def __init__(
self,
frame='',
max_speed=20,
max_accel=30,
wheelbase=0.335,
wheeltrack=0.296,
max_wheel_turn=35,
turning_circle=1.8,
skid_turn_rate=140, # degrees/sec
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.turning_circle = turning_circle
self.wheelbase = wheelbase
self.wheeltrack = wheeltrack
self.max_wheel_turn = max_wheel_turn
self.last_time = self.time_now
self.skid_steering = skid_steering
self.skid_turn_rate = skid_turn_rate
if self.skid_steering:
# these are taken from a 6V wild thumper with skid steering,
# with a sabertooth controller
self.max_accel = 14
self.max_speed = 4
def __init__(self,
frame='+',
hover_throttle=0.65,
terminal_velocity=40.0,
frame_height=0.1,
hover_lean=8.0,
yaw_zero=0.1,
rotor_rot_accel=radians(20),
mass=2.13):
Aircraft.__init__(self)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4 * radians(360.0)
self.frame_height = frame_height
self.last_time = time.time()
self.roll_rate_max = radians(1400)
self.pitch_rate_max = radians(1400)
self.yaw_rate_max = radians(1400)
self.rsc_setpoint = 0.8
self.thrust_scale = (self.mass * self.gravity) / self.hover_throttle
self.rotor_rot_accel = rotor_rot_accel
# calculate lateral thrust ratio for tail rotor
self.tail_thrust_scale = sin(
radians(hover_lean)) * self.thrust_scale / yaw_zero
def __init__(self,
max_speed=2,
max_accel=1.5,
wheelbase=1.8,
wheeltrack=1.3,
max_wheel_turn=35,
turning_circle=5,
skid_turn_rate=9, # degrees/sec
accel_by_pds = 4.46, # m/s^2
accel_by_enge = 1.12,
accel_by_idle = 0.45,
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.turning_circle = turning_circle
self.wheelbase = wheelbase
self.wheeltrack = wheeltrack
self.max_wheel_turn = max_wheel_turn
self.last_time = time.time()
self.skid_steering = skid_steering
self.skid_turn_rate = skid_turn_rate
self.accel_by_pds = accel_by_pds
self.accel_by_enge = accel_by_enge
self.accel_by_idle = accel_by_idle
if self.skid_steering:
# these are taken from a 6V wild thumper with skid steering,
# with a sabertooth controller
self.max_accel = 14
self.max_speed = 4
def __init__(self,
frame='',
max_speed=20,
max_accel=30,
wheelbase=0.335,
wheeltrack=0.296,
max_wheel_turn=35,
turning_circle=1.8,
skid_turn_rate=140, # degrees/sec
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.turning_circle = turning_circle
self.wheelbase = wheelbase
self.wheeltrack = wheeltrack
self.max_wheel_turn = max_wheel_turn
self.last_time = self.time_now
self.skid_steering = skid_steering
self.skid_turn_rate = skid_turn_rate
if self.skid_steering:
# these are taken from a 6V wild thumper with skid steering,
# with a sabertooth controller
self.max_accel = 14
self.max_speed = 4
def __init__(self,
max_speed=10,
max_accel=10,
max_turn_rate=45):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.max_turn_rate = max_turn_rate
self.last_time = time.time()
def __init__(self,
max_speed=10,
max_accel=10,
max_turn_rate=45,
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.max_turn_rate = max_turn_rate
self.last_time = time.time()
self.skid_steering = skid_steering
def __init__(self,
max_speed=13,
max_accel=10,
max_turn_rate=100,
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.max_turn_rate = max_turn_rate
self.last_time = time.time()
self.skid_steering = skid_steering
def __init__(self, frame="+", hover_throttle=0.65, terminal_velocity=40.0, frame_height=0.1, mass=2.5):
Aircraft.__init__(self)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4 * radians(360.0)
self.frame_height = frame_height
self.last_time = time.time()
self.roll_rate_max = radians(720)
self.pitch_rate_max = radians(720)
self.yaw_rate_max = radians(720)
self.rsc_setpoint = 0.8
self.thrust_scale = (self.mass * self.gravity) / self.hover_throttle
def __init__(self):
Aircraft.__init__(self)
self.motor_speed = [ 0.0, 0.0, 0.0, 0.0 ]
self.mass = 1.0 # Kg
self.hover_throttle = 0.37
self.terminal_velocity = 30.0
self.frame_height = 0.1
# scaling from total motor power to Newtons. Allows the copter
# to hover against gravity when each motor is at hover_throttle
self.thrust_scale = (self.mass * self.gravity) / (4.0 * self.hover_throttle)
self.last_time = time.time()
def __init__(self, frame="generic"):
Aircraft.__init__(self)
self.sim = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sim.connect(('127.0.0.1', 9002))
self.sim.setblocking(0)
self.accel_body = Vector3(0, 0, -self.gravity)
self.frame = frame
self.last_timestamp = 0
if self.frame.find("heli") != -1:
self.decode_servos = self.decode_servos_heli
else:
self.decode_servos = self.decode_servos_fixed_wing
def __init__(self, frame="generic"):
Aircraft.__init__(self)
self.sim = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sim.connect(('127.0.0.1', 9002))
self.sim.setblocking(0)
self.accel_body = Vector3(0, 0, -self.gravity)
self.frame = frame
self.last_timestamp = 0
if self.frame.find("heli") != -1:
self.decode_servos = self.decode_servos_heli
else:
self.decode_servos = self.decode_servos_fixed_wing
def __init__(self, frame="+", hover_throttle=0.37, terminal_velocity=30.0, frame_height=0.1, mass=1.0):
Aircraft.__init__(self)
self.motors = build_motors(frame)
self.motor_speed = [0.0] * len(self.motors)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4 * radians(360.0)
self.frame_height = frame_height
# scaling from total motor power to Newtons. Allows the copter
# to hover against gravity when each motor is at hover_throttle
self.thrust_scale = (self.mass * self.gravity) / (len(self.motors) * self.hover_throttle)
self.last_time = time.time()
def __init__(self,
max_speed=20,
max_accel=30,
wheelbase=0.335,
wheeltrack=0.296,
max_wheel_turn=35,
turning_circle=1.8,
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.turning_circle = turning_circle
self.wheelbase = wheelbase
self.wheeltrack = wheeltrack
self.max_wheel_turn = max_wheel_turn
self.last_time = time.time()
self.skid_steering = skid_steering
def __init__(self, frame='+',
hover_throttle=0.65,
terminal_velocity=40.0,
frame_height=0.1,
mass=2.5):
Aircraft.__init__(self)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4*radians(360.0)
self.frame_height = frame_height
self.last_time = time.time()
self.roll_rate_max = radians(720)
self.pitch_rate_max = radians(720)
self.yaw_rate_max = radians(720)
self.rsc_setpoint = 0.8
self.thrust_scale = (self.mass * self.gravity) / self.hover_throttle
def __init__(self,
max_speed=20,
max_accel=30,
wheelbase=0.335,
wheeltrack=0.296,
max_wheel_turn=35,
turning_circle=1.8,
skid_steering=False):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.turning_circle = turning_circle
self.wheelbase = wheelbase
self.wheeltrack = wheeltrack
self.max_wheel_turn = max_wheel_turn
self.last_time = time.time()
self.skid_steering = skid_steering
def __init__(self):
Aircraft.__init__(self)
self.max_rpm = 1200
self.have_new_time = False
self.have_new_imu = False
self.have_new_pos = False
topics = {
"/clock": (self.clock_cb, rosgraph_msgs.Clock),
"/iris/imu": (self.imu_cb, sensor_msgs.Imu),
"/iris/vehicle_local_position": (self.pos_cb, px4.vehicle_local_position),
}
rospy.init_node("ArduPilot", anonymous=True)
for topic in topics.keys():
(callback, msgtype) = topics[topic]
rospy.Subscriber(topic, msgtype, callback)
self.motor_pub = rospy.Publisher("/iris/command/motor_speed", mav_msgs.CommandMotorSpeed, queue_size=1)
self.last_time = 0
def __init__(self,
rate_controlled=False,
pitch_range = 45,
yaw_range = 180,
zero_yaw = 270, # yaw direction at startup
zero_pitch = 10, # pitch at startup
turn_rate=20 # servo max turn rate in degrees/sec
):
Aircraft.__init__(self)
self.rate_controlled = rate_controlled
self.turn_rate = turn_rate
self.last_time = time.time()
self.pitch_range = pitch_range
self.yaw_range = yaw_range
self.zero_yaw = zero_yaw
self.zero_pitch = zero_pitch
self.verbose = False
self.last_debug = time.time()
self.pitch_current = 0
self.yaw_current = 0
def __init__(self,
frame='+',
hover_throttle=0.45,
terminal_velocity=15.0,
frame_height=0.1,
mass=1.5):
Aircraft.__init__(self)
self.motors = build_motors(frame)
self.motor_speed = [0.0] * len(self.motors)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4 * radians(360.0)
self.frame_height = frame_height
# scaling from total motor power to Newtons. Allows the copter
# to hover against gravity when each motor is at hover_throttle
self.thrust_scale = (self.mass * self.gravity) / (len(self.motors) *
self.hover_throttle)
self.last_time = self.time_now
def __init__(self,
onoff=False,
yawrate=9.0,
pitchrate=1.0,
pitch_range = 45,
yaw_range = 170,
zero_yaw = 270, # yaw direction at startup
zero_pitch = 10 # pitch at startup
):
Aircraft.__init__(self)
self.onoff = onoff
self.yawrate = yawrate
self.pitchrate = pitchrate
self.last_time = time.time()
self.pitch_range = pitch_range
self.yaw_range = yaw_range
self.zero_yaw = zero_yaw
self.zero_pitch = zero_pitch
self.verbose = False
self.last_debug = time.time()
self.pitch_current = 0
self.yaw_current = 0
def __init__(
self,
onoff=False,
yawrate=9.0,
pitchrate=1.0,
pitch_range=45,
yaw_range=170,
zero_yaw=270, # yaw direction at startup
zero_pitch=10 # pitch at startup
):
Aircraft.__init__(self)
self.onoff = onoff
self.yawrate = yawrate
self.pitchrate = pitchrate
self.last_time = time.time()
self.pitch_range = pitch_range
self.yaw_range = yaw_range
self.zero_yaw = zero_yaw
self.zero_pitch = zero_pitch
self.verbose = False
self.last_debug = time.time()
self.pitch_current = 0
self.yaw_current = 0
def __init__(self):
Aircraft.__init__(self)
self.max_rpm = 1200
self.have_new_time = False
self.have_new_imu = False
self.have_new_pos = False
topics = {
"/clock": (self.clock_cb, rosgraph_msgs.Clock),
"/iris/imu": (self.imu_cb, sensor_msgs.Imu),
"/iris/vehicle_local_position":
(self.pos_cb, px4.vehicle_local_position),
}
rospy.init_node('ArduPilot', anonymous=True)
for topic in topics.keys():
(callback, msgtype) = topics[topic]
rospy.Subscriber(topic, msgtype, callback)
self.motor_pub = rospy.Publisher('/iris/command/motor_speed',
mav_msgs.CommandMotorSpeed,
queue_size=1)
self.last_time = 0
def __init__(self, frame='+',
hover_throttle=0.65,
terminal_velocity=40.0,
frame_height=0.1,
hover_lean=8.0,
yaw_zero=0.1,
rotor_rot_accel=radians(20),
mass=2.13):
Aircraft.__init__(self)
self.mass = mass # Kg
self.hover_throttle = hover_throttle
self.terminal_velocity = terminal_velocity
self.terminal_rotation_rate = 4*radians(360.0)
self.frame_height = frame_height
self.last_time = time.time()
self.roll_rate_max = radians(1400)
self.pitch_rate_max = radians(1400)
self.yaw_rate_max = radians(1400)
self.rsc_setpoint = 0.8
self.thrust_scale = (self.mass * self.gravity) / self.hover_throttle
self.rotor_rot_accel=rotor_rot_accel
# calculate lateral thrust ratio for tail rotor
self.tail_thrust_scale = sin(radians(hover_lean)) * self.thrust_scale / yaw_zero
def __init__(self, max_ammo, base_damage):
Aircraft.__init__(self, max_ammo, base_damage)
def __init__(self, max_speed=10, max_accel=10, max_turn_rate=45):
Aircraft.__init__(self)
self.max_speed = max_speed
self.max_accel = max_accel
self.max_turn_rate = max_turn_rate
self.last_time = time.time()
