Rocket#

Model Description#

The rocket describes a 1:10th scale SpaceX Falcon 9 v1.2 first stage and interstage. Mass and geometry properties were extracted from Space Launch Report datasheet.

Control Mode#

Only one control mode is provided. Setpoints correspond to:

  • finlet x deflection

  • finlet y deflection

  • finlet yaw

  • ignition

  • throttle

  • booster gimbal axis 1

  • booster gimbal axis 2

Class Description#

class PyFlyt.core.drones.Rocket(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'rocket', model_dir: None | str = None, np_random: None | Generator = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 30, camera_FOV_degrees: int = 90, camera_resolution: tuple[int, int] = (128, 128), camera_position_offset: ndarray = array([-1., 0., 3.]), camera_fps: None | int = None, starting_fuel_ratio: float = 0.05)#

Rocket instance that handles everything about a thrust vectored rocket with throttleable boosters and controllable finlets.

The setpoint for this model has 7 values:

  • finlet x deflection

  • finlet y deflection

  • finlet yaw

  • ignition

  • throttle

  • booster gimbal axis 1

  • booster gimbal axis 2

reset() → None#

Resets the vehicle to the initial state.

set_mode(mode) → None#

Sets the current flight mode of the vehicle.

flight modes:

  • 0: finlet x deflection, finlet y deflection, finlet yaw, ignition, throttle, booster gimbal axis 1, booster gimbal axis 2

Parameters:

mode (int) – flight mode

starting_fuel_ratio#

Reads fixedwing.yaml file and load UAV parameters

update_control(physics_step: int) → None#

Runs through controllers.

Parameters:

physics_step (int) – the current physics step

update_last(physics_step: int) → None#

Updates things only at the end of Aviary.step().

Parameters:

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.