:py:mod:`multirotor.vehicle`
============================

.. py:module:: multirotor.vehicle


Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   multirotor.vehicle.MotorParams
   multirotor.vehicle.PropellerParams
   multirotor.vehicle.BatteryParams
   multirotor.vehicle.VehicleParams
   multirotor.vehicle.SimulationParams




.. py:class:: MotorParams


   .. py:attribute:: resistance
      :type: float

      Motor resistance r. Current = (voltage - back_emf) / resistance


   .. py:attribute:: k_motor
      :type: float

      Motor constant k_m, where speed = k_m * back_emf, and k_m = 1/k_e


   .. py:attribute:: k_emf
      :type: float

      Back-EMF constant k_e, relates motor speed induced voltage, back_emf = k_e * omega


   .. py:attribute:: k_torque
      :type: float

      Torque constant k_q, where torque Q = k_q * current. Equal to k_e


   .. py:attribute:: k_drag
      :type: float

      Aerodynamic drag coefficient, where torque = k_drag * omega^2


   .. py:attribute:: moment_of_inertia
      :type: float
      :value: 0.0

      Moment of inertia about rotational axis


   .. py:attribute:: k_df
      :type: float
      :value: 0.0

      Viscous damping coefficient. Torque = d_f * speed


   .. py:attribute:: static_friction
      :type: float
      :value: 0.0

      

   .. py:attribute:: speed_voltage_scaling
      :type: float
      :value: 1.0

      Scaling constant to convert speed signal (rad/s) into speed controller voltage (V).
      If 1, means input action is same as Voltage


   .. py:attribute:: max_current
      :type: float

      Max allowed current


   .. py:method:: __post_init__()



.. py:class:: PropellerParams


   .. py:attribute:: moment_of_inertia
      :type: float

      

   .. py:attribute:: diameter
      :type: float
      :value: 6

      

   .. py:attribute:: pitch
      :type: float
      :value: 3

      

   .. py:attribute:: a
      :type: float
      :value: 5.7

      Lift curve slope used in example in Stevens & Lewis (eq 2.2-6a)


   .. py:attribute:: b
      :type: float
      :value: 2

      Number of blades


   .. py:attribute:: c
      :type: float
      :value: 0.0274

      Mean chord length (m) of the propeller blade


   .. py:attribute:: eta
      :type: float
      :value: 1.0

      Propeller efficiency


   .. py:attribute:: use_thrust_constant
      :type: bool
      :value: True

      Use k_thrust instead of propeller geometry for thrust calculations.


   .. py:attribute:: k_thrust
      :type: float

      Propeller's aerodynamic thrust coefficient, where thrust =  k_thrust * angular velocity^2


   .. py:attribute:: k_drag
      :type: float

      Torque constant or drag coefficient, where torque = k_drag * angular velocity^2


   .. py:attribute:: motor
      :type: MotorParams

      The parameters of the motor to simulate speed, otherwise instantaneous.


   .. py:method:: __post_init__()



.. py:class:: BatteryParams


   .. py:attribute:: max_voltage
      :type: float

      Maximum voltage of the battery



.. py:class:: VehicleParams


   .. py:attribute:: mass
      :type: float

      The total mass of the vehicle


   .. py:attribute:: inertia_matrix
      :type: numpy.ndarray

      3x3 intertia matrix describing the rotational properties of the body.


   .. py:attribute:: propellers
      :type: List[PropellerParams]

      

   .. py:attribute:: angles
      :type: numpy.ndarray

      Angle (radians) of propeller arm from the positive x-axis (forward) of the body frame.


   .. py:attribute:: distances
      :type: numpy.ndarray

      Distance (m) of each propeller from the centre of mass.


   .. py:attribute:: clockwise
      :type: numpy.ndarray

      1 if motor spins clockwise, -1 if anti-clockwise, looking from the top.
      Defaults to alternating clockwise/anti-clockwise.


   .. py:attribute:: battery
      :type: BatteryParams

      The battery parameters


   .. py:method:: __post_init__()



.. py:class:: SimulationParams


   .. py:attribute:: dt
      :type: float
      :value: 0.001

      Timestep of simulation


   .. py:attribute:: g
      :type: float
      :value: 9.81

      Gravitational acceleration


   .. py:attribute:: rho
      :type: float
      :value: 1.225

      Air density kg/m^3 at MSL


   .. py:attribute:: dtype
      :type: type

      Default data type for arrays. If None, inferred from VehicleParams inertia_matrix.