Rocket

Model Description

The rocket describes a 1:10th scale SpaceX Falcon 9 v1.2 first stage and interstage. Mass and geometry properties were extracted from Space Launch Report datasheet.

Control Mode

Only one control mode is provided. Setpoints correspond to:

• finlet x deflection

• finlet y deflection

• finlet yaw

• ignition

• throttle

• booster gimbal axis 1

• booster gimbal axis 2

Class Description

class PyFlyt.core.drones.Rocket(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'rocket', model_dir: None | str = None, np_random: None | RandomState = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 30, camera_FOV_degrees: int = 90, camera_resolution: tuple[int, int] = (128, 128), camera_position_offset: ndarray = array([-1., 0., 3.]), starting_fuel_ratio: float = 0.05)

Rocket instance that handles everything about a thrust vectored rocket with throttleable boosters and controllable finlets.

The setpoint for this model has 7 values:

• finlet x deflection

• finlet y deflection

• finlet yaw

• ignition

• throttle

• booster gimbal axis 1

• booster gimbal axis 2

reset() → None

Resets the vehicle to the initial state.

set_mode(mode) → None

Sets the current flight mode of the vehicle.

flight modes:

• 0: finlet x deflection, finlet y deflection, finlet yaw, ignition, throttle, booster gimbal axis 1, booster gimbal axis 2

Parameters:

mode (int) – flight mode

starting_fuel_ratio

Reads fixedwing.yaml file and load UAV parameters

update_control() → None

Runs through controllers.

update_last() → None

Updates things only at the end of Aviary.step().

update_physics() → None

Updates the physics of the vehicle.

update_state() → None

Updates the current state of the UAV.

This includes: ang_vel, ang_pos, lin_vel, lin_pos.