def __init__(self):
## tuning parameters?
self.chi_inf = 1.2 # approach angle for large distance from straight-line path
self.k_path = 0.05 # proportional gain for straight-line path following
self.k_orbit = 15.0 # proportional gain for orbit following
self.gravity = 9.8
self.autopilot_commands = msg_autopilot() # message sent to autopilot
def __init__(self):
self.chi_inf = np.radians(
80) # approach angle for large distance from straight-line path
self.k_path = 0.02 # proportional gain for straight-line path following 0.02
self.k_orbit = 2.5 # proportional gain for orbit following 2.5
self.gravity = 9.8
self.autopilot_commands = msg_autopilot() # message sent to autopilot
def __init__(self):
self.chi_inf = np.radians(
60
) # approach angle for large distance from straight-line path (0 - 90) degrees
self.k_path = 1.0 / 30.0 # proportional gain for straight-line path following
self.k_orbit = 5 # proportional gain for orbit following
self.gravity = 9.8
self.autopilot_commands = msg_autopilot() # message sent to autopilot
def __init__(self):
self.chi_inf = np.radians(
45.0) # approach angle for large distance from straight-line path
self.k_path = 0.05 # proportional gain for straight-line path following
self.k_orbit = 5.0 # proportional gain for orbit following
self.gravity = P.gravity
self.autopilot_commands = msg_autopilot() # message sent to autopilot
self.Va = TR.Va
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), \
start_time=5.0, frequency = 0.015)
# initialize the simulation time
sim_time = SIM.start_time
# main simulation loop
def __init__(self):
self.chi_inf = np.pi / 4 # approach angle for large distance from straight-line path
self.k_path = .02 # proportional gain for straight-line path following
self.k_orbit = 4.3 # proportional gain for orbit following, why so high??
self.gravity = 9.8
self.autopilot_commands = msg_autopilot() # message sent to autopilot
