Physics¶

drone.physics

MIT BWSI Autonomous Drone Racing Course - UAV Neo

File Name: physics.py File Description: Defines the interface of the Physics module of the drone_core library.

class physics.Physics¶

Returns IMU, velocity, altitude, attitude, and GPS data from the drone’s sensors.

abstractmethod get_altitude() → float¶

Returns the drone’s altitude above ground level.

Example:

alt = uav.physics.get_altitude()
if alt < 2.0:
    print("Low altitude warning")

abstractmethod get_angular_velocity() → NDArray¶

Returns the drone’s angular velocity from the IMU.

Note

x-axis is pitch, y-axis is yaw, z-axis is roll. Uses right-hand rule for sign convention.

Example:

ang_vel = uav.physics.get_angular_velocity()
yaw_rate = ang_vel[1]

abstractmethod get_attitude() → NDArray¶

Returns the drone’s attitude (orientation) as Euler angles.

Returns:: A 3-element array of (pitch, roll, yaw) in degrees. Pitch: nose up is positive, range [-180, 180]. Roll: right wing down is positive, range [-180, 180]. Yaw: clockwise from north, range [0, 360).

Example:

attitude = uav.physics.get_attitude()
pitch, roll, yaw = attitude[0], attitude[1], attitude[2]

abstractmethod get_gps() → NDArray¶

Returns the drone’s GPS coordinates.

Returns:: A 3-element array of (latitude, longitude, altitude) where latitude and longitude are in degrees, and altitude is in meters above sea level.

Example:

gps = uav.physics.get_gps()
lat, lon, alt_msl = gps[0], gps[1], gps[2]

abstractmethod get_linear_acceleration() → NDArray¶

Returns the drone’s linear acceleration from the IMU.

Note

x-axis points right, y-axis points up, z-axis points forward.

Example:

accel = uav.physics.get_linear_acceleration()
forward_accel = accel[2]

abstractmethod get_linear_velocity() → NDArray¶

Returns the drone’s linear velocity.

Note

x-axis points right, y-axis points up, z-axis points forward.

Example:

vel = uav.physics.get_linear_velocity()
forward_speed = vel[2]