diff --git a/README.md b/README.md index 1a6ba1f..2611c76 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,7 @@ # PyUAVSim Light weight Python simulator for small UAVs - -Completed Feature List: +## Completed Feature List: 1. Autopilot for fixed wing 2. Sensors (GPS, IMU) with error models 3. Path following and Path manager implemented @@ -10,12 +9,18 @@ Completed Feature List: The simulator is near complete with all the necessary bare minimum functional implementation. It should be straightforward to extend its functionality. Feel free to email me (av.sarath@gmail.com) if you have any questions -Extensions: +## How to run: +1) Navigate to PyUAVSim directory +2) If you are using conda environments, activate the one with python 2.7. In my case, that is `source activate py27` +2) Install requirements using `pip install -r requirements.txt` +3) Run a sample code provided with the simulator`python -m examples.trim_and_autopilot` + +## Extensions: 1. State estimation using kalman filter/variants 2. Pathplanner class with RRT 3. Wind models is not there due to their slightly complex nature - this will be added at the very end 4. support for quadrotos - -Reference: Small Unmanned Arcraft - Theory and Practice by Randal W. Beard and Timothy W. McLain +## Reference: +Small Unmanned Arcraft - Theory and Practice by Randal W. Beard and Timothy W. McLain diff --git a/apps/__init__.pyc b/apps/__init__.pyc new file mode 100644 index 0000000..4fd251c Binary files /dev/null and b/apps/__init__.pyc differ diff --git a/apps/__pycache__/__init__.cpython-36.pyc b/apps/__pycache__/__init__.cpython-36.pyc new file mode 100644 index 0000000..09e18ac Binary files /dev/null and b/apps/__pycache__/__init__.cpython-36.pyc differ diff --git a/apps/__pycache__/fixedwing_uav_autopilot.cpython-36.pyc b/apps/__pycache__/fixedwing_uav_autopilot.cpython-36.pyc new file mode 100644 index 0000000..14da55e Binary files /dev/null and b/apps/__pycache__/fixedwing_uav_autopilot.cpython-36.pyc differ diff --git a/apps/fixedwing_uav_autopilot.pyc b/apps/fixedwing_uav_autopilot.pyc new file mode 100644 index 0000000..d4d9ba2 Binary files /dev/null and b/apps/fixedwing_uav_autopilot.pyc differ diff --git a/apps/fixedwing_uav_trim.pyc b/apps/fixedwing_uav_trim.pyc new file mode 100644 index 0000000..2fe6fea Binary files /dev/null and b/apps/fixedwing_uav_trim.pyc differ diff --git a/controllers/__init__.pyc b/controllers/__init__.pyc new file mode 100644 index 0000000..1d0b3fd Binary files /dev/null and b/controllers/__init__.pyc differ diff --git a/controllers/pid.pyc b/controllers/pid.pyc new file mode 100644 index 0000000..14914cc Binary files /dev/null and b/controllers/pid.pyc differ diff --git a/examples/__init__.pyc b/examples/__init__.pyc new file mode 100644 index 0000000..407dfed Binary files /dev/null and b/examples/__init__.pyc differ diff --git a/examples/__pycache__/__init__.cpython-36.pyc b/examples/__pycache__/__init__.cpython-36.pyc new file mode 100644 index 0000000..e964cb0 Binary files /dev/null and b/examples/__pycache__/__init__.cpython-36.pyc differ diff --git a/examples/__pycache__/trim_and_autopilot.cpython-36.pyc b/examples/__pycache__/trim_and_autopilot.cpython-36.pyc new file mode 100644 index 0000000..f3613d3 Binary files /dev/null and b/examples/__pycache__/trim_and_autopilot.cpython-36.pyc differ diff --git a/examples/trim_and_autopilot.py b/examples/trim_and_autopilot.py index 2dcadfa..ce4dd29 100644 --- a/examples/trim_and_autopilot.py +++ b/examples/trim_and_autopilot.py @@ -141,7 +141,7 @@ def main(): ax.set_zlim3d(0, 100) initial_state = [0, 0, 0, 0.0, 0., 0.0, 0, 0, 0, 0, 0, 0] - tester = Tester(initial_state, 0, '../configs/aerosonde.yaml', ax, T_sim=15.0, dt = 1.0/200.0) + tester = Tester(initial_state, 0, 'configs/aerosonde.yaml', ax, T_sim=15.0, dt = 1.0/200.0) tester.test_autopilot(72.0, 0, 500, animate = True) #tester.test_trim(35.0, 0.025, 100, 15000, animate = True) tester.plot() diff --git a/examples/trim_and_autopilot.pyc b/examples/trim_and_autopilot.pyc new file mode 100644 index 0000000..762c0ef Binary files /dev/null and b/examples/trim_and_autopilot.pyc differ diff --git a/uav/__init__.pyc b/uav/__init__.pyc new file mode 100644 index 0000000..4f3fcd1 Binary files /dev/null and b/uav/__init__.pyc differ diff --git a/uav/__pycache__/__init__.cpython-36.pyc b/uav/__pycache__/__init__.cpython-36.pyc new file mode 100644 index 0000000..f8d2f37 Binary files /dev/null and b/uav/__pycache__/__init__.cpython-36.pyc differ diff --git a/uav/__pycache__/fixed_wing.cpython-36.pyc b/uav/__pycache__/fixed_wing.cpython-36.pyc new file mode 100644 index 0000000..51ef8b0 Binary files /dev/null and b/uav/__pycache__/fixed_wing.cpython-36.pyc differ diff --git a/uav/autopilot.pyc b/uav/autopilot.pyc new file mode 100644 index 0000000..2ea737c Binary files /dev/null and b/uav/autopilot.pyc differ diff --git a/uav/dynamics.pyc b/uav/dynamics.pyc new file mode 100644 index 0000000..9ccd8e3 Binary files /dev/null and b/uav/dynamics.pyc differ diff --git a/uav/fixed_wing.pyc b/uav/fixed_wing.pyc new file mode 100644 index 0000000..6bb91c4 Binary files /dev/null and b/uav/fixed_wing.pyc differ diff --git a/viewer/__init__.pyc b/viewer/__init__.pyc new file mode 100644 index 0000000..f1cd330 Binary files /dev/null and b/viewer/__init__.pyc differ diff --git a/viewer/viewer.pyc b/viewer/viewer.pyc new file mode 100644 index 0000000..7fb696e Binary files /dev/null and b/viewer/viewer.pyc differ