UAV dynamics simulation

Before using the Python API, execute FlightGoggles binary as described in Using the FlightGoggles Renderer

Users can provide input to the UAV in three different ways: directly command motor speeds, control the vehicle with angular rate controller, and control with waypoints controller.

PY

 - proceed_motor_speed(vehicle_id, motor_speed_command, duration)
 - proceed_angular_rate(vehicle_id, angular_rate_command, thrust_command, duration)
 - proceed_waypoint(vehicle_id, waypoint_command, duration)

Vehicle’s states are composed of timestamp, position, velocity, acceleration_raw, acceleration, attitude_euler_angle, attitude, gyro_raw, angular_velocity, angular_acceleration, motor_speed_raw, motor_speed, and motor_acceleration.

PY

 - set_state_vehicle(vehicle_id, **kwargs)
 - get_state(vehicle_id)

The camera’s position and attitude can be manually changed by set_state_camera and the latest camera image can be obtained by get_camera_image.

CODE

 - set_state_camera(camera_id, position, attitude)
 - get_camera_image(camera_id)

This is the example code to run UAV simulation:

PY

import numpy as np
from IPython.display import HTML, display
from flightgoggles.env import flightgoggles_env

if __name__ == "__main__":
    env = flightgoggles_env()
    env.set_state_vehicle(vehicle_id="uav1", attitude_euler_angle=np.array([0.,0.,-np.pi/2]))
    current_pos = env.get_state("uav1")["position"]
    current_att = env.get_state("uav1")["attitude_euler_angle"]
    target_pose = np.zeros(4)
    target_pose[:3] = current_pos + np.array([9.0,0.0,0.0])
    target_pose[3] = current_att[2] + np.pi/2
    
    for j in range(400):
        env.proceed_waypoint("uav1", target_pose, 0.01)

    ani_set = env.plot_state_video(flag_save=False, filename="uav")
    display(HTML(ani_set["cam1"].to_html5_video()))
    env.close()