def __init__(self):
self.chi_inf = np.radians(
60) # approach angle for large distance from straight-line path
self.k_path = 0.011 # proportional gain for straight-line path following
self.k_orbit = 2 # proportional gain for orbit following
self.gravity = 9.8
self.autopilot_commands = msgAutopilot() # message sent to autopilot
sensor_view = sensor_viewer() # initialize view of sensor data plots
if VIDEO is True:
from chap2.video_writer import videoWriter
video = videoWriter(video_name="chap7_video.avi",
bounding_box=(0, 0, 2000, 1000),
output_rate=SIM.ts_video)
# initialize elements of the architecture
wind = windSimulation(SIM.ts_simulation)
mav = mavDynamics(SIM.ts_simulation)
ctrl = autopilot(SIM.ts_simulation)
# autopilot commands
from message_types.msg_autopilot import msgAutopilot
commands = msgAutopilot()
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),
start_time=5.0,
frequency=0.015)
# initialize the simulation time
sim_time = SIM.start_time