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# RotorPy # RotorPy
A Python-based multirotor simulation environment with aerodynamic wrenches, useful for education and research in estimation, planning, and control for UAVs. A Python-based multirotor simulation environment with aerodynamic wrenches, useful for education and research in estimation, planning, and control for UAVs.
<img src="/media/double_pillar.gif" width="32%"/><img src="/media/gusty.gif" width="32%"/><img src="/media/minsnap.gif" width="32%"/>
## Purpose and Scope ## Purpose and Scope
The purpose of this simulator is to add lumped parameter representations of the UAV aerodynamics to to a multirotor UAV (quadrotor unless otherwise noted). These aerodynamic effects, listed below, are negligible at hover in still air; however, as relative airspeed increases (e.g. for aggressive maneuvers or in the presence of high winds), these aerodynamic effects quickly become noticeable. The purpose of this simulator is to add lumped parameter representations of the UAV aerodynamics to to a multirotor UAV (quadrotor unless otherwise noted). These aerodynamic effects, listed below, are negligible at hover in still air; however, as relative airspeed increases (e.g. for aggressive maneuvers or in the presence of high winds), these aerodynamic effects quickly become noticeable.