chore: check for mA1 vessel

incebellipipo · Feb 3, 2025 · 7e8c556 · 7e8c556
1 parent d2d55fe
commit 7e8c556
Show file tree

Hide file tree

Showing 4 changed files with 142 additions and 115 deletions.
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 [![Python package](https://github.com/incebellipipo/skadipy/actions/workflows/run_test.yml/badge.svg)](https://github.com/incebellipipo/skadipy/actions/workflows/run_test.yml)
 
-# mccontrolpy
+# SkadiPy
 
 A python library for solving the control allocation problem for marine craft with different types of actuators and control allocation methods.
 

diff --git a/notebooks/001_pseudo_inverse.ipynb b/notebooks/001_pseudo_inverse.ipynb
diff --git a/notebooks/pythonrc.py b/notebooks/pythonrc.py
@@ -95,29 +95,29 @@ def darken_hex_color(hex_color, percentage=20):
     },
 )
 
-ma_bow_port = skadipy.actuator.Fixed(
-    position=skadipy.toolbox.Point([0.3, -0.1, 0.0]),
+ma_bow_port = skadipy.actuator.Azimuth(
+    position=skadipy.toolbox.Point([1.8, -0.8, 0.0]),
     orientation=skadipy.toolbox.Quaternion(
         axis=(0.0, 0.0, 1.0), angle=(3 * np.pi / 4.0)
     ),
-    extra_attributes={"rate_limit": 0.1, "saturation_limit": 1.0, "limits": [0.0, 1.0]},
+    extra_attributes={"rate_limit": 0.1, "saturation_limit": 100.0, "limits": [0.0, 1.0]},
 )
-ma_bow_starboard = skadipy.actuator.Fixed(
-    position=skadipy.toolbox.Point([0.3, 0.1, 0.0]),
+ma_bow_starboard = skadipy.actuator.Azimuth(
+    position=skadipy.toolbox.Point([1.8, 0.8, 0.0]),
     orientation=skadipy.toolbox.Quaternion(
         axis=(0.0, 0.0, 1.0), angle=(-3 * np.pi / 4.0)
     ),
-    extra_attributes={"rate_limit": 0.1, "saturation_limit": 1.0, "limits": [0.0, 1.0]},
+    extra_attributes={"rate_limit": 0.1, "saturation_limit": 100.0, "limits": [0.0, 1.0]},
 )
-ma_aft_port = skadipy.actuator.Fixed(
-    position=skadipy.toolbox.Point([-0.3, -0.1, 0.0]),
+ma_aft_port = skadipy.actuator.Azimuth(
+    position=skadipy.toolbox.Point([-1.8, 0.8, 0.0]),
     orientation=skadipy.toolbox.Quaternion(axis=(0.0, 0.0, 1.0), angle=(np.pi / 4.0)),
-    extra_attributes={"rate_limit": 0.1, "saturation_limit": 1.0, "limits": [0.0, 1.0]},
+    extra_attributes={"rate_limit": 0.1, "saturation_limit": 100.0, "limits": [0.0, 1.0]},
 )
-ma_aft_starboard = skadipy.actuator.Fixed(
-    position=skadipy.toolbox.Point([-0.3, 0.1, 0.0]),
+ma_aft_starboard = skadipy.actuator.Azimuth(
+    position=skadipy.toolbox.Point([-1.8, -0.8, 0.0]),
     orientation=skadipy.toolbox.Quaternion(axis=(0.0, 0.0, 1.0), angle=(-np.pi / 4.0)),
-    extra_attributes={"rate_limit": 0.1, "saturation_limit": 1.0, "limits": [0.0, 1.0]},
+    extra_attributes={"rate_limit": 0.1, "saturation_limit": 100.0, "limits": [0.0, 1.0]},
 )