From 06b0f064c15ae2d6724425e13f2dfea93be34119 Mon Sep 17 00:00:00 2001
From: madratman <ratneshmadaan@gmail.com>
Date: Wed, 25 Mar 2020 11:28:31 -0700
Subject: [PATCH] [simpleflight] add gain types to types.py

---
 PythonClient/airsim/types.py | 96 +++++++++++++++++++++++++++++++++++-
 1 file changed, 95 insertions(+), 1 deletion(-)

diff --git a/PythonClient/airsim/types.py b/PythonClient/airsim/types.py
index 6bbbcfbae4..44fe5584fe 100644
--- a/PythonClient/airsim/types.py
+++ b/PythonClient/airsim/types.py
@@ -403,4 +403,98 @@ class DistanceSensorData(MsgpackMixin):
     distance = Quaternionr()
     min_distance = Quaternionr()
     max_distance = Quaternionr()
-    relative_pose = Pose()
\ No newline at end of file
+    relative_pose = Pose()
+
+class PIDGains():
+    """
+    Struct to store values of PID gains. Used to transmit controller gain values while instantiating
+    AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
+    
+    Attributes:
+        kP (float): Proportional gain
+        kI (float): Integrator gain
+        kD (float): Derivative gain
+    """
+    def __init__(self, kp, ki, kd):
+        self.kp = kp
+        self.ki = ki
+        self.kd = kd
+
+    def to_list(self):
+        return [self.kp, self.ki, self.kd]
+
+class AngleRateControllerGains():
+    """
+    Struct to contain controller gains used by angle level PID controller
+    
+    Attributes:
+        roll_gains (PIDGains): kP, kI, kD for roll axis
+        pitch_gains (PIDGains): kP, kI, kD for pitch axis
+        yaw_gains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, roll_gains = PIDGains(0.25, 0, 0),
+                       pitch_gains = PIDGains(0.25, 0, 0),
+                       yaw_gains = PIDGains(0.25, 0, 0)):
+        self.roll_gains = roll_gains
+        self.pitch_gains = pitch_gains
+        self.yaw_gains = yaw_gains
+    
+    def to_lists(self):
+        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
+
+class AngleLevelControllerGains():
+    """
+    Struct to contain controller gains used by angle rate PID controller
+    
+    Attributes:
+        roll_gains (PIDGains): kP, kI, kD for roll axis
+        pitch_gains (PIDGains): kP, kI, kD for pitch axis
+        yaw_gains (PIDGains): kP, kI, kD for yaw axis
+    """
+    def __init__(self, roll_gains = PIDGains(2.5, 0, 0),
+                       pitch_gains = PIDGains(2.5, 0, 0),
+                       yaw_gains = PIDGains(2.5, 0, 0)):
+        self.roll_gains = roll_gains
+        self.pitch_gains = pitch_gains
+        self.yaw_gains = yaw_gains
+    
+    def to_lists(self):
+        return [self.roll_gains.kp, self.pitch_gains.kp, self.yaw_gains.kp], [self.roll_gains.ki, self.pitch_gains.ki, self.yaw_gains.ki], [self.roll_gains.kd, self.pitch_gains.kd, self.yaw_gains.kd]
+
+class VelocityControllerGains():
+    """
+    Struct to contain controller gains used by velocity PID controller
+    
+    Attributes:
+        x_gains (PIDGains): kP, kI, kD for X axis
+        y_gains (PIDGains): kP, kI, kD for Y axis
+        z_gains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, x_gains = PIDGains(0.2, 0, 0),
+                       y_gains = PIDGains(0.2, 0, 0),
+                       z_gains = PIDGains(2.0, 2.0, 0)):
+        self.x_gains = x_gains
+        self.y_gains = y_gains
+        self.z_gains = z_gains
+    
+    def to_lists(self):
+        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]
+
+class PositionControllerGains():
+    """
+    Struct to contain controller gains used by position PID controller
+    
+    Attributes:
+        x_gains (PIDGains): kP, kI, kD for X axis
+        y_gains (PIDGains): kP, kI, kD for Y axis
+        z_gains (PIDGains): kP, kI, kD for Z axis
+    """
+    def __init__(self, x_gains = PIDGains(0.25, 0, 0),
+                       y_gains = PIDGains(0.25, 0, 0),
+                       z_gains = PIDGains(0.25, 0, 0)):
+        self.x_gains = x_gains
+        self.y_gains = y_gains
+        self.z_gains = z_gains
+    
+    def to_lists(self):
+        return [self.x_gains.kp, self.y_gains.kp, self.z_gains.kp], [self.x_gains.ki, self.y_gains.ki, self.z_gains.ki], [self.x_gains.kd, self.y_gains.kd, self.z_gains.kd]