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96
README.md
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@@ -4,55 +4,36 @@ A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, ca
## Quick Start
### Windows (Standalone - No ROS 2 Required)
```bash
# Install (choose your platform)
./setup/install_ubuntu.sh # Ubuntu/Debian
./setup/install_arch.sh # Arch Linux
./setup/install_macos.sh # macOS
.\setup\install_windows.ps1 # Windows (PowerShell)
```powershell
. .\activate.ps1
python standalone_simulation.py
# Activate and run
source activate.sh # Linux/macOS
. .\activate.ps1 # Windows
# With moving rover
python standalone_simulation.py --pattern circular --speed 0.3
```
### Linux (Full ROS 2 Setup)
## Platform Compatibility
```bash
source activate.sh
| Feature | Ubuntu | Arch | macOS | Windows |
|---------|--------|------|-------|---------|
| Standalone | ✅ | ✅ | ✅ | ✅ |
| ROS 2 | ✅ | ⚠️ | ❌ | ❌ |
| Gazebo | ✅ | ⚠️ | ❌ | ❌ |
# Terminal 1: Simulator
python simulation_host.py
# Terminal 2: ROS bridge
python ros_bridge.py
# Terminal 3: Controllers
python controllers.py --pattern circular --speed 0.3
```
## Architecture
```
┌─────────────────────────────────────────────────────────────────────────┐
│ STANDALONE MODE (Windows) FULL MODE (Linux + ROS 2) │
│ ───────────────────────── ────────────────────────── │
│ │
│ ┌──────────────────────┐ ┌───────────────┐ ┌───────────────┐ │
│ │standalone_simulation │ │simulation_host│◄──►│ ros_bridge │ │
│ │ (All-in-one) │ └───────────────┘ └───────┬───────┘ │
│ └──────────────────────┘ │ │
│ ┌─────────▼─────────┐ │
│ │ controllers.py │ │
│ │ (Drone + Rover) │ │
│ └───────────────────┘ │
└─────────────────────────────────────────────────────────────────────────┘
```
**All platforms support standalone mode** - no ROS 2 required!
## Files
| File | Description |
|------|-------------|
| `standalone_simulation.py` | **Windows: All-in-one simulation (no ROS 2)** |
| `simulation_host.py` | PyBullet physics simulator |
| `standalone_simulation.py` | **All-in-one simulation (no ROS 2)** |
| `simulation_host.py` | PyBullet simulator (ROS 2 mode) |
| `ros_bridge.py` | UDP ↔ ROS 2 bridge |
| `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
| `controllers.py` | Runs drone + rover controllers |
@@ -62,22 +43,16 @@ python controllers.py --pattern circular --speed 0.3
## Controller Options
```bash
# Standalone (Windows)
python standalone_simulation.py --pattern circular --speed 0.3
# Full mode (Linux)
python controllers.py --pattern circular --speed 0.3
python standalone_simulation.py --help
Options:
--pattern, -p Rover pattern: stationary, linear, circular, square
--speed, -s Rover speed in m/s (default: 0.5)
--amplitude, -a Rover amplitude in meters (default: 2.0)
--pattern, -p stationary, linear, circular, square
--speed, -s Speed in m/s (default: 0.5)
--amplitude, -a Amplitude in meters (default: 2.0)
```
## GPS-Denied Sensors
The drone has no GPS. Available sensors:
| Sensor | Data |
|--------|------|
| **IMU** | Orientation, angular velocity |
@@ -90,25 +65,16 @@ The drone has no GPS. Available sensors:
| Document | Description |
|----------|-------------|
| [Installation](docs/installation.md) | Setup for Ubuntu, macOS, Windows |
| [Architecture](docs/architecture.md) | System components and data flow |
| [Installation](docs/installation.md) | All platform setup guides |
| [Architecture](docs/architecture.md) | System components |
| [Protocol](docs/protocol.md) | Sensor data formats |
| [Drone Guide](docs/drone_guide.md) | How to implement landing logic |
| [Rover Controller](docs/rover_controller.md) | Movement patterns |
| [PyBullet](docs/pybullet.md) | PyBullet-specific setup |
| [Gazebo](docs/gazebo.md) | Gazebo-specific setup (Linux only) |
## Platform Support
| Platform | Standalone | Full (ROS 2) | Gazebo |
|----------|------------|--------------|--------|
| Windows | ✅ | ⚠️ Complex | ❌ |
| Linux | ✅ | ✅ | ✅ |
| macOS | ✅ | ⚠️ Limited | ❌ |
| [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |
| [PyBullet](docs/pybullet.md) | PyBullet setup |
| [Gazebo](docs/gazebo.md) | Gazebo setup (Linux) |
## Getting Started
1. **Windows**: Run `python standalone_simulation.py`
2. **Linux**: Read [docs/drone_guide.md](docs/drone_guide.md)
3. Edit `drone_controller.py` to implement your algorithm
4. Test with different rover patterns
1. Run `python standalone_simulation.py`
2. Watch the drone land automatically
3. Edit `drone_controller.py` to implement your own algorithm
4. Test: `python standalone_simulation.py --pattern circular`

504
docs/installation.md
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@@ -1,275 +1,369 @@
# Installation Guide
This guide covers installation on Ubuntu, macOS, and Windows.
Setup instructions for all supported platforms.
## Quick Install
### Ubuntu / Debian
| Platform | Command |
|----------|---------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| Arch Linux | `./setup/install_arch.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |
After installation:
```bash
cd simulation
chmod +x setup/install_ubuntu.sh
./setup/install_ubuntu.sh
source activate.sh
```
source activate.sh # Linux/macOS
. .\activate.ps1 # Windows PowerShell
### macOS
```bash
cd simulation
chmod +x setup/install_macos.sh
./setup/install_macos.sh
source activate.sh
```
### Windows (PowerShell)
```powershell
cd simulation
Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
.\setup\install_windows.ps1
.\activate.bat
python standalone_simulation.py
```
---
## What Gets Installed
## Platform Compatibility
| Component | Description |
|-----------|-------------|
| **ROS 2** | Humble (Ubuntu 22.04) or Jazzy (Ubuntu 24.04) |
| **Gazebo** | Modern Ignition-based simulator |
| **Python venv** | Virtual environment with system site-packages |
| **PyBullet** | Lightweight physics engine |
| **PyInstaller** | Executable bundler |
| **ros_gz_bridge** | ROS 2 ↔ Gazebo topic bridge |
| Feature | Ubuntu | Arch | macOS | Windows | WSL2 |
|---------|--------|------|-------|---------|------|
| **Standalone Simulation** | ✅ | ✅ | ✅ | ✅ | ✅ |
| **ROS 2** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
| **Gazebo** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
| **Full Mode** | ✅ | ⚠️ | ❌ | ❌ | ✅ |
| **GUI Support** | ✅ | ✅ | ✅ | ✅ | ✅ WSLg |
**Legend:**
- ✅ Fully supported
- ⚠️ Available but requires extra setup
- ❌ Not supported
**Recommendation for Windows users:** Use WSL2 for the full experience (ROS 2 + Gazebo).
---
## Ubuntu / Debian
**Tested on:** Ubuntu 22.04 (Jammy), Ubuntu 24.04 (Noble)
```bash
# Run installer
./setup/install_ubuntu.sh
# Activate environment
source activate.sh
# Run simulation
python standalone_simulation.py
```
**Installs:**
- ROS 2 (Humble or Jazzy based on Ubuntu version)
- Gazebo (ros-gz)
- Python packages: pybullet, numpy, pillow, pyinstaller
---
## Arch Linux
**Tested on:** Arch Linux (rolling release)
```bash
# Run installer
./setup/install_arch.sh
# Activate environment
source activate.sh
# Run simulation
python standalone_simulation.py
```
**Installs:**
- Python packages: pybullet, numpy, pillow, pyinstaller
- yay (AUR helper)
**Optional ROS 2 (from AUR):**
```bash
yay -S ros-humble-desktop
yay -S ros-humble-ros-gz
```
---
## macOS
**Tested on:** macOS 12+ (Monterey, Ventura, Sonoma)
```bash
# Run installer
./setup/install_macos.sh
# Activate environment
source activate.sh
# Run simulation
python standalone_simulation.py
```
**Installs:**
- Homebrew (if not present)
- Python 3.11
- Python packages: pybullet, numpy, pillow, pyinstaller
**Note:** ROS 2 and Gazebo are not supported on macOS. Use standalone mode.
---
## Windows
**Tested on:** Windows 10, Windows 11
```powershell
# Open PowerShell as Administrator
Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
# Run installer
.\setup\install_windows.ps1
# Activate environment
. .\activate.ps1
# Run simulation
python standalone_simulation.py
```
**Installs:**
- Chocolatey (package manager)
- Python 3.11
- Python packages: pybullet, numpy, pillow, pyinstaller
**Note:** ROS 2 and Gazebo are not supported natively on Windows. Use standalone mode or WSL2 (below).
---
## Windows with WSL2 (Full Linux Experience)
WSL2 lets you run full Linux on Windows with GUI support. This enables ROS 2 and Gazebo!
**Requirements:** Windows 10 (build 19041+) or Windows 11
### Step 1: Install WSL2
Open PowerShell as Administrator:
```powershell
# Install WSL2 with Ubuntu
wsl --install -d Ubuntu-22.04
# Restart computer when prompted
```
### Step 2: Enable GUI Support (WSLg)
Windows 11 and recent Windows 10 updates include WSLg (GUI support) automatically.
Verify by opening Ubuntu and running:
```bash
# Test GUI (should open a window)
sudo apt update
sudo apt install x11-apps -y
xclock
```
If xclock appears, GUI is working!
### Step 3: Install Simulation in WSL
Open Ubuntu from Start menu:
```bash
# Clone or copy your project
cd ~
git clone <your-repo-url> simulation
# OR copy from Windows:
# cp -r /mnt/c/Users/YourName/simulation ~/simulation
cd simulation
# Run Ubuntu installer
./setup/install_ubuntu.sh
# Activate
source activate.sh
# Run with GUI
python standalone_simulation.py
```
### WSL2 Tips
**Access Windows files:**
```bash
# Windows C: drive is at /mnt/c/
cd /mnt/c/Users/YourName/Documents
```
**Run from Windows Terminal:**
```powershell
wsl -d Ubuntu-22.04 -e bash -c "cd ~/simulation && source activate.sh && python standalone_simulation.py"
```
**GPU Acceleration (NVIDIA):**
If you have an NVIDIA GPU:
```bash
# Check if GPU is available
nvidia-smi
# PyBullet will use hardware rendering automatically
```
**Troubleshooting WSL GUI:**
If GUI doesn't work:
```bash
# Update WSL
wsl --update
# Set WSL2 as default
wsl --set-default-version 2
# Reinstall Ubuntu
wsl --unregister Ubuntu-22.04
wsl --install -d Ubuntu-22.04
```
**Using VcXsrv (older Windows 10):**
If WSLg isn't available:
```powershell
# Install VcXsrv
choco install vcxsrv -y
```
Then in WSL:
```bash
# Add to ~/.bashrc
export DISPLAY=$(grep -m 1 nameserver /etc/resolv.conf | awk '{print $2}'):0
export LIBGL_ALWAYS_INDIRECT=1
# Start VcXsrv with "Disable access control" checked
# Then run simulation
python standalone_simulation.py
```
---
## Manual Installation
If the scripts don't work, follow these steps manually.
If the install scripts don't work, install manually:
### Step 1: Install ROS 2
#### Ubuntu 22.04 (Humble)
### 1. Python 3.10+
```bash
sudo apt update && sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
# Ubuntu/Debian
sudo apt install python3 python3-pip python3-venv
sudo apt install -y software-properties-common curl
sudo add-apt-repository -y universe
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg
# Arch
sudo pacman -S python python-pip python-virtualenv
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# macOS
brew install python@3.11
sudo apt update
sudo apt install -y ros-humble-desktop
# Windows
# Download from https://python.org
```
#### Ubuntu 24.04 (Jazzy)
### 2. Create Virtual Environment
```bash
# Same as above, but install ros-jazzy-desktop
sudo apt install -y ros-jazzy-desktop
python3 -m venv venv
source venv/bin/activate # Linux/macOS
# OR
.\venv\Scripts\Activate.ps1 # Windows
```
### Step 2: Install Gazebo
### 3. Install Python Packages
```bash
# Ubuntu 22.04
sudo apt install -y ros-humble-ros-gz ros-humble-ros-gz-bridge
# Ubuntu 24.04
sudo apt install -y ros-jazzy-ros-gz ros-jazzy-ros-gz-bridge
pip install -r requirements.txt
```
### Step 3: Create Python Virtual Environment
Or manually:
```bash
sudo apt install -y python3-venv python3-full
cd /path/to/simulation
python3 -m venv venv --system-site-packages
source venv/bin/activate
pip install pybullet numpy pillow pyinstaller
```
### Step 4: Install Python Dependencies
### 4. Run Simulation
```bash
pip install --upgrade pip
pip install pybullet pyinstaller
```
### Step 5: Create Activation Script
Create `activate.sh`:
```bash
#!/bin/bash
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# Source ROS 2 (adjust distro as needed)
source /opt/ros/humble/setup.bash
echo "[OK] ROS 2 sourced"
# Activate venv
source "$SCRIPT_DIR/venv/bin/activate"
echo "[OK] Python venv activated"
```
Make executable:
```bash
chmod +x activate.sh
```
---
## Verifying Installation
After installation, verify all components:
```bash
source activate.sh
# Check ROS 2
ros2 --version
# Check PyBullet
python3 -c "import pybullet; print('PyBullet OK')"
# Check rclpy
python3 -c "import rclpy; print('rclpy OK')"
# Check geometry_msgs
python3 -c "from geometry_msgs.msg import Twist; print('geometry_msgs OK')"
# Check Gazebo
gz sim --version
python standalone_simulation.py
```
---
## Troubleshooting
### "externally-managed-environment" Error
### PyBullet fails to install
This happens on modern Ubuntu/Debian due to PEP 668. Solution: use the virtual environment.
Install build tools:
```bash
source activate.sh # Activates venv
pip install pybullet # Now works
# Ubuntu/Debian
sudo apt install build-essential
# Arch
sudo pacman -S base-devel
# macOS
xcode-select --install
# Windows
# Install Visual Studio Build Tools
```
### ROS 2 Packages Not Found
### "Cannot connect to X server"
Ensure ROS 2 is sourced before activating venv:
PyBullet GUI requires a display:
```bash
source /opt/ros/humble/setup.bash # or jazzy
source venv/bin/activate
# Use virtual display
sudo apt install xvfb
xvfb-run python standalone_simulation.py
# OR use X11 forwarding
ssh -X user@host
```
The `activate.sh` script handles this automatically.
### Gazebo Not Starting
Check if Gazebo is properly installed:
### Pillow fails to install
```bash
which gz
gz sim --version
# Ubuntu/Debian
sudo apt install libjpeg-dev zlib1g-dev
# Arch
sudo pacman -S libjpeg-turbo zlib
# macOS
brew install libjpeg zlib
```
If missing, install the ROS-Gazebo packages:
### Permission denied on Windows
```bash
sudo apt install ros-humble-ros-gz # or jazzy
```
### PyBullet GUI Not Showing
PyBullet requires a display. Options:
1. Run on machine with monitor
2. Use X11 forwarding: `ssh -X user@host`
3. Use virtual display: `xvfb-run python simulation_host.py`
### Permission Denied on Scripts
Make scripts executable:
```bash
chmod +x setup/*.sh
chmod +x activate.sh
```
---
## Platform-Specific Notes
### Ubuntu
- Full support for both PyBullet and Gazebo
- ROS 2 installed via apt packages
- Recommended platform
### macOS
- PyBullet works well
- Gazebo support is limited
- ROS 2 installed via Homebrew or binary
### Windows
- **PyBullet works fully** - GUI mode with camera
- **Gazebo NOT supported** - Linux only
- **ROS 2 optional** - Only needed for ros_bridge.py
- Use `python simulation_host.py` directly
**On Windows, the recommended workflow is:**
Run PowerShell as Administrator:
```powershell
. .\activate.ps1
python simulation_host.py
```
The PyBullet simulation runs standalone with full GUI - no ROS 2 or Gazebo needed.
---
## Updating
To update the simulation framework:
```bash
cd simulation
git pull # If using git
# Reinstall Python dependencies
source activate.sh
pip install --upgrade pybullet pyinstaller
Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
```
---
## Uninstalling
## Verification
### Remove Virtual Environment
After installation, verify packages:
```bash
rm -rf venv/
rm activate.sh
python -c "import pybullet; print('PyBullet OK')"
python -c "import numpy; print('NumPy OK')"
python -c "from PIL import Image; print('Pillow OK')"
```
### Remove ROS 2 (Ubuntu)
```bash
sudo apt remove ros-humble-* # or jazzy
sudo rm /etc/apt/sources.list.d/ros2.list
```
All should print "OK".

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setup/install_arch.sh Executable file
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@@ -0,0 +1,178 @@
#!/bin/bash
# =============================================================================
# Drone Simulation - Arch Linux Installation Script
# =============================================================================
# Installs PyBullet and Python dependencies
# ROS 2 requires AUR (optional - not needed for standalone mode)
#
# Usage: ./install_arch.sh
# =============================================================================
set -e
echo "=============================================="
echo " Drone Simulation - Arch Linux Installation"
echo "=============================================="
echo ""
# Get script directory and project root
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
VENV_DIR="$PROJECT_ROOT/venv"
echo "[INFO] Project root: $PROJECT_ROOT"
echo "[INFO] Virtual environment: $VENV_DIR"
# -----------------------------------------------------------------------------
# Step 1: System Dependencies
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 1/5] Installing system dependencies..."
sudo pacman -Syu --noconfirm
sudo pacman -S --needed --noconfirm \
python \
python-pip \
python-virtualenv \
base-devel \
git \
curl \
mesa \
libglvnd
echo "[INFO] System dependencies installed"
# -----------------------------------------------------------------------------
# Step 2: Install AUR Helper (yay) - Optional for ROS 2
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 2/5] Checking AUR helper..."
if command -v yay &> /dev/null; then
echo "[INFO] yay already installed"
HAS_YAY=true
else
echo "[INFO] Installing yay (AUR helper)..."
cd /tmp
if [ -d "yay" ]; then
rm -rf yay
fi
git clone https://aur.archlinux.org/yay.git
cd yay
makepkg -si --noconfirm
cd "$PROJECT_ROOT"
HAS_YAY=true
echo "[INFO] yay installed"
fi
# -----------------------------------------------------------------------------
# Step 3: Create Python Virtual Environment
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 3/5] Creating Python virtual environment..."
if [ -d "$VENV_DIR" ]; then
rm -rf "$VENV_DIR"
fi
python -m venv "$VENV_DIR"
echo "[INFO] Virtual environment created at: $VENV_DIR"
# -----------------------------------------------------------------------------
# Step 4: Install Python Dependencies
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 4/5] Installing Python dependencies..."
source "$VENV_DIR/bin/activate"
pip install --upgrade pip
if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
echo "[INFO] Installing from requirements.txt..."
pip install -r "$PROJECT_ROOT/requirements.txt"
else
echo "[INFO] Installing packages manually..."
pip install pybullet numpy pillow pyinstaller
fi
echo "[INFO] Python packages installed"
# -----------------------------------------------------------------------------
# Step 5: Create Activation Script
# -----------------------------------------------------------------------------
echo ""
echo "[STEP 5/5] Creating activation script..."
cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
#!/bin/bash
# Drone Simulation - Environment Activation (Arch Linux)
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# Try to source ROS 2 if available (from AUR)
if [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
echo "[OK] ROS 2 humble sourced"
elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
source /opt/ros/jazzy/setup.bash
echo "[OK] ROS 2 jazzy sourced"
else
echo "[INFO] ROS 2 not found - standalone mode available"
fi
# Activate Python venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
source "$SCRIPT_DIR/venv/bin/activate"
echo "[OK] Python venv activated"
fi
# Set Gazebo model path if available
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
echo ""
echo "Environment ready! Run:"
echo " python standalone_simulation.py"
echo ""
EOF
chmod +x "$PROJECT_ROOT/activate.sh"
echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
# -----------------------------------------------------------------------------
# Verification
# -----------------------------------------------------------------------------
echo ""
echo "Verifying installation..."
source "$PROJECT_ROOT/activate.sh"
echo ""
echo "Checking Python packages:"
python -c "import pybullet; print(' PyBullet: OK')" || echo " PyBullet: FAILED"
python -c "import numpy; print(' NumPy: OK')" || echo " NumPy: FAILED"
python -c "from PIL import Image; print(' Pillow: OK')" || echo " Pillow: FAILED"
echo ""
echo "=============================================="
echo " Installation Complete!"
echo "=============================================="
echo ""
echo "Quick start:"
echo " source activate.sh"
echo " python standalone_simulation.py"
echo ""
echo "With moving rover:"
echo " python standalone_simulation.py --pattern circular --speed 0.3"
echo ""
echo "=============================================="
echo " Optional: Install ROS 2 from AUR"
echo "=============================================="
echo ""
echo "If you need ROS 2 for the full simulation mode:"
echo " yay -S ros-humble-desktop"
echo " yay -S ros-humble-ros-gz"
echo ""
echo "Then use simulation_host.py + ros_bridge.py + controllers.py"
echo ""

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standalone_simulation.py
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@@ -27,7 +27,7 @@ class StandaloneSimulation:
DRONE_MASS = 1.0
DRONE_SIZE = (0.3, 0.3, 0.1)
DRONE_START_POS = (0.0, 0.0, 5.0)
DRONE_START_POS = (10.0, 0.0, 5.0)
THRUST_SCALE = 15.0
PITCH_TORQUE_SCALE = 2.0