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spencerfolk
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# RotorPy
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%"/>
<p align="center"><img src="/media/double_pillar.gif" width="32%"/><img src="/media/gusty.gif" width="32%"/><img src="/media/minsnap.gif" width="32%"/></p>
## 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.