PREREQUSITES

sudo apt install cm-super

HOW TO START?

• launch ipython console from root
• call:

    from runpy import run_path
    run_path('./examples/ex_00.py')

• for restaring the simulation: basic_aircraft.reset_fpl() # (ex_00) or ac.reset_fpl() # (ex_01)

ACCESS to LOGGED DATA:

• after first run of the simulation, log data area available via: sim.log['name_of_key']

• to check currenly available keys run:

    for key in sim.logs.keys():
        print(key)

LOGGING DATA NAMING CONVENTION:

• S_ prefix - system state vector variables
• R_ prefix - roll regulator
• L1_ prefix - L1 navigation regulator

COORDINATE FRAME CONVENTION

Sim coordinate frame convention:

• Y is North
• X is East
• phi is measured from Y to the right (normal heading convention)
• this simplifies the use of plotting modules

APM coordinate frame convention:

• NED:
  • X is North
  • Y is East
  • Z is Down

DEMO outputs

Visualization of simulator states from example ex_02_into_wind_customRegs.py is shown below.