. The locust is shown during a nose-up perturbation: q is zero at equilibrium, and w and {theta} are defined so as to be zero at equilibrium.





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