sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_in.bind(sim_in_address) sim_in.setblocking(1) # setup output to SITL sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_out.connect(sim_out_address) sim_out.setblocking(0) # FG FDM object fdm = fgFDM.fgFDM() # create the model based on frame type if opts.frame == 'heli': from helicopter import HeliCopter a = HeliCopter(frame=opts.frame) frame_rate = 400 elif opts.frame == 'IrisRos': from iris_ros import IrisRos a = IrisRos() frame_rate = 1000 elif opts.frame.startswith('CRRCSim'): from crrcsim import CRRCSim a = CRRCSim(frame=opts.frame) frame_rate = 360 elif opts.frame.startswith('rover'): from rover import Rover a = Rover(frame=opts.frame) frame_rate = 360 else: from multicopter import MultiCopter
# setup input from SITL sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_in.bind(sim_in_address) sim_in.setblocking(1) # setup output to SITL sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_out.connect(sim_out_address) sim_out.setblocking(0) # FG FDM object fdm = fgFDM.fgFDM() # create the quadcopter model if opts.frame == 'heli': a = HeliCopter(frame=opts.frame) else: a = MultiCopter(frame=opts.frame) print("Simulating for frame %s" % opts.frame) # motors initially off m = [0.0] * 11 # parse home v = opts.home.split(',') if len(v) != 4: print("home should be lat,lng,alt,hdg") sys.exit(1) a.home_latitude = float(v[0]) a.home_longitude = float(v[1])
# setup input from SITL sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_in.bind(sim_in_address) sim_in.setblocking(0) # setup output to SITL sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sim_out.connect(sim_out_address) sim_out.setblocking(0) # FG FDM object fdm = fgFDM.fgFDM() # create the quadcopter model if opts.frame == 'heli': a = HeliCopter(frame=opts.frame) else: a = MultiCopter(frame=opts.frame) print("Simulating for frame %s" % opts.frame) # motors initially off m = [0.0] * 11 lastt = time.time() frame_count = 0 # parse home v = opts.home.split(',') if len(v) != 4: print("home should be lat,lng,alt,hdg")