Quadrotor

Definition of a generic quadrotor without Rigid Body physics. It is expected to be used with actuators such as:

• Stabilized Flight for quadrotor

Note

The rotation of the rotors is fixed and only for show. Its speed can be adjusted in the Logic panel in Blender (shown with F4) when the cube object are selected.

Configuration parameters for Quadrotor

You can :

• set the mass of the robot using the builder method morse.builder.morsebuilder.Robot.set_mass()
• set the friction coefficient of the robot using the builder method morse.builder.morsebuilder.Robot.set_friction()

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

• NoGravity (bool, default: False)

  Indicate if we want to consider the gravity for this robot If true, the behaviour is less realistic as the simulator will automatically compensate it. This setting is useful for non-realistic model flying or submarine robot

• GroundRobot (bool, default: False)

  Indicate if the robot is a ground robot, i.e. basically if it has no way to control its position on the Z axis, nor this X and Y rotation axis

Services for Quadrotor

• get_configurations() (blocking)

  Returns the configurations of a component (parsed from the properties).

  • Return value

    a dictionary of the current component’s configurations

• get_properties() (blocking)

  Returns the properties of a component.

  • Return value

    a dictionary of the current component’s properties

• set_property(prop_name, prop_val) (blocking)

  Modify one property on a component

  • Parameters

    • prop_name: the name of the property to modify (as shown the documentation)
    • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful

  • Return value

    nothing

Examples

The following examples show how to use this component in a Builder script:

quadrotor = QUAD2012()

# place your component at the correct location
quadrotor.translate(<x>, <y>, <z>)
quadrotor.rotate(<rx>, <ry>, <rz>)

# define one or several communication interface, like 'socket'
quadrotor.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

• Source code
• Unit-test

(This page has been auto-generated from MORSE module morse.robots.quadrotor.)