#VRML_SIM R2023a utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/bitcraze/crazyflie/protos/Crazyflie.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"

WorldInfo {
  title "Crazyflie Ardupilot"
  basicTimeStep 2
  FPS 20
}
Viewpoint {
  orientation -0.16896949154992233 0.7737576492025086 0.6105312532753491 0.687001624474616
  position -0.398945807007221 -0.19824950788611448 0.29284320157231725
  follow "Crazyflie"
  followSmoothness 0.01
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
}
Crazyflie {
  controller "ardupilot_vehicle_controller"
  controllerArgs [
    "--motors"
    "m1_motor, m3_motor, m4_motor, m2_motor"
    "--reversed-motors"
    "1, 2"
    "--camera-fps"
    "10"
    "--camera"
    "camera"
    "--accel"
    "accelerometer"
    "--imu"
    "inertial unit"
    "--gyro"
    "gyro"
    "--gps"
    "gps"
    "--motor-cap"
    "100"
  ]
  extensionSlot [
    Accelerometer {
    }
  ]
}