def setup(self, configuration):
self.updateCnt = 0
self.target_heading = 100
self.target_airspeed = 75.0
self.target_altitude = 1000.0
self.current_waypoint = 0
self.altitude_hold_autopilot = AltitudeHoldAutopilot(
settings.PITCH_P, settings.PITCH_I, settings.PITCH_D,
settings.ELEVATOR_P, settings.ELEVATOR_I, settings.ELEVATOR_D,
settings.dt)
self.airspeed_hold_autopilot = AirspeedHoldAutopilot(
settings.THROTTLE_P, settings.THROTTLE_I, settings.THROTTLE_D,
settings.dt)
self.heading_hold_autopilot = HeadingHoldAutopilot(
settings.ROLL_P, settings.ROLL_I, settings.ROLL_D,
settings.AILERON_P, settings.AILERON_I, settings.AILERON_D,
settings.dt)
self.altitude_hold_autopilot.set_target_altitude(self.target_altitude)
self.heading_hold_autopilot.set_target_heading(self.target_heading)
self.airspeed_hold_autopilot.set_target_airspeed(self.target_airspeed)
