Ubicoders Virtual Robot - Multirotor

The virtual robot is here: Virtual Multitor

Requirements:

• Python 3

Once you have Python 3

pip install ubicoders-vrobots matplotlib numpy

Turn on Virtual Robots Bridge

python vr_server.py

Connect the Virtual Robot

Run the template script

python vr_multirotor.py

Axis Convention

x front, y right, z down.

Units

actuators.pwm

Integer representing micro seconds. The range between 1100 to 2000 microseconds. This range is a typical operation range of ESC of the actual drones.

sensors.acc

Raw accelerometer values for x, y, and z axis. 1g (9.8m/s^2) represents 16384.

sensor.gyro

250 deg/second for 32768. To convert to radians per second, (sensor.gyro) * 250/32768 * pi/180

sensor.mag

in micro Tesla (uT)

states.angularVelocity

in radians per second (rad/s)

states.eulerAngles

in degrees (deg)

states.linearVelocity

in meters per second (m/s)

states.position

in meters (m)