Update DSRV.py

Author: cybergalactic

src/python_vehicle_simulator/vehicles/DSRV.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 """
 DSRV.py: 
@@ -47,7 +48,7 @@ class DSRV:
  def __init__(self, controlSystem="stepInput", r=0):
 
  if controlSystem == "depthAutopilot":
- self.controlDescription = "Depth autopilot, z_d = " + str(r) + " (m)"
+ self.controlDescription = "Depth autopilot, z_d = " + str(r) + " m"
 
  else:
  self.controlDescription = "Step input for delta_s"
@@ -57,11 +58,11 @@ def __init__(self, controlSystem="stepInput", r=0):
  self.controlMode = controlSystem
 
  # Initialize the DSRV model
- self.name = "DSRV"
- self.L = 5.0 # Length
+ self.name = "DSRV (see 'DSRV.py' for more details)"
+ self.L = 5.0  # Length
  self.deltaMax = 20 # max stern plane angle (deg)
  self.T_delta = 1.0 # rudder time constants (s)
- self.U0 = 4.11 # Cruise speed: 4.11 m/s = 8 knots
+ self.U0 = 4.11  # cruise speed: 4.11 m/s = 8 knots
  self.W0 = 0
  self.nu = np.array([self.U0, 0, self.W0, 0, 0, 0], float) # velocity vector
  self.u_actual = np.array([0], float) # control input vector