mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.7 KiB
Python
51 lines
1.7 KiB
Python
import math, util, rotmat
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from rotmat import Vector3, Matrix3
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class Aircraft(object):
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'''a basic aircraft class'''
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def __init__(self):
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self.home_latitude = 0
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self.home_longitude = 0
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self.home_altitude = 0
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self.ground_level = 0
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self.frame_height = 0.0
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self.latitude = self.home_latitude
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self.longitude = self.home_longitude
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self.altitude = self.home_altitude
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self.dcm = Matrix3()
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# rotation rate in body frame
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self.gyro = Vector3(0,0,0) # rad/s
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self.velocity = Vector3(0, 0, 0) # m/s, North, East, Down
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self.position = Vector3(0, 0, 0) # m North, East, Down
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self.mass = 0.0
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self.update_frequency = 50 # in Hz
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self.gravity = 9.80665 # m/s/s
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self.accelerometer = Vector3(0, 0, -self.gravity)
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self.wind = util.Wind('0,0,0')
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def on_ground(self, position=None):
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'''return true if we are on the ground'''
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if position is None:
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position = self.position
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return (-position.z) + self.home_altitude <= self.ground_level + self.frame_height
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def update_position(self, delta_time):
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'''update lat/lon/alt from position'''
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bearing = math.degrees(math.atan2(self.position.y, self.position.x))
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distance = math.sqrt(self.position.x**2 + self.position.y**2)
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(self.latitude, self.longitude) = util.gps_newpos(self.home_latitude, self.home_longitude,
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bearing, distance)
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self.altitude = self.home_altitude - self.position.z
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velocity_body = self.dcm.transposed() * self.velocity
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self.accelerometer = self.accel_body.copy()
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