mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-11 07:49:41 +08:00
Gautier Hattenberger
240703844a
Execute trajectories pre-computed in a file with time, position, [speed], [accel] Examples for indoor flight arena are provided.
Exectute trajectories in guided mode from an input file
Run ./guided_traj.py with the input trajectory file.
The input CSV file can be in NED or ENU frame, organized by line (1 state per line)
or by column (1 timestep per line, state elements in column).
Default is NED frame, organized in column format. Options --transpose|--no-transpose and --frame {enu,ned}
can be used to select the correct input format.
State vector the data is structured as either:
time, x, y, z, psitime, x, y, z, psi, vx, vy, vz, psi_dtime, x, y, z, psi, vx, vy, vz, psi_d, ax, ay, az, psi_dd
Input trajectories are interpolated and derivated to get world frame velocity and acceleration if needed
Example trajectories
A few demo files are provided in the examples folder. They are designed for an indoor flight arena of at least 8x8x6 meters.