Aircontrol Input API

Aircontrol provides fine control over inputs via python API. Following properties can be controlled using set_control function.

Python API

  • InputControlType (str, optional): It can be either Code or Other. This is to control the internal mechanism and prevent repeted calling in already set variables. If InputControlType is set to ‘Code’, camera cannot be controlled from Keyboard or Joystick. If InputControlType is set to ‘Other’, camera can be only controlled from Keyboard or Joystick. Defaults to “Code”.

  • Pitch (float, optional): The aircraft nose can rotate up and down about the y-axis, a motion known as pitch. Pitch control is typically accomplished using an elevator on the horizontal tail. Defaults to 0.0.

  • Roll (float, optional): The wingtips can rotate up and down about the x-axis, a motion known as roll. Roll control is usually provided using ailerons located at each wingtip.. Defaults to 0.0.

  • Yaw (float, optional): The nose can rotate left and right about the z-axis, a motion known as yaw.Yaw control is most often accomplished using a rudder located on the vertical tail.. Defaults to 0.0.

  • Throttle (float, optional): Controls the engine power (Deprecated), Use sticky Throttle. Defaults to 0.0.

  • StickyThrottle (float, optional): Tyoically Airplane have sticky throttles. Throttle values stay same unless moved. Defaults to 0.0.

  • Brake (int, optional): Applies brake to wheels, to control ground movement. Defaults to 0.

  • Flaps (int, optional): A flap is a high-lift device used to reduce the stalling speed of an aircraft wing at a given weight. Flaps helps in controlling descent. Defaults to 0.

Limits

Control

type

Limit

Pitch

float

Between -1.0 and 1.0

Yaw

float

Between -1.0 and 1.0

Roll

float

Between -1.0 and 1.0

Sticky Throttle

float

Between 0.0 and 1.0

Brake

int

0 : Dis-engaged, 1 : Engaged

Flaps

int

0 : None, 1 : 15 Degree, 2 : 30 Degree

Importing Requirements

from airctrl import environment
from pprint import pprint
import PIL.Image as Image
import base64
import numpy as np
from io import BytesIO
from matplotlib.pyplot import  imshow
import matplotlib.pyplot as plt

from airctrl import environment
from airctrl import sample_generator
from airctrl.utils import unity
from airctrl import sample_generator
port=8999
sample = sample_generator.samples()
env =  environment.Trigger()
L = unity.Launch()

Now call method .get_connected(port=<Default 8053>) to get connected

process = L.launch_executable("/home/supatel/Games/AirControl_2021/Build/1.3.0/Linux/v1.3.0-AirControl.x86_64", server_port=port)
env.get_connected(port=port)

Loading environment from /home/supatel/Games/AirControl_2021/Build/1.3.0/Linux/v1.3.0-AirControl.x86_64 at port 8999 client ip 127.0.1.1 client port 8999

['/home/supatel/Games/AirControl_2021/Build/1.3.0/Linux/v1.3.0-AirControl.x86_64', '--serverPort', '8999', '--clientIP', '127.0.1.1', '--clientPort', '8999']
Sleeping for 5 seconds to allow environment load

[UnityMemory] Configuration Parameters - Can be set up in boot.config
    "memorysetup-bucket-allocator-granularity=16"
    "memorysetup-bucket-allocator-bucket-count=8"
    "memorysetup-bucket-allocator-block-size=4194304"
    "memorysetup-bucket-allocator-block-count=1"
    "memorysetup-main-allocator-block-size=16777216"
    "memorysetup-thread-allocator-block-size=16777216"
    "memorysetup-gfx-main-allocator-block-size=16777216"
    "memorysetup-gfx-thread-allocator-block-size=16777216"
    "memorysetup-cache-allocator-block-size=4194304"
    "memorysetup-typetree-allocator-block-size=2097152"
    "memorysetup-profiler-bucket-allocator-granularity=16"
    "memorysetup-profiler-bucket-allocator-bucket-count=8"
    "memorysetup-profiler-bucket-allocator-block-size=4194304"
    "memorysetup-profiler-bucket-allocator-block-count=1"
    "memorysetup-profiler-allocator-block-size=16777216"
    "memorysetup-profiler-editor-allocator-block-size=1048576"
    "memorysetup-temp-allocator-size-main=4194304"
    "memorysetup-job-temp-allocator-block-size=2097152"
    "memorysetup-job-temp-allocator-block-size-background=1048576"
    "memorysetup-job-temp-allocator-reduction-small-platforms=262144"
    "memorysetup-temp-allocator-size-background-worker=32768"
    "memorysetup-temp-allocator-size-job-worker=262144"
    "memorysetup-temp-allocator-size-preload-manager=262144"
    "memorysetup-temp-allocator-size-nav-mesh-worker=65536"
    "memorysetup-temp-allocator-size-audio-worker=65536"
    "memorysetup-temp-allocator-size-cloud-worker=32768"
    "memorysetup-temp-allocator-size-gfx=262144"
Connecting with port 8999


control_schema = env.step(Pitch=0.0, Roll=0.0, Yaw=0.0,Throttle=0.0, StickyThrottle=0.5, Brake=0, Flaps=0,IsOutput=True)
print(control_schema)

{'AGL': 0.0, 'MSL': 4.7329154, 'CurrentRPM': 0.0, 'MaxRPM': 4500.0, 'MaxPower': 1.10416677e-05, 'CurrentPower': 0.0, 'CurrentFuel': 0.0, 'CurrentSpeed': 0.0, 'BankAngle': 0.0017182061, 'IfCollision': False, 'CollisionObject': '', 'Latitude': -1.70281146e-06, 'Longitude': 5.317519e-06, 'PitchAngle': 0.328555942, 'ScreenCapture': '', 'LidarPointCloud': [500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 305.198425, 190.873642, 138.888733, 109.184929, 89.97085, 76.52718, 66.596344, 58.9627533, 52.91375, 48.003334, 43.93948, 40.5215073, 37.60714, 35.0940552, 32.9049, 30.9822521, 29.2800446, 27.7629089, 26.4031944, 25.1775265, 24.0678177, 23.05848, 22.1366081, 21.2921562, 20.515873, 19.7997761, 19.1377239, 18.5238552, 17.3667583, 16.85289, 16.3733921, 15.9251432, 15.5053892, 15.1116667, 14.74183, 14.3939438, 14.0662823, 13.7573051, 13.465621, 13.1899881, 12.9292688, 12.6824474, 12.4485941, 12.226861, 12.01649, 11.8167715, 11.6270676, 11.44679, 11.2754, 11.1124029, 10.9573383, 10.8097925, 10.6693735, 10.5357218, 10.4085121, 10.2874269, 10.1721945, 10.0625477, 9.958239, 9.859042, 9.764748, 9.675158, 9.590094, 9.509384, 9.432868, 9.360406, 9.291856, 9.22709, 9.16599751, 9.108461, 9.054386, 9.003675, 8.95624, 8.912006, 8.870894, 8.83284, 8.797776, 8.765651, 8.736409, 8.710009, 8.686405, 8.66556, 8.647441, 8.632024, 8.619283, 8.609197, 8.601752, 8.596936, 8.594744, 8.595168, 8.598213, 8.603881, 8.612182, 8.623128, 8.636736, 8.653026, 8.672027, 8.693763, 8.718271, 8.745589, 8.775763, 8.808835, 8.844863, 8.8839035, 8.926022, 8.971289, 9.019776, 9.071569, 9.126757, 9.185434, 9.24771, 9.31369, 9.383495, 9.457261, 9.53512, 9.617225, 9.703741, 9.794838, 9.8907, 9.991533, 10.0975485, 10.2089825, 10.3260851, 10.4491243, 10.57839, 10.7142029, 10.8568945, 11.0068417, 11.16443, 11.3301029, 11.504323, 11.6875944, 11.8804846, 12.0835876, 12.2975731, 12.52315, 12.761116, 13.0123444, 13.27779, 13.5585041, 13.8556557, 14.170536, 14.5045881, 14.8594131, 15.2367773, 15.6386967, 16.067421, 16.52549, 17.0157967, 17.5415783, 18.1065712, 18.7150745, 19.372015, 20.0830765, 20.8549271, 21.69534, 22.613512, 23.6203823, 24.728941, 25.9549732, 27.3176689, 28.840662, 30.55339, 32.49287, 34.7065468, 37.2561035, 40.223156, 43.71822, 47.8943748, 52.97047, 59.2702675, 67.29411, 77.85836, 95.64346, 117.666931, 152.927475, 179.50882, 180.588379, 183.865082, 188.81514, 191.950272, 201.559128, 205.546371, 206.6388, 207.495926, 208.869339, 210.394485, 212.201462, 214.395813, 216.70224, 218.8667, 221.949463, 232.394, 231.776016, 231.526917, 237.032074, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0, 500.0], 'Counter': 0, 'log': '', 'Reward': 0.0035562878254627784, 'IsGrounded': True, 'IsFlying': False, 'IsTaxiing': False, 'PosXAbs': 0.86777246, 'PosYAbs': 1.44259226, 'PosZAbs': -0.0676386356, 'PosXRel': -0.00222843885, 'PosYRel': -0.327407122, 'PosZRel': -0.09763813, 'RotXAbs': 340.814636, 'RotYAbs': 359.966278, 'RotZAbs': 0.105423734, 'RotXRel': 340.814636, 'RotYRel': 359.966278, 'RotZRel': 0.105423853, 'AngularXVelocity': -0.00521957874, 'AngularYVelocity': -8.102572e-05, 'AngularZVelocity': 0.00138697785, 'LinearXVelocity': -0.00184028456, 'LinearYVelocity': 0.007154375, 'LinearZVelocity': -0.09623016, 'AngularXAcceleration': 5.92379365e-05, 'AngularYAcceleration': -0.0001057535, 'AngularZAcceleration': 0.0, 'LinearXAcceleration': -0.000308157178, 'LinearYAcceleration': -0.030831784, 'LinearZAcceleration': -0.18662475, 'MsgType': 'Output', 'Version': '1.3.0'}

Output

When IsOutput is set to True, the Aircontrol reply with the following output.

{
   "AGL":0.0,
   "MSL":4.7329154,
   "CurrentRPM":0.0,
   "MaxRPM":4500.0,
   "MaxPower":1.10416677e-05,
   "CurrentPower":0.0,
   "CurrentFuel":0.0,
   "CurrentSpeed":0.0,
   "BankAngle":0.0017182061,
   "IfCollision":false,
   "CollisionObject":"",
   "Latitude":-1.70281146e-06,
   "Longitude":5.317519e-06,
   "PitchAngle":0.328555942,
   "ScreenCapture":"Here the screen capture will be returned as base64 o",
   "LidarPointCloud":[
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      305.198425,
      190.873642,
      138.888733,
      109.184929,
      89.97085,
      76.52718,
      66.596344,
      58.9627533,
      52.91375,
      48.003334,
      43.93948,
      40.5215073,
      37.60714,
      35.0940552,
      32.9049,
      30.9822521,
      29.2800446,
      27.7629089,
      26.4031944,
      25.1775265,
      24.0678177,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      500.0,
      ...,
      ...,
      ...,
   ],
   "Counter":0,
   "log":"",
   "Reward":0.0035562878254627784,
   "IsGrounded":true,
   "IsFlying":false,
   "IsTaxiing":false,
   "PosXAbs":0.86777246,
   "PosYAbs":1.44259226,
   "PosZAbs":-0.0676386356,
   "PosXRel":-0.00222843885,
   "PosYRel":-0.327407122,
   "PosZRel":-0.09763813,
   "RotXAbs":340.814636,
   "RotYAbs":359.966278,
   "RotZAbs":0.105423734,
   "RotXRel":340.814636,
   "RotYRel":359.966278,
   "RotZRel":0.105423853,
   "AngularXVelocity":-0.00521957874,
   "AngularYVelocity":-8.102572e-05,
   "AngularZVelocity":0.00138697785,
   "LinearXVelocity":-0.00184028456,
   "LinearYVelocity":0.007154375,
   "LinearZVelocity":-0.09623016,
   "AngularXAcceleration":5.92379365e-05,
   "AngularYAcceleration":-0.0001057535,
   "AngularZAcceleration":0.0,
   "LinearXAcceleration":-0.000308157178,
   "LinearYAcceleration":-0.030831784,
   "LinearZAcceleration":-0.18662475,
   "MsgType":"Output",
   "Version":"1.3.0"
}
Bank Angle

Bank Angle

Angle between vertical component of the Airplane w.r.t global vertical.Source

Pitch Angle

Pitch Angle

Angle between vertical component of the Airplane w.r.t global vertical.Source

Measure

Description

example

AGL

Above Ground Level, or AGL, describes the literal height above the ground over which you’re flying.This also accounts for the building and mounntain heights.

0.0

MSL

Mean Sea Level, or MSL, is your true altitude or elevation. This is measured as differrence of current height and 0.0 in XZ plane.

4.7329154

BankAngle

The roll angle is also known as bank angle on a fixed-wing aircraft, which usually “banks” to change the horizontal direction of flight. Value in radian limit -1 to +1.

0.0

PitchAngle

Angle between the aircraft longitudinal axis and horizontal; Value in radian limit -1 to +1.

0.328555942

CurrentFuel

[WIP] : Current fuel in gallons.

29.4

CurrentPower

Current engine power.

1.10416677e-05

Current RPM

Current Engine RPM.

0.0

CurrentSpeed

Current Airplane Speed in Knots.

MaxRPM

: Max engine RPM.

4500.0

ScreenCapture

Captured Screenshot, if proper trigger set from set_camera function

Base 64 Image

LidarPointCloud

Captured Lidar point cloud, if proper trigger set from set_lidar function

Vector : [500.0, 500.0, 500.0, …, 25, 190.873642, 138.888733, 109.184929]

Counter

Number of request the client has sent to the server.

13

log

: Log of events, if requested.

Reward

Internal example reward system. user can define their own reward system externally.

0.0035562878254627784

IsGrounded

Indicates if the Airplane is grounded.

true

IsFlying

Indicates if the Airplane is flying.

false

IsTaxiing

Indicates if the Airplane is taxing on runway.

false

PosXAbs

Absolute position on X axis.

0.86777246

PosYAbs

Absolute position on Y axis.

1.44259226

PosZAbs

Absolute position on Z axis.

-0.0676386356

PosXRel

Relative position w.r.t start position of the Airplane on X axis.

-0.00222843885

PosYRel

Absolute position w.r.t start position of the Airplane on Y axis.

-0.327407122

PosZRel

Absolute position w.r.t start position of the Airplane on Z axis.

-0.09763813

RotXAbs

Absolute rotation on X axis.

340.814636

RotYAbs

Absolute rotation on Y axis.

359.966278

RotZAbs

Absolute rotation on Z axis.

0.105423734

RotXRel

Absolute rotation w.r.t start rotation of the Airplane on Y axis.

340.814636

RotYRel

Absolute rotation w.r.t start rotation of the Airplane on Y axis.

359.966278

RotZRel

Absolute position w.r.t start rotation of the Airplane on Y axis.

0.105423853

AngularXVelocity

Angular velocity on X axis.

-0.00521957874

AngularYVelocity

Angular velocity on Y axis.

-8.102572e-05

AngularZVelocity

Angular velocity on Z axis.

0.00138697785

LinearXVelocity

Linear velocity on X axis.

-0.00184028456

LinearYVelocity

Linear velocity on Y axis.

0.007154375

LinearZVelocity

Linear velocity on Z axis.

-0.09623016

AngularXAcceleration

Angular acceleration on X axis.

5.92379365e-05

AngularYAcceleration

Angular acceleration on Y axis.

-0.0001057535

AngularZAcceleration

Angular acceleration on Z axis.

0.0

LinearXAcceleration

Linear acceleration on Z axis.

-0.000308157178

LinearYAcceleration

Linear acceleration on Z axis.

-0.030831784

LinearZAcceleration

Linear acceleration on Z axis.

-0.18662475

MsgType

Message type will be output. Example

Output

Version

Version of the server.

1.3.0