Quadcopter | Quadcopter using the STM32F3 Discovery board

I'm writing a small iOS app to send MQTT messages to a broker which is hosted on a Raspberry Pi companion computer on my quadcopter. In the iOS app primary view, the app will connect to MQTT Broker (check), send messages associated with several buttons (check), and monitor various quadcopter telemetries such as mode, distance, and lat/long. The iPhone app will display the drones position and the user's position (check) on a map.

The part I'm having issues with currently is having the app maintain a continuous subscription to a topic and then update several variables in the code. Currently, the code below contains the subscription line and "did receive message" code inside of of a button view which only works momentarily when that button is pressed.

I've tried pasting this code in various places within the content view with no success; admittedly I'm a novice coder and Swift/iOS is very new to me. Ideally, the app would continually monitor certain topics and update several variables to equal the message when certain topics are posted to by the drone.

I’m building a text editor app with React and Electron, and the excellent Slate.js text editor component. I have a problem managing my state.

Here the full main app component:

I am working on a homework problem. I'm trying to simulate a PID control in Python with Scipy's integrate.solve_ivp() function.

My method is to run the PID code within the right-hand-side of the function, using global variables and appending them to a global matrix at the end of each timestep, like so:

Essentially what I would like to do is send (over serial) a value of a tkinter scale approximately every 50ms (or as frequently as I can). I would like to send this data even when the slider is stationary. This is for a project I am doing which would include controlling a quadcopter via a raspberry pi.

I am familiar with the 'get()' function and with 'command =' function however I am not sure how to utilise these allowing them to output repeated values.

I'm trying to evaluate some quadcopter flight data and got some log-files with epoch timestamps.

I then converted them to datetime values (with pd.to_datetime([...], unit='ms')) and truncated some digits.

My problem is, that I actually don't need the dates, which also makes plotting the data a lot more complicated (unwanted xtick distances, error inducing matplotlib.dates locators, etc).

Now I'm left with the following index:

I am working on a personal project, to code a quadcopter simulation (and control) in Python, as a learning project. I am using the scipy integrator odeint and I am quite disappointing in the long computing time. So I wish to use numba to accelerate my integration. I call odeint every timestep, as I have to create commands after each simulated timestep.

At first, I had issues when my function to integrate (state_dot) was a method of the Quadcopter class. So I made it a separate function, but I am now having problems defining the right types when I decorate my function with @jit. The state_dot function has a dictionary (params) as an input argument (I've read that numba supports dictionaries), but also was a custom class (wind), because my wind model is a method of that class. If I exclude the wind for now, using numba.typed.Dict doesn't seem to work to import the dictionary.

To import the wind object in the function, I've seen the numba type object_ being used, but Python doesn't find a object_ in numba.

I am using numba version 0.45.0, and Python 3.7.

I am using GEKKO for Model Predictive Control (MPC) of a quadcopter (simulated) including a Moving Horizon Estimator (MHE) that calculates mass of the quadcopter and drag force. The command function to the quadcopter requires me to specify a time period (i.e. maintain angles r,p and throttle z during x seconds ). The discretization in my estimator is specified as follows: