sampling_rate = 100 # Hz
N = t_sim_end * sampling_rate + 1
time = np.linspace(0, t_sim_end, num=N)
''' Define flight plan as below '''
wpt_list = np.array([20., 0., 20., 800.])
wpt_arr = np.ndarray(shape=(2, 2), dtype=float, buffer=wpt_list)
''' Define simulation components '''
sys = System(phi=phi_init, psi=0, use_jac=True)
env = Env(wind_dir_to=np.deg2rad(120), wind_spd=13)
fpl = FlightPlan(wpt_arr)
ac = Aircraft(fpl)
''
sim = Sim(ac, sys, env, time, verbose=False)
#sim.override_roll(np.deg2rad(40))
sim.run_simulation()
fig1 = plt.figure()
wp = ac.flight_plan.wpt_arr
plt.plot(sim.logs['S_x'][:-2], sim.logs['S_y'][:-2], wp[:, 0], wp[:, 1], 'ro',
wp[:, 0], wp[:, 1], 'r')
# plt.plot(time[:-2], sim.logs['x'][:-2])
plt.grid()
plt.title("Trajectory")
plt.xlabel("x [m]")
plt.ylabel("y [m]")
ax1 = fig1.gca()
dr.set_1to1_scale(ax1)
fig2 = plt.figure()
ax1 = plt.subplot(2, 1, 1)