Fix linting

Author: ratheron

drone_models/so_rpy/model.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+import logging
 from typing import TYPE_CHECKING
 
 import casadi as cs
@@ -146,18 +147,14 @@ def symbolic_dynamics(
     # States and Inputs
     X = cs.vertcat(symbols.pos, symbols.quat, symbols.vel, symbols.ang_vel)
     if model_rotor_vel:
-        print("[WARNING]: The so_rpy model does not support thrust dynamics")
+        logging.getLogger(__name__).warning("The so_rpy model does not support thrust dynamics")
         X = cs.vertcat(X, symbols.rotor_vel)
     if model_dist_f:
         X = cs.vertcat(X, symbols.dist_f)
     if model_dist_t:
         X = cs.vertcat(X, symbols.dist_t)
     U = U_euler
 
-    # Defining the dynamics function
-    # Creating force vector
-    forces_motor_vec = cs.vertcat(0, 0, acc_coef + cmd_f_coef * symbols.cmd_thrust)
-
     # Linear equation of motion
     pos_dot = X_dot_euler[0:3]
     vel_dot = X_dot_euler[6:9]

drone_models/utils/rotation.py

@@ -494,6 +494,7 @@ def create_cs_rpy_rates_deriv2ang_vel_deriv() -> cs.Function:
 
 
 def create_cs_quat2matrix() -> cs.Function:
+    """Generates a casadi numeric function from the cs_quat2matrix function."""
     qw = cs.MX.sym("qw")
     qx = cs.MX.sym("qx")
     qy = cs.MX.sym("qy")
@@ -507,6 +508,7 @@ def create_cs_quat2matrix() -> cs.Function:
 
 
 def create_cs_rpy2matrix() -> cs.Function:
+    """Generates a casadi numeric function from the cs_rpy2matrix function."""
     roll = cs.MX.sym("roll")
     pitch = cs.MX.sym("pitch")
     yaw = cs.MX.sym("yaw")