def __init__(self, imu, differential_pressure_sensor,
static_pressure_sensor, magnetometer, gps):
self.phi, self.theta, self.psi = 0, 0, 0
self.Vair = 0.0
self.attitude_observer = AttitudeObserver()
self.heading_observer = HeadingObserver()
self.altitude_observer = AltitudeObserver()
self.wind_observer = WindObserver()
self.position_observer = PositionObserver()
# Comming soon:
# self.navigation_observer = NavigationObserver()
self.imu = imu
self.differential_pressure_sensor = differential_pressure_sensor
self.static_pressure_sensor = static_pressure_sensor
self.magnetometer = magnetometer
self.gps = EmulatedXplaneGPS(delay=1.1, Hz=2)
self.last_time = datetime.now()
