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),