Fixedwing#
Model Description#
Small tube-and-wing fixed wing UAV with a single motor (~2.5 Kg).
Control Mode#
Only one control mode is provided.
Setpoints are mapped directly to [pitch, roll, yaw, thrust]
actuator commands.
Class Description#
- class PyFlyt.core.drones.Fixedwing(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'fixedwing', model_dir: None | str = None, np_random: None | RandomState = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 0, camera_FOV_degrees: int = 90, camera_resolution: tuple[int, int] = (128, 128), camera_position_offset: ndarray = array([-3., 0., 1.]), camera_fps: None | int = None, starting_velocity: ndarray = array([20., 0., 0.]))#
Fixedwing instance that handles everything about a FixedWing.
- reset() None #
Resets the vehicle to the initial state.
- set_mode(mode) None #
Sets the current flight mode of the vehicle.
- flight modes:
-1: Left Aileron, Right Aileron, Horizontal Tail, Vertical Tail, Main Wing, Thrust
0: Pitch, Roll, Yaw, Thrust
Args:#
mode (int): flight mode
- starting_velocity#
Reads fixedwing.yaml file and load UAV parameters
- update_control(physics_step: int) None #
Runs through controllers.
Args:#
physics_step (int): the current physics step
- update_last(physics_step: int) None #
Updates things only at the end of Aviary.step().
Args:#
physics_step (int): the current physics step
- update_physics() None #
Updates the physics of the vehicle.
- update_state() None #
Updates the current state of the UAV.
This includes: ang_vel, ang_pos, lin_vel, lin_pos.