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‫Welcome back.

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‫So now that we have been able to load all these initial constants from our init function which happened

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‫here, then now we can continue with our main file.

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‫So remember all these initial constants, they are stored in this constant vector here in this main

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‫file.

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‫And then if I need some kind of constant, I will simply extracted from this vector.

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‫So, for example, I need the sample time interval and I will extracted from this vector like this.

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‫So you have six here and it means that it's the seventh element because you start counting from zero.

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‫Then I also extract this controlled states variable.

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‫Then the inner down length, so that just tells you that there are four inner loops per one outer loop,

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‫and this variable, if you remember it, would make the drones positive body frame X and Y axis longer.

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‫If you choose it to be one, if you choose it to be zero, then it's not going to happen.

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‫So that's why you have this if statement here, then this is for the animation purposes sub underscore

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‫loop.

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‫Then you also had to simulation versions and then the statement that will execute based on what you

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‫had chosen in the Init function, and then you have to generate a time vector.

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‫And I do it here.

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‫As mentioned before, the length of the entire simulation is one hundred seconds.

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‫So you go from zero to one hundred plus two times in a dynamic length.

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‫So essentially you have here one hundred plus zero point four and then the interval of this vector is

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‫zero point four seconds.

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‫So you go from zero, then you go to zero point four, then it's zero point eight up until you reach

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‫one hundred.

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‫But of course here you have to put one hundred point four because in Python, the last element that

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‫you put here is not counted.

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‫And then I have this tangles vector, and the difference with the other time vector is that this one

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‫goes like this zero, then zero point one, then zero point two up until one hundred seconds.

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‫And you can imagine where I need that because.

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‫My states get updated every year on one second because every time that I go through an inner loop,

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‫I will have new UTU, U3 and EUFOR values and they will influence my states every year upon one second.

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‫And then I have another time vector, but that is for the animation purposes.

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‫Essentially, if I run my simulation with a zero point one second interval, then the animation wouldn't

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‫be so smooth.

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‫And so in the animation, I'm going to cut the.

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‫Interval to zero point zero two seconds.

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‫So like this zero, then zero point zero two, then zero point zero four and etc. up until one hundred

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‫seconds.

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‫And so, for example, if my state let's take a random state, if that state, let's say at ten seconds,

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‫if that state is 50 meters and then at ten point one seconds the state is fifty one meters.

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‫And then in order to make the animation smoother, I'm going to animated like this at ten seconds.

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‫My state is 50 meters.

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‫Then at ten point zero two seconds, my state is fifty point two meters.

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‫Then at ten point all four seconds my state will be fifty point four meters.

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‫So you see, I cut this difference in the states from fifty to fifty one meters.

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‫So the difference is one meter during zero point one second, I cut it into smaller pieces in a linear

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‫way.

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‫And so if I animated like this 50, then fifty point two and then fifty point four with a zero point

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‫zero two second interval, then my animations will be smoother.

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‫But it has nothing to do with control engineering itself.

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‫It's just to make the movie smoother.

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‫And then we have reached our trajectory generator, so we have a function in our support file, which

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‫is trajectory generator.

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‫So now we are here and we're going to call this function trajectory generator function.