simple_drone.py

import numpy as np
from model import drone_model_2d
from utils import plot_traj
import matplotlib.pyplot as plt
from simulation import simulate_drone
from simple_control import simple_PID

if __name__ == '__main__':
    # drone params
    l = 1
    m = 1.0
    J = 1
    params = [l, m , J]

    n_states = 6
    n_inputs = 2


    x_init = np.zeros(n_states )
    u_init = np.zeros(n_inputs)
    x= x_init
    u = [0., 0.]

    a=1500

    # reference
    x_ref = [1.0,1.0]

    # simulation settings
    n_iter = 2000
    delta_t = 0.05
    [xt,T_d_y,T_d_x] = simulate_drone(x,u,x_ref,params,n_iter,delta_t)
    plot_traj(x, u,x_ref, params,T_d_y,T_d_x)
    #plt.show()
    #x = xt