Flight Models for newbee's

Hi,

I'm studying theory control, and I'd like to play a bit with helicopter's
capabilities.
I'd like to work on their model.
Flightgear works with YAsim, JSBsim and LaRCsim.
I've take a look at the LaRCsim manual. It says it uses "a set of equations
of motion for a rigid-body aircraft in atmospheric and low-earth orbital
flight".
In fact, using the equations of a 6D rigid-body is where I would have
started if I were to choose without more info.

I wonder how the other models work.
For instance, I know the X-plane engine considers the aerodynamic planes. A
totally different point of view from LaRCsim, but still accurate and
working.

Where could I get some info on YAsim and JSBsim?
Could you draw me a shot of the main ideas?

Thanks and sorry for my grammar.

David

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