SimpleMultirotor

class SimpleMultirotor(params_file, env=None, effector=None, egm_bin_file=None, library_dir=None, **kwargs)[source]

Bases: DynamicsBase

Implements functions for a generic multi-rotor.

effector

Effectors for the vehicle.

Type:: Effector

env

Environment the vehicle is in.

Type:: Environment

vehicle

Base vehicle class defining its physics.

Type:: Vehicle

__init__(params_file, env=None, effector=None, egm_bin_file=None, library_dir=None, **kwargs)[source]

Initialize an object.

Parameters:

params_file (string) – Full path to the config file.
env (Environment, optional) – Environment for the vehicle. The default is None.
effector (Effector, optional) – Effector for the vehicle. The default is None.
egm_bin_file (string, optional) – Full path to the binary file for the EGM model. The default is None.
library_dir (string, optional) – Default directory to look for config files defined by the package. This is useful when extending this class outside of the gncpy package to provide a new default search location. The default of None is good for most other cases.
**kwargs (dict) – Additional arguments for the parent class.

Methods

`__init__`	Initialize an object.
`get_input_mat`	Gets the input matrix, should not be used.
`get_state_mat`	Gets the state matrix, should not be used.
`propagate_state`	Propagates all internal states forward 1 timestep.
`set_initial_conditions`	Sets the initial conditions for the state based on a few inputs.
`validate_params_file`	Validate that the parameters file exists.

Attributes

`allow_cpp`
`control_model`
`state_names`	List of vehicle state names.
`state_units`	List of vehicle state units.

state_map

Map of states to indices with units.

alias of v_smap

get_input_mat(timestep, *args, **kwargs)[source]

Gets the input matrix, should not be used.

Parameters:

timestep (float) – Current time.
*args (tuple) – Additional arguments.
**kwargs (dict) – Additional arguments.

Raises:

RuntimeError – This function should not be used.

get_state_mat(timestep, *args, **kwargs)[source]

Gets the state matrix, should not be used.

Parameters:

timestep (float) – Current time.
*args (tuple) – Additional arguments.
**kwargs (dict) – Additional arguments.

Raises:

RuntimeError – This function should not be used.

propagate_state(desired_motor_cmds, dt)[source]

Propagates all internal states forward 1 timestep.

Parameters:

desired_motor_cmds (numpy array) – The desired commands for the motors. Depending on the effectors these may not be fully realized.
dt (float) – Time change since the last update (seconds).

Returns:

Copy of the internal vehicle state.

Return type:

numpy array

set_initial_conditions(ned_pos, body_vel, eul_deg, body_rot_rate, ref_lat_deg, ref_lon_deg, terrain_alt_wgs84, ned_mag_field)[source]

Sets the initial conditions for the state based on a few inputs.

Parameters:

ned_pos (numpy array) – Body position in NED frame.
body_vel (numpy array) – Velocity of the body in body frame.
eul_deg (numpy array) – Initial attidue in degrees and yaw, pitch, roll order.
body_rot_rate (numpy array) – Initial body rotation rate (rad/s).
ref_lat_deg (float) – Reference latitude in degrees.
ref_lon_deg (float) – Reference longitude in degrees.
terrain_alt_wgs84 (float) – Altitude of the terrain relative to WGS-84 model in meters, and the home altitude for the starting NED positioin.
ned_mag_field (numpy array) – Local magnetic field vector in NED frame and uT.

validate_params_file(params_file)[source]

Validate that the parameters file exists.

If the path seperator is in the name then it is assumed a full path is given and it is directly checked. Otherwise the current working directory is checked first then if that fails the default library location is checked.

Parameters:: params_file (string) – Path to config file (with name and extension).
Raises:: FileNotFoundError – If the file does not exist.
Returns:: cf – Full path to the config file (with name and extension).
Return type:: string

state_names = ('lat', 'lon', 'alt_wgs84', 'alt_msl', 'ned_pos_0', 'ned_pos_1', 'ned_pos_2', 'ned_vel_0', 'ned_vel_1', 'ned_vel_2', 'ned_accel_0', 'ned_accel_1', 'ned_accel_2', 'pitch', 'roll', 'yaw', 'body_vel_0', 'body_vel_1', 'body_vel_2', 'body_accel_0', 'body_accel_1', 'body_accel_2', 'body_rot_rate_0', 'body_rot_rate_1', 'body_rot_rate_2', 'body_rot_accel_0', 'body_rot_accel_1', 'body_rot_accel_2', 'dyn_pres', 'airspeed', 'mach', 'aoa', 'aoa_rate', 'sideslip_ang', 'sideslip_rate', 'gnd_trk', 'fp_ang', 'gnd_speed', 'dcm_earth2body_00', 'dcm_earth2body_01', 'dcm_earth2body_02', 'dcm_earth2body_10', 'dcm_earth2body_11', 'dcm_earth2body_12', 'dcm_earth2body_20', 'dcm_earth2body_21', 'dcm_earth2body_22', 'alt_agl'): List of vehicle state names.

state_units = ('rad', 'rad', 'm', 'm', 'm', 'm', 'm', 'm/s', 'm/s', 'm/s', 'm/s^2', 'm/s^2', 'm/s^2', 'rad', 'rad', 'rad', 'm/s', 'm/s', 'm/s', 'm/s^2', 'm/s^2', 'm/s^2', 'rad/s', 'rad/s', 'rad/s', 'rad/s^2', 'rad/s^2', 'rad/s^2', 'Pa', 'm/s', '', 'rad', 'rad/s', 'rad', 'rad/s', 'rad', 'rad', 'm/s', '', '', '', '', '', '', '', '', '', 'm'): List of vehicle state units.