def __init__(self):
self.home_latitude = 0
self.home_longitude = 0
self.home_altitude = 0
self.ground_level = 0
self.frame_height = 0.0
self.latitude = self.home_latitude
self.longitude = self.home_longitude
self.altitude = self.home_altitude
self.dcm = Matrix3()
# rotation rate in body frame
self.gyro = Vector3(0, 0, 0) # rad/s
self.velocity = Vector3(0, 0, 0) # m/s, North, East, Down
self.position = Vector3(0, 0, 0) # m North, East, Down
self.mass = 0.0
self.update_frequency = 50 # in Hz
self.gravity = 9.80665 # m/s/s
self.accelerometer = Vector3(0, 0, -self.gravity)
self.wind = util.Wind('0,0,0')
self.time_base = time.time()
self.time_now = self.time_base + 100 * 1.0e-6
def __init__(self):
self.home_latitude = 0
self.home_longitude = 0
self.home_altitude = 0
self.ground_level = 0
self.frame_height = 0.0
self.latitude = self.home_latitude
self.longitude = self.home_longitude
self.altitude = self.home_altitude
self.pitch = 0.0 # degrees
self.roll = 0.0 # degrees
self.yaw = 0.0 # degrees
# rates in earth frame
self.pitch_rate = 0.0 # degrees/s
self.roll_rate = 0.0 # degrees/s
self.yaw_rate = 0.0 # degrees/s
# rates in body frame
self.pDeg = 0.0 # degrees/s
self.qDeg = 0.0 # degrees/s
self.rDeg = 0.0 # degrees/s
self.velocity = euclid.Vector3(0, 0, 0) # m/s, North, East, Up
self.position = euclid.Vector3(0, 0, 0) # m North, East, Up
self.accel = euclid.Vector3(0, 0, 0) # m/s/s North, East, Up
self.mass = 0.0
self.update_frequency = 50 # in Hz
self.gravity = 9.8 # m/s/s
self.accelerometer = euclid.Vector3(0, 0, -self.gravity)
self.wind = util.Wind('0,0,0')
sim_in.setblocking(0)
# setup output to SITL sim
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_out.connect(interpret_address(opts.simout))
sim_out.setblocking(0)
# setup possible output to FlightGear for display
fg_out = None
if opts.fgout:
fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
fg_out.connect(interpret_address(opts.fgout))
# setup wind generator
wind = util.Wind(opts.wind)
fdm = fgFDM.fgFDM()
jsb_console.send('info\n')
jsb_console.send('resume\n')
jsb.expect(["trim computation time","Trim Results"])
time.sleep(1.5)
jsb_console.send('step\n')
jsb_console.logfile = None
print("Simulator ready to fly")
def main_loop():
'''run main loop'''
tnow = time.time()
#!/usr/bin/env python
# simple test of wind generation code
import util, time, random
wind = util.Wind('3,90,0.1')
t0 = time.time()
velocity = Vector3(0,0,0)
t = 0
deltat = 0.01
while t < 60:
print("%.4f %f" % (t, wind.accel(velocity, deltat=deltat).magnitude()))
t += deltat
#!/usr/bin/env python
"""
simple test of wind generation code
"""
from __future__ import print_function
import time
import util
from pymavlink.rotmat import Vector3
wind = util.Wind('7,90,0.1')
t0 = time.time()
velocity = Vector3(0, 0, 0)
t = 0
deltat = 0.01
while t < 60:
print("%.4f %f" % (t, wind.drag(velocity, deltat=deltat).length()))
t += deltat
