wip mrs simulator

docs/simulation/mrs/mrs/standalone_outside_ros.md

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+---
+layout: default
+title: Standalone outside ROS
+parent: MRS Simulator
+grand_parent: Simulation
+nav_order: 3
+---
+
+The MRS Multirotor Simulator contains a **header-only** implementation of the single UAV dynamics including a feedback controller pipeline.
+
+## Headers
+
+The headers are located in [include/mrs_multirotor_simulator/uav_system](https://github.com/ctu-mrs/mrs_multirotor_simulator/tree/master/include/mrs_multirotor_simulator/uav_system).
+All the headers should be linked using relative includes so it should be possible to just copy the whole folder into your own code.
+
+## Provided API
+
+The API to the single UAV model is provided from
+```
+include uav_system.hpp
+```
+
+### Constructors
+
+Default constructor, uses parameters for Holybro x500 drone:
+```C
+UavSystem(void);
+```
+
+A constructor that accepts model parameters:
+```C
+UavSystem(const MultirotorModel::ModelParams& model_params);
+```
+
+A constructor that accepts model parameters and an initial spawn position:
+```C
+UavSystem(const MultirotorModel::ModelParams& model_params, const Eigen::Vector3d spawn_pos, const double spawn_heading);
+```
+
+### Stepping the simulator
+
+The simulator step with a particular time step can be executed by:
+```C
+void makeStep(const double dt);
+```
+
+### Control inputs
+
+The UAV accepts a variety of control inputs.
+You can start controlling the drone by calling any of these functions:
+```C
+void setInput(const reference::Actuators& actuators);
+void setInput(const reference::ControlGroup& control_group);
+void setInput(const reference::AttitudeRate& attitude_rate);
+void setInput(const reference::Attitude& attitude);
+void setInput(const reference::TiltHdgRate& tilt);
+void setInput(const reference::AccelerationHdgRate& acceleration);
+void setInput(const reference::AccelerationHdg& acceleration);
+void setInput(const reference::VelocityHdgRate& velocity);
+void setInput(const reference::VelocityHdg& velocity);
+void setInput(const reference::Position& position);
+
+void setFeedforward(const reference::AccelerationHdgRate& cmd);
+void setFeedforward(const reference::AccelerationHdg& cmd);
+void setFeedforward(const reference::VelocityHdg& cmd);
+void setFeedforward(const reference::VelocityHdgRate& cmd);
+```
+
+### Getting data
+
+The full UAV state can be obtained by:
+```C
+MultirotorModel::State       getState(void);
+```
+
+The simulated accelerometer measurement can be obtained by:
+```C
+Eigen::Vector3d getImuAcceleration(void);
+```
+
+### Setting controller parameters
+
+```C
+void setMixerParams(const Mixer::Params& params);
+void setRateControllerParams(const RateController::Params& params);
+void setAttitudeControllerParams(const AttitudeController::Params& params);
+void setVelocityControllerParams(const VelocityController::Params& params);
+void setPositionControllerParams(const PositionController::Params& params);
+```
+
+### Other routines
+
+A crash can be induced by:
+```C
+void crash(void);
+```
+
+External force can be applied to the UAV by:
+```C
+void applyForce(const Eigen::Vector3d& force);
+```

docs/simulation/mrs/mrs/standalone_ros_sim.md

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+---
+layout: default
+title: Standalone ROS simulation
+parent: MRS Simulator
+grand_parent: Simulation
+nav_order: 2
+---

docs/simulation/mrs/mrs/with_mrs_system.md

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+---
+layout: default
+title: With the MRS UAV System
+parent: MRS Simulator
+grand_parent: Simulation
+nav_order: 1
+---