drones_sim

Quadcopter dynamics simulation with cascaded PID control and EKF sensor fusion.

Install

cd drones_sim
pip install -e ".[dev]"

Package structure

src/drones_sim/
├── math_utils.py          # Quaternion ops, rotation matrices
├── trajectory.py          # Trajectory generators (hover-cruise, circular, waypoints)
├── sensors/
│   ├── imu.py             # 9-axis IMU simulator
│   └── models.py          # Noise, bias, temperature models
├── estimation/
│   ├── ekf.py             # 10-state EKF + 9-state adaptive EKF
│   └── ahrs.py            # Complementary filter AHRS
├── dynamics/
│   └── quadcopter.py      # 12-state Newton-Euler rigid body
├── control/
│   ├── pid.py             # Generic PID with anti-windup
│   └── cascaded.py        # Position→Velocity→Attitude cascade
└── visualization/
    ├── plots.py           # Matplotlib 2D plots
    └── viewer.py          # Viser interactive 3D viewer

Examples

#	Script	Description
01	01_imu_ekf_basic.py	IMU simulation + 10-state EKF fusion
02	02_ekf_adaptive.py	Adaptive EKF with temperature effects
03	03_waypoint_nav.py	Quadcopter waypoint navigation (cascaded PID)
04	04_viser_viewer.py	Interactive 3D playback with viser
05	05_full_pipeline.py	Full loop: dynamics → IMU → EKF → PID control

# Run any example
python examples/01_imu_ekf_basic.py

Tests

pytest tests/ -v

Dependencies

• numpy, scipy, matplotlib
• viser — interactive 3D visualization