uav.vehicles.Multicopter

Classes

Multicopter

Multicopter UAV implementation with proportional velocity control.

Module Contents

class Multicopter(node: rclpy.node.Node, DEBUG=False, camera_offsets=[0, 0, 0], vehicle_name: str = 'uav')

Bases: uav.vehicles.UAV.UAV

Multicopter UAV implementation with proportional velocity control.

property is_vtol: bool

Multicopters are not VTOL.

property vehicle_type: None

Multicopters don’t have vehicle_type (not VTOL).

vtol_transition_to(vtol_state, immediate=False)

Not available on multicopters.

_calculate_velocity(target_pos: tuple, lock_yaw: bool) → list

Calculate velocity using proportional control to prevent oscillation. :param target_pos: (x, y, z) target position in local frame :param lock_yaw: Whether yaw is locked (hovering)

Returns:

[vx, vy, vz] velocity list in m/s