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A Python unmanned aircraft simulator based on the bookSmall Unmanned Aircraft: Theory and Practice by Randy Beard and Tim McLain.

For more information visithttps://github.com/randybeard/mavsim_public

The Python UAV Simulator provides a comprehensive environment for simulating the behavior of unmanned aerial vehicles (UAVs). It allows users to explore aircraft dynamics, sensor readings, autopilot behavior, and actuator responses in a controlled simulation framework.

To get started with the Python UAV Simulator, follow these steps:

1. Clone the repository:

   git clone https://github.com/pabloramesc/pyUAVsim.git

2. Open the project folder:

   cd pyUAVsim

3. Install the required packages:

   pip install -r requirements.txt

4. Run the example:

   python example.py

The simulator is composed of four main modules, each with distinct responsibilities and submodules. These modules are organized into three levels: Physical, Electrical, and Software.

Forces and Moments:Takes the current aircraft state and control deltas from the actuators.Computes the forces (fx, fy, fz) and moments (l, m, n) acting on the aircraft.

Kinematics and Dynamics:Uses the current state and forces and moments to compute the new state of the aircraft.

Sensors:Simulates sensor readings and noise based on the true aircraft state.Includes IMU (Inertial Measurement Unit), GPS, barometer, etc.

Actuators:Takes autopilot control commands and computes the state of the actuators (servos and DC motors).Outputs the control deltas for the aircraft simulator, closing the loop in the simulation.

Estimation Filters:Applies filters (e.g., Low Pass Filter, Kalman Filter) to sensor readings to estimate the aircraft state.

Controll and Navigation:Uses the estimated state along with mission parameters or joystick/controller input to manage attitude control, path following (line or orbit), path managing, and path planning.

• Main aircraft data handlers:AircraftParameters,AircrafState ...
• Aircraft forces and moments (gravity, aerodynamic and propulsion) simulation
• Aircraft kinematics and dynamics integration to calculate new state
• Multi functional visualization tool based on Matplotlib
• Trim calculation
• Quaternions support
• Wind and atmospheric models integration
• Realistic sensor data simulation including IMU, GPS, and barometer.
• Actuators simulation (servos and DC motor) with realistic transfer functions
• Estimation filters for airtcraft's state estimation
• Implement all autopilot layers: flight control, path following, path navigator and route manager.
• Mission parametes (waypoints) support
• Add TECS and LQR control
• Add PX4 attitude controller
• Add control gains auto-tuning method
• Implement Genetic Algorithm optimization
• Real-time external joystick/controller and autopilot modes (manual, FBW, auto...) support
• Unity 3D visualiztion framework

To run all the tests and generate a coverage report in HTML:

python -m pytest --cov=simulator --cov-report html

This project is licensed under the MIT - see theLICENSE file for details.