Added options to visualization

        return self.track(vehicle, controller, other_vars)

    def __bool__(self):

        return True

    def track(self, vehicle, controller, other_vars=None):

        """

        Register Multirotor and Controller instances to track, along with names

        if relative:

            # last_pos = self.position[old_len - 1]

            if not self._arrayed:

                last_time = self._times[old_len - 1]

                last_time = self._times[old_len - 1] if old_len > 0 else 0

                for i in range(old_len, len(self)):

                        # self._states[i][:3] += last_pos

                        self._times[i] += last_time

            elif self._arrayed:

                last_time = self.times[old_len - 1]

                last_time = self.times[old_len - 1] if old_len > 0 else 0

                # self.states[old_len:,:3] += last_pos

                self.times[old_len:] += last_time

# https://github.com/souhaiel1/DJI-Mavic-pro-simplified-modelling-and-simulation

 No newline at end of file

from copy import deepcopy

import numpy as  np

from multirotor.vehicle import (

    VehicleParams,

    MotorParams,

    PropellerParams,

    BatteryParams,

    SimulationParams

)

BP = BatteryParams(max_voltage=22.2)

MP = MotorParams(

    moment_of_inertia=5e-5,

    # resistance=0.27,

    resistance=0.081,

    k_emf=0.0265,

    k_motor=0.0932,

    speed_voltage_scaling=0.0347,

    max_current=38.

)

PP = PropellerParams(

    moment_of_inertia=1.86e-6,

    use_thrust_constant=True,

    k_thrust=9.8419e-05, # 18-inch propeller

    # k_thrust=5.28847e-05, # 15 inch propeller

    k_drag=1.8503e-06, # 18-inch propeller

    # k_drag=1.34545e-06, # 15-inch propeller

    # motor=MP

    motor=None

)

VP = VehicleParams(

    propellers=[deepcopy(PP) for _ in range(8)],

    battery=BP,

    # angles in 45 deg increments, rotated to align with

    # model setup in gazebo sim (not part of this repo)

    angles=np.linspace(0, -2*np.pi, num=8, endpoint=False) + 0.375 * np.pi,

    distances=np.ones(8) * 0.635,

    clockwise=[-1,1,-1,1,-1,1,-1,1],

    mass=10.66,

    inertia_matrix=np.asarray([

        [0.2206, 0, 0],

        [0, 0.2206, 0.],

        [0, 0, 0.4238]

    ])

)

SP = SimulationParams(dt=0.01, g=9.81, dtype=np.float32)

    if 'traj' in plots:

        plt.subplot(*plot_grid, plot_number)

        if len(log.target.position) > 0:

            plt.plot(log.target.position[:,0], log.target.position[:,1], label='Prescribed traj', ls=':')

        plt.plot(log.x, log.y, label='Actual traj', ls='-')

        plt.gca().set_aspect('equal', 'box')