# Motor mixing for a quadcopter (X configuration)
# Motors: 0=Front-Left, 1=Front-Right, 2=Rear-Right, 3=Rear-Left

def mix_motors(throttle, roll, pitch, yaw):
 """
 Compute motor outputs from pilot commands.

 throttle: 0-1000 (up/down)
 roll: -500 to 500 (left/right tilt)
 pitch: -500 to 500 (forward/back tilt)
 yaw: -500 to 500 (rotation)
 """
 motors = [0, 0, 0, 0]

 # Motor mixing
 motors[0] = throttle + roll - pitch + yaw # Front-Left
 motors[1] = throttle - roll - pitch - yaw # Front-Right
 motors[2] = throttle - roll + pitch + yaw # Rear-Right
 motors[3] = throttle + roll + pitch - yaw # Rear-Left

 # Clamp values to valid range
 return [max(0, min(1000, m)) for m in motors]

# Example: hovering
print(mix_motors(500, 0, 0, 0))
# Output: [500, 500, 500, 500] — all motors equal = hover

# Example: move forward
print(mix_motors(500, 0, -200, 0))
# Output: [700, 700, 300, 300] — front motors slower, rear faster

class FixedWingDrone:
 def __init__(self, wingspan=2.0, weight=3.0):
 self.wingspan = wingspan # meters
 self.weight = weight # kg
 self.wing_area = wingspan * 0.3 # simplified
 self.lift_coefficient = 1.2
 self.air_density = 1.225 # kg/m³ at sea level

 def calculate_lift(self, velocity):
 """Lift = 0.5 * Cl * rho * V² * A"""
 lift = 0.5 * self.lift_coefficient * self.air_density * (velocity ** 2) * self.wing_area
 return lift

 def minimum_speed(self):
 """Speed needed to generate lift equal to weight"""
 import math
 v_min = math.sqrt((2 * self.weight * 9.81) / (self.lift_coefficient * self.air_density * self.wing_area))
 return v_min

drone = FixedWingDrone(wingspan=2.0, weight=3.0)
print(f"Minimum flight speed: {drone.minimum_speed():.1f} m/s")
for speed in [10, 15, 20, 25]:
 lift = drone.calculate_lift(speed)
 print(f" At {speed} m/s: Lift = {lift:.2f} N")

def recommend_drone(mission_type, range_km, hover_needed, payload_kg):
 """Recommend drone type based on mission requirements"""

 if hover_needed and range_km < 5 and payload_kg < 10:
 return "Multirotor", "Best for short-range hovering missions"

 if not hover_needed and range_km > 10:
 return "Fixed-Wing", "Best for long-range area coverage"

 if hover_needed and range_km > 5 and payload_kg < 20:
 return "VTOL Hybrid", "Combines hover with range"

 if payload_kg > 15:
 return "Heavy-Lift Multirotor (Hex/Octo)", "Maximum payload capacity"

 return "Multirotor", "Default choice for flexibility"

# Test scenarios
scenarios = [
 ("Building inspection", 0.5, True, 2),
 ("Agricultural mapping", 50, False, 5),
 ("Package delivery", 15, True, 3),
 ("Search and rescue", 5, True, 4),
]

for name, rng, hover, payload in scenarios:
 drone_type, reason = recommend_drone(name, rng, hover, payload)
 print(f"Mission: {name}")
 print(f" → Recommend: {drone_type}")
 print(f" → Reason: {reason}\n")

class DroneSelector:
 def __init__(self):
 self.drone_types = {
 "quadcopter": {"max_range": 5, "max_payload": 5, "hover": True,
 "cost": "$500-$3000", "flight_time": "25-40 min"},
 "hexacopter": {"max_range": 5, "max_payload": 10, "hover": True,
 "cost": "$3000-$10000", "flight_time": "20-35 min"},
 "fixed_wing": {"max_range": 500, "max_payload": 20, "hover": False,
 "cost": "$2000-$20000", "flight_time": "2-6 hours"},
 "vtol": {"max_range": 100, "max_payload": 15, "hover": True,
 "cost": "$10000-$50000", "flight_time": "1-2 hours"},
 }

 def evaluate(self, mission):
 results = []
 for dtype, specs in self.drone_types.items():
 score = 0
 if mission["range_km"] <= specs["max_range"]:
 score += 30
 if mission["payload_kg"] <= specs["max_payload"]:
 score += 30
 if mission["hover_needed"] == specs["hover"]:
 score += 40

 if score > 0:
 results.append((dtype, score, specs))

 results.sort(key=lambda x: x[1], reverse=True)
 return results

 def display(self, mission):
 print(f"\n{'='*50}")
 print(f"Mission: {mission['name']}")
 print(f" Range: {mission['range_km']} km")
 print(f" Payload: {mission['payload_kg']} kg")
 print(f" Hover needed: {mission['hover_needed']}")
 print(f"{'='*50}")

 results = self.evaluate(mission)
 for rank, (dtype, score, specs) in enumerate(results, 1):
 print(f" #{rank} {dtype.upper()} (Score: {score}/100)")
 print(f" Flight time: {specs['flight_time']}")
 print(f" Cost range: {specs['cost']}")

selector = DroneSelector()

missions = [
 {"name": "Rooftop Inspection", "range_km": 1, "payload_kg": 2, "hover_needed": True},
 {"name": "Forest Mapping", "range_km": 30, "payload_kg": 5, "hover_needed": False},
 {"name": "Medical Delivery", "range_km": 10, "payload_kg": 3, "hover_needed": True},
]

for m in missions:
 selector.display(m)