pyPilot
Python package for navigation, guidance, path planning, and control. This is also a mirror library of the Arduino/C++ library navduino.h
Python library for basic aerial navigation functions used for
- Euler angles
- Direction cosine matrices
- Quaternions
- Rodrigues Rotation Vectors
- Earth radii calculations
- Earth rotation rate calculations
- Frame conversions
- Latitude-Longitude-Altitude (LLA)
- North-East-Down (NED)
- Earth Centered Earth Fixed (ECEF)
-
Affine/Pose transforms (conversions between two non-colocated cartesian coordinate frames)
- Native support for transforming points between vehicle, payload, and sensor coordinate frames
- Distance and bearing calculations between 2 coordinates
- Calculating a new coordinate based on a reference coordinate (i.e. given a LLA coordinate, great circle distance, azimuth, and elevation angle, find the resulting LLA coordinate)
API
pyPilot:
Constants:
RADIANS
DEGREES
NED_TO_BODY
BODY_TO_NED
dRx
dRy
dRz
dtx
dty
dtz
Functions:
angle2dcm
dcm2angle
angle2quat
quat2angle
quat2dcm
dcm2quat
vec2dcm
dcm2vec
vec2quat
quat2vec
vec2angle
angle2vec
quatMult
quatInv
quatRotVec
interQuat
quatParts
earthGeoRad
earthRad
earthAzimRad
earthRate
llaRate
navRate
lla2ecef
ecef2lla
ecef2ned_dcm
ecef2ned
lla2ned
ned2ecef
ned2lla
poseMat
pose2dcm
pose2t
reversePoseMat
skew
poseMatDeriv
transformPt
bearingLla
bearingNed
distanceLla
distanceNed
distanceNedHoriz
distanceNedVert
distanceEcef
elevationLla
elevationNed
LDAE2lla
NDAE2ned
pose:
Functions:
payload2vehicle
vehicle2payload
sensor2vehicle
vehicle2sensor
sensor2payload
payload2sensor
Classes:
vehicle_pose
payload_pose
sensor_pose
pilotUtils:
Functions:
wrapToPi
constrain
map
wgs84:
Constants:
a
a_sqrd
f
omega_E
omega_E_GPS
GM
GM_GPS
b
b_sqrd
ecc
ecc_sqrd
ecc_prime
ecc_prime_sqrd
r
Credits
Inspired by several sources including NavPy, bolderflight/navigation, and Chris Veness's Geo Scripts
