def __init__(self): ## tuning parameters? self.chi_inf = 1.2 # approach angle for large distance from straight-line path self.k_path = 0.05 # proportional gain for straight-line path following self.k_orbit = 15.0 # proportional gain for orbit following self.gravity = 9.8 self.autopilot_commands = msg_autopilot() # message sent to autopilot
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
def __init__(self): self.chi_inf = np.radians( 60 ) # approach angle for large distance from straight-line path (0 - 90) degrees self.k_path = 1.0 / 30.0 # proportional gain for straight-line path following self.k_orbit = 5 # proportional gain for orbit following self.gravity = 9.8 self.autopilot_commands = msg_autopilot() # message sent to autopilot
def __init__(self): self.chi_inf = np.radians( 45.0) # approach angle for large distance from straight-line path self.k_path = 0.05 # proportional gain for straight-line path following self.k_orbit = 5.0 # proportional gain for orbit following self.gravity = P.gravity self.autopilot_commands = msg_autopilot() # message sent to autopilot self.Va = TR.Va
from chap8.observer import observer from tools.signals import signals # initialize the visualization mav_view = mav_viewer() # initialize the mav viewer data_view = data_viewer() # initialize view of data plots # initialize elements of the architecture wind = wind_simulation(SIM.ts_simulation) mav = mav_dynamics(SIM.ts_simulation) ctrl = autopilot(SIM.ts_simulation) obsv = observer(SIM.ts_simulation) # autopilot commands from message_types.msg_autopilot import msg_autopilot 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., frequency=0.02) chi_command = signals(dc_offset=np.radians(180),amplitude=np.radians(45), \ start_time=5.0, frequency = 0.015) # initialize the simulation time sim_time = SIM.start_time # main simulation loop
def __init__(self): self.chi_inf = np.pi / 4 # approach angle for large distance from straight-line path self.k_path = .02 # proportional gain for straight-line path following self.k_orbit = 4.3 # proportional gain for orbit following, why so high?? self.gravity = 9.8 self.autopilot_commands = msg_autopilot() # message sent to autopilot