from chap2.mav_viewer import mav_viewer
from chap3.data_viewer import data_viewer
from chap7.mav_dynamics import mav_dynamics
from chap4.wind_simulation import wind_simulation
from chap6.autopilot import autopilot
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), \
import parameters.aerosonde_parameters as P from chap3.data_viewer import data_viewer from chap4.wind_simulation import wind_simulation from chap6.autopilot import autopilot from chap7.mav_dynamics import mav_dynamics from chap8.observer_ekf import observer from chap10.path_follower import path_follower from chap11.path_manager import path_manager from chap12.world_viewer import world_viewer from project.voronoi import Voronoi_Planner from message_types.msg_map import msg_map # initialize elements of the architecture wind = wind_simulation(SIM.ts_simulation) mav = mav_dynamics(SIM.ts_simulation, [P.pn0_corner, P.pe0_corner, P.pd0]) ctrl = autopilot(SIM.ts_simulation) obsv = observer(SIM.ts_simulation, [P.pn0_corner, P.pe0_corner, P.pd0]) path_follow = path_follower() path_manage = path_manager() map = msg_map(PLAN) voronoi = Voronoi_Planner(map) # -------path planner - ---- waypoints = voronoi.plan() waypoints.ned = waypoints.ned[:, :waypoints.num_waypoints] # initialize the visualization VIDEO = False # True==write video, False==don't write video world_view = world_viewer(map, voronoi) # initialize the viewer data_view = data_viewer() # initialize view of data plots
from chap7.mav_dynamics import mav_dynamics
from tools.signals import signals
# initialize the visualization
VIDEO = False # True==write video, False==don't write video
mav_view = mav_viewer() # initialize the mav viewer
data_view = data_viewer() # initialize view of data plots
if VIDEO == True:
from chap2.video_writer import video_writer
video = video_writer(video_name="chap7_video.avi",
bounding_box=(0, 0, 1000, 1000),
output_rate=SIM.ts_video)
# initialize elements of the architecture
wind = wind_simulation(SIM.ts_simulation)
mav = mav_dynamics(SIM.ts_simulation, [P.pn0, P.pe0, P.pd0])
ctrl = autopilot(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=0.0,
frequency=0.02)
chi_command = signals(dc_offset=np.radians(180),
amplitude=np.radians(45),
