fdm_pybullet module

PyBullet based FDM for NPS simulator

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="fdm_pybullet">
  b'<define name="PYTHON_EXEC" value="python3" type="string" />\n    '
  b'<define name="PYBULLET_GUI" value="TRUE" />\n    '
  b'<define name="NPS_ACTUATORS_ORDER" value="{3, 2, 1, 0}" />\n    '
  b'<define name="NPS_PYBULLET_MODULE" value="simple_quad_sim" type="string" />\n    '
  b'<define name="NPS_PYBULLET_URDF" value="robobee.urdf" type="string" />\n  '
</module>

Module configuration options

Define Options

• name: PYTHON_EXEC value: python3
  Description: python executable to use. Can be a /path/to/venv/python3
• name: PYBULLET_GUI value: TRUE
  Description: start pybullet Gui
• name: NPS_ACTUATORS_ORDER value: {3, 2, 1, 0}
  Description: set actuators URDF indexes
• name: NPS_PYBULLET_MODULE value: simple_quad_sim
  Description: python module for your pybullet model
• name: NPS_PYBULLET_URDF value: robobee.urdf
  Description: URDF vehicle model

Files

Source Files

• nps/nps_fdm_pybullet.c

Raw fdm_pybullet.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="fdm_pybullet" dir="fdm">
  <doc>
    <description>
      PyBullet based FDM for NPS simulator
    </description>
    <define name="PYTHON_EXEC" value="python3" type="string" description="python executable to use. Can be a /path/to/venv/python3"/>
    <define name="PYBULLET_GUI" value="TRUE" description="start pybullet Gui"/>
    <define name="NPS_ACTUATORS_ORDER" value="{3, 2, 1, 0}" description="set actuators URDF indexes"/>
    <define name="NPS_PYBULLET_MODULE" value="simple_quad_sim" type="string" description="python module for your pybullet model"/>
    <define name="NPS_PYBULLET_URDF" value="robobee.urdf" type="string" description="URDF vehicle model"/>
  </doc>
  <header/>
  <makefile target="nps|hitl">
    <raw>
      nps.CFLAGS += $(shell python3-config --cflags) -fPIE
      nps.LDFLAGS += $(shell python3-config --ldflags --embed) 
      nps.CFLAGS += -DPAPARAZZI_SRC=\"$(PAPARAZZI_SRC)\"
    </raw>
    <file name="nps_fdm_pybullet.c" dir="nps"/>
  </makefile>
</module>