def __init__(self, imu, differential_pressure_sensor, static_pressure_sensor, magnetometer, gps): self.phi, self.theta, self.psi = 0, 0, 0 self.Vair = 0.0 self.attitude_observer = AttitudeObserver() self.heading_observer = HeadingObserver() self.altitude_observer = AltitudeObserver() self.wind_observer = WindObserver() self.position_observer = PositionObserver() # Comming soon: # self.navigation_observer = NavigationObserver() self.imu = imu self.differential_pressure_sensor = differential_pressure_sensor self.static_pressure_sensor = static_pressure_sensor self.magnetometer = magnetometer self.gps = EmulatedXplaneGPS(delay=1.1, Hz=2) self.last_time = datetime.now()