function y=odefun(t,y)
density=1.293;
Cx=0.01;
Cy=0.05;
Jz1=303.3499;
S=(5.56+2.65)*0.527;
L=5.56;
m=1200;
g=9.8;
mz=-0.23;
y=zeros(6,1);
y(1)=-g*sin(y(2))-(Cx*0.5*density*(y(1))^2*S*cos(y(6)-y(2))+Cy*0.5*density*(y(1))^2*S*sin(y(6)-y(2)))/m;
y(2)=(-Cx*0.5*density*(y(1))^2*S*sin(y(6)-y(2))+Cy*0.5*density*(y(1))^2*S*cos(y(6)-y(2))-m*g*cos(y(2)))/(m*y(1));
y(3)=(mz*0.5*density*(y(1))^2*S*L)/Jz1;
y(4)=y(1)*cos(y(2));
y(5)=y(1)*sin(y(2));
y(6)=y(3);
