def __init__(self):
self.chi_inf = np.radians(
80) # approach angle for large distance from straight-line path
self.k_path = 0.02 # proportional gain for straight-line path following 0.02
self.k_orbit = 2.5 # proportional gain for orbit following 2.5
self.gravity = 9.8
self.autopilot_commands = msg_autopilot() # message sent to autopilot
import parameters.sim_params as SIM
from messages.state_msg import StateMsg
from messages.msg_autopilot import msg_autopilot
from data_viewer import data_viewer
from wind_simulation import wind_simulation
from tools.tools import Quaternion2Euler
from autopilot import autopilot
from tools.signals import signals
# initialize dynamics object
dyn = Dynamics(SIM.ts_sim)
wind = wind_simulation(SIM.ts_sim)
ctrl = autopilot(SIM.ts_sim)
# autopilot commands
commands = msg_autopilot()
Va_command = signals(dc_offset=25.0,
amplitude=3.0,
start_time=2.0,
frequency=0.01)
h_command = signals(dc_offset=100.0,
amplitude=10.0,
start_time=0.0,
frequency=0.02)
chi_command = signals(dc_offset=np.radians(180),
amplitude=np.radians(45),
start_time=5.0,
frequency=0.015)
mav_view = MAV_Viewer()
data_view = data_viewer()