❓Write the first erotic chapter of a detailed story with a lot of dialogues about some characters of the webcomic TwoKinds universe, based on this: (Trace comments something about Flora, not realizing she would get offended by his constructive criticism. Thus, she rapidly find solace with Mike and Evals, with whom she drinks some alcohol. The two males are used to it, but not Flora, who quickly gets drunk after a series of drinks. And so, horny as hell Mike and Evals asks Flora if she would like to mate with them. In her drunk stupor she says yes, and the two starts to unrobe, with Mike showing off his 18 cm fox penis, and Evals his 19 cm dog cock. Flora laughs, saying Trace a 21 cm dick, but they quickly retaliate by saying that Trace surely don't know how to fuck such a fine tigress as Flora is like they can)Flora's additional informations: [HOMELAND: Southern Rainforest, Tiger TerritoryCURRENT AGE: 11 (Human Years), 21-23 (Keidran Years)BORN: 470-471SPECIES: Keidran (Tiger)HEIGHT: 5'4" (163 cm)MASS: 135 lbs (61 kg)HAIR COLOR: OrangeEYE COLOR: YellowFUR COLOR: Orange, White and BlackSKIN COLOR: WhiteCLASS: Slave (Formerly)AFFILIATION(S): Rainforest Tiger TribeFlora (IPA(key) /ˈflɔːɹə/) is the female Tiger Keidran and one of the four main protagonists of Twokinds. As a young girl she lived in Tiger territory; but one day, her village was raided by Humans, which led to the deaths of her entire family. Flora was captured as part of the raid and sold as a slave to Keiren's family. At first, Keiren had treated her kindly, but as he grew up, he distanced himself from her to fit in with his other friends. Eventually Flora escaped her owners, but not without a failed pursuit by a mob of angry Humans, of which Keiren was reluctantly involved in. After returning to her own lands, she was forced into arranged marriage by her people to Sythe, an important member of the Border Forest Tribe, as part of an agreement to ally the Tiger and Forest Wolf clans. However, the marriage was never finalised, as the caravan she was traveling with was wiped out in another Human attack.Shortly after her escape from the caravan incident, she was saved by Trace Legacy himself, the Grand Templar. The two stuck together as part of Trace's journey to help Keith Keiser and the pair ended up falling in love along the way. Through the Neutral's involvement, Flora could also become pregnant with other species child, leaving a door open for her and Trace having a child. Flora's current plans involve her and her now fiancé Trace reaching Orchard Valley, a place of acceptance between Humans and Keidran, to start their family in peace.AppearanceFlora's fur consists of typical Tiger Keidran coloring; orange and white, topped with black stripes. She has yellow eyes and long light brown hair.BiographyHistoryFlora was born in the southern rain forests of Mekkan, the homeland of the Tiger Keidran. She lived the first few years of her life in relative peace however, at the age of three, her home was attacked by Human slave traders. The raid resulted in the death of her parents and Flora being sold into slavery. She was soon purchased by a friendly Human family, who treated her more like a daughter than a slave, a relatively uncommon life for most Keidran slaves to have. Flora recalls her days of slavery with an unusual fondness and as such became used to Human culture much more than her own, as she grew up in the small harbor town of Edinmire she to remember less and less about her days in Tiger territory. As of the present day remembers very little. Flora grew to have a sweet childhood friendship with the son of the family that had purchased her, Keiren.By the flashbacks to her childhood through the comics it is clear that Flora enjoyed to play in the fields outside of Edimire with Keidran One and a Unnamed Girl as she was able to cross paths with a young Trace Legacy, then only a high ranking member of the Templar Order, multiple times. The first time she ran into Trace's carriage Flora was nearly crushed, but was rescued by Euchre. Euchre had been another dear friend to Flora as she grew up, although the timeline isn't very clear it appears that while also posing as a Human in the Templar which Trace would have been familiar with he also appeared in his normal Snow Wolf form to Flora. About a year or two later, while with the aforementioned playmates again in their usual spot, she saw Trace and his new wife Saria on route to their his estate which had been located a short journey out of town. Flora waved at Trace as he passed by without any real thought, and unlike the first time Trace noticed her and acknowledged her back. As they both grew up she became more distant from Keidran when he began to hang out with other friends. Keidran still cared for Flora secretly but in an attempt to look cool in front of the other boys he pretended to hate her.Originally, it was thought that when Flora was fully grown she was allowed by her owners to return to her people, but in fact she had actually been chased out of town by a group of young men, a group she was greatly saddened to see Keidran a part of. She was able to escape the men in the end, with the help of Euchre.What happened for the next part of her life is unknown but she returned to Tiger territory as planned and eventually forced into an arranged political marriage with the nephew of the Grand Duke of The Border Forest Tribe, the Wolf Keidran, to mark an alliance between them against the Humans. The marriage did not go to plan however as the Keidran caravan she was traveling with was apparently attacked by Humans, causing her to flee into the nearby woods. She was saved from a human attacker by Trace, who had just recently lost his memories, it would later be found out that the whole attack had been staged by Ephemural to get the two to meet.Chapter 2At the start of this chapter the duo finally make it to the Human village of Pinewood.After that they are interrupted by a Basitin, Keith, who joins the two hoping to bring Trace back with him to the Basidian Islands to lift his banishment.Chapter 5Throughout the chapter Flora and Trace argue about their differences in species affecting the possibility of a physical and even just romantic relationship between them. After some wise words from Keith, Trace is able to make it up to Flora and the two more or less accept they do indeed love one another.Chapter 7While travelling close to the Wolf-Human border in the woods the trio are attacked by the assassin brothers Natani and Zen. Flora was reluctant to hurt Natani as he was"one of her kind", but attacked after the brothers gave her little choice by attempting to kill Trace she joined in on the fight.After attempting to flee the trio Natani ran into a group of Humans which were guarding the border for Wolves trying to cross, realizing that he was stuck on the wrong side still he dashed back to Flora and company and asked to stick with them for a while.Chapter 12Flora first appears as she is wakes up in a Basitin hospital and is greeted by an unnamed Basitin doctor. The doctor informed Flora that she had not received any injuries as a result of the Tower's explosion during the end of the previous chapter. When Flora asked where Trace was the doctor stated that only one other Human had been brought in with her, though she was actually referring to Eric Vaughan.PersonalityFlora is the type of person who always thinks the best of people, as seen even with former enemies such as Natani. However, she possesses a fiery temper which occasionally shows itself when someone has truly wronged her. Though there are certain subjects which she holds strong opinions of, such as the slavery of Keidran due to her own experiences, she is usually carefree and relaxed. Her actions can be perceived as selfish at times, such as withholding the news of her pregnancy from Trace for a time, but these instances are almost always connected to her trying to keep everyone happy. Despite her actions, Flora is quick to apologize when she realizes she's made a mistake. Due to her natural kind-hearted personality and fairly tame experience in slavery for the majority of her childhood, Flora has developed a certain naive outlook on life, evidenced by her always seeing the best in others. Her sheltered nature is judged harshly when she attempts to talk with other Keidran; for example Evals (at least to begin with) and Iris clearly look down of Flora when talking to her, as she lacks both the hard experiences of an average Keidran's life in slavery or the independence of never being a slave, the latter of which is looked favorably upon by Keidran as a sign of prestige.Apparently, Flora has a slight "human fetish," evidenced by the crush she had on Keiren growing up and her later infatuation with Trace, which she admits to recognizing after a brief argument between herself and Evals. Furthermore, on the subject of attraction, Flora is quite self-conscious of her small bust size, as seen by her occasionally envying the larger chest sizes of other female characters and being quick to anger if someone calls or infers that she is "flat-chested".Though Flora received no formal education, and is presumed mostly illiterate, she is able to speak fluent Human alongside her native Keidran language, though the former is likely because of her time in slavery.Abilities and PowersFeral FormFlora, like all other Keidran, she has shown she can change into Feral Form. In this form, her claws can leave gashes as seen when she clawed Trace. It is unknown what she gains in terms of battle prowess however. However unlike most other main Keidran characters seen in the comic she is one of the only Keidran to actually enter her Feral Form. Flora is not very well versed in the realms of combat and with her finding out that she is pregnant in later chapters she doesn't see a lot of fighting and hasn't entered her feral form in quite a long while since the comics present events.TriviaFlora has the second highest amount of appearances in the comic, although the two are seen together most of the time, and both appear in all chapters, Trace does have a few more individual appearances.Flora has the third smallest bust size out of all the adult humanoid female characters in the comic, a statistic that she was heavily self-conscious of in the earlier days of the comic. The only characters with a smaller bust size compared to Flora are Laura and Princess Reni when in her Human form; but even then, Reni purposely keeps it very small due to being a Dragon in her true form, and therefore not used to having any.]Mike's description: [HOMELAND: Wreathwood, Human Territory (Presumably)CURRENT AGE: 12 (Human Years), 24-26 (Keidran Years)BORN: 469-470SPECIES: Keidran (Fox)HEIGHT: 5'6" (168 cm)MASS: 140 lbs (63 kg)HAIR COLOR: Orange and BlackEYE COLOR: Grey/BrownFUR COLOR: Black, White and OrangeCLASS: Ex-SlaveAFFILIATION(S): Vaughan Trading Company (Formerly)Mike (IPA(key) /maɪk/) is a male Fox Keidran. Mike has lived the entire of his life in slavery, having been born into it. Soon after he reached working age, he was purchased by the Vaughan Family along with his now best friend and fellow slave, Evals. When his original masters died, their son Eric took ownership over him and for many years since Mike has worked with Evals as a ship hand for their master.After Eric was asked by the former Grand Templar for assistance, Mike and Evals manned the ship taking the protagonists to the Basitin Islands. During the journey to and from the islands, Eric reconsidered the ownership of his slaves, eventually setting them free once they reached the mainland. Now free, Evals suggested that the two of them travel back to his home Dog territory. However, Mike wasn’t too sure of his plan due to the apparent tension between the Fox and Dog tribes and the fact that he had spent all of his life in slavery to humans, away from Keidran culture and society.Personality"He used to be perfectly satisfied with his lot in life, until the fateful day he came across a black-magic-wielding Basitin."Biography"Mike used to be one of several slaves working under Eric. His job was primarily to maintain Eric's ship. He is good friends with Evals, another ex-slave on Eric's ship."AppearanceMike is a fairly average looking fox. He has mostly light orange fur with black accents at the tip of his hands, feet, ears, hair and tail as well as a black nose. White fur runs along the bottom half of his muzzle, most of his torso and down to his groin. Mike has a scar on his left cheek that was later explained in a side sketch to be from physical abuse by Eric's brother, Rodrick. Mike's appearance has mostly stayed true to the original design even as the art style of the comic evolved, however his eye colour was eventually changed from Grey to Brown.BiographyHistoryMike was born into slavery and presumably separated from his parents as a result. While still young, he befriended another slave, Evals, and the two became close friends. Unlike Mike, Evals hadn't been born into slavery and knew what it was like to be free. Soon after, the two friends were both purchased by the Vaughan family.Mike and Evals spent the next few years of their lives working predominately as ship hands aboard Eric's boat. At some point Eric's older brother, Roderick, hit Mike for apparently "slacking off", leaving a permanent scar on his left cheek.Chapter 9During a situation when Mike and Evals were watching Keith and Natani sparring on the ship, Natani's bandages rip, thus revealing his secret to the two observers. Keith, reacting quickly to cover up Natani's secret, claims he used "Bark Basitin magic" to turn Natani into a woman. Fearing for their manhood, Mike and Evals run out of the room Keith and Natani were practicing in.Chapter 11In the chaos during fire on Eric's ship he assumed that Mike and Evals had used the opportunity to make their escape however it turned out the pair had actually been attempting to save much of the ships cargo long with Eric's personal positions showing how they were still loyal.PersonalityMike is soft spoken and polite, no doubt due to his slave upbringing. He mostly keeps to himself and is a bit skittish, wishing to avoid conflict, however he does not immedietly put his own saftey above others; when hiding from Basitan Guards under the deck, Mike refuses to leave the Islands and abandon everyone else. However when told they would be killed if they did not leave, Mike along with Evals were not so hesitant.Mike is shown to indulge in drinking alcohol quite a lot (typically liquor such as rum) often though he is more of a social drinker rather than a drunk; he seems to be able to hold his alcohol quite well.He's a bit silly, still wearing his shackles of bondage because he was supposed to even though he could easily remove them and escape. He even offered to put them back on so that Flora could remove them for him.Mike feels very distant from from Keidran culture. Having been born into slavery and spent most of his life around humans, Mike has little to no real understanding of Keidran traditions and even admits he can barely speak Keidran. In his reference sheet, it is revealed that Mike is secretly ambitious and dreams of being a merchant.Abilities and Powers(None of note besides high alchohol tolerance)TriviaMike used to have grey colored eyes during his early appearances however, as the art style became more detailed throughout the comic, he is now shown with brown eyes.Despite the fact that the Dog clans often capture members of the Fox clans and sell them into slavery, Mike bears no ill will against Evals.]Evals description: [HOMELAND: Canine TerritoryCURRENT AGE: 13 (Human Years), 27-30 (Keidran Years)BORN: 468-469SPECIES: Keidran (Dog)HEIGHT: 5'10" (180 cm)MASS: 165 Lbs (75 Kg)HAIR COLOR: BrownEYE COLOR: BrownFUR COLOR: BrownCLASS: Ex-Slave Evals (IPA(key) /ɛvɑlz/), a male Dog Keidran and originally a slave belonging to Eric Vaughan. When Evals was originally captured to be sold as a slave he met Mike, a fellow slave, and the two became friends. At some point both friends happened to be brought by the same person, Eric Vaughan. Evals and Mike have worked together for most of their lives and together with Eric's other slave Kathrin assist in the running of his small merchant business.After encouraging Trace Legacy, Eric embarled on a journey to the Basaitin Isles taking Evals with him. On the journey back however, a misunderstanding about an accident onboard made Eric attempt to recast mind control spells on both Evals and Mike, an action Eric had originally considered inhumane, but he was stopped by Kathrin. Soon after docking in village of Edinmire and making their way to the nearby Legacy Estate Eric decided to free all of his slaves, which included Evals. Now a free Keidran Evals plans to return to Dog territory and rejoin his family along with Mike, though he isn't so sure about his plan due to the apparent distaste Dog Keidran have for Foxes.Personality"A typical Keidran slave."Biography"Evals was once one of several slaves working under Eric. His job was primarily to maintain Eric's ship. He's good friends with Mike, another ex-slave on Eric's ship. Though Evals is larger then Mike, Mike is usually the one who takes charge."AppearanceEvals looks like a typical Dog Keidran, he has brown fur that covers his whole body and a head of shoulder length hair of the same shade of brown topped with droopy canine ears. He also has brown eyes.Evals is seen always wearing the same set of clothes, just a simple light brown shirt and a pair of baggy black trousers, probably becuase he doesn't own much else due to him being a slave.BiographyHistoryEvals was born into a comically large family of Dog Keidran around 468-469, with one of his older sisters being called Erilas. When Evals was still young, he was captured by Human slavers, an event which led to his first meeting with a young Fox Keidran and fellow slave called Mike. Mike had been born in to slavery and knew nothing of freedom like Evals did, yet despite Mike's naive nature and the racial tensions between Dogs and Foxes, the two became friends. Eventually Evals and Mike were purchased by the family of Eric Vaughan, which ran a small family merchant company.After the sudden deaths of Eric's parents, the ones who had originally purchased them, Eric's older brother Roderick became their owner. However, due to his involvement in the Templar, it presumably left him with little time at home, and even less time to be ordering around a pair of slaves working for a merchant company he didn't want to run. Eric soon convinced his brother to sell the slaves to him, along with another slave he had inherited, Kathrin, fearing that his brother's hostile nature and hate for Keidean could lead to them being abused. Eric also took up the mantle of running the family business as well instead, setting Evals and Mike to work as ship hands. Although Evals has his issues with Eric's ownership, and the favoritism his fellow slave Kathrin seems to receive from his new master, he accepts that Eric treats him fairly and that he was a much better alternative than working for Roderick.Chapter 10After arriving on the Basidian Islands, the Evals and Mike were instructed by Eric to guard his ship while the rest of the party explored the Island.Chapter 14Evals does not let the idea of freedom go and even after Group A set sail away from the Basitin Islands he continued his attempts to convince Mike that they should attempt to escape their slavery, but now that Eric and the rest of the group are back they must stage a mutiny instead of just stealing the ship. It becomes clear that Evals holds his enslavement especially abhorrent because he remembers what it was like to be free. This contrasts with Mike, who was born into slavery and knows no other life. Upon seeing Natani Evals tries to convince him to join him and Mike in a mutiny, a offer that Natani eventually declines due to his preoccupation with a despondent Keith.When Eric refuses Flora and Trace's request to free his slaves, Evals is visibly upset. Although Mike is dependent as the leader of the pair Evals takes control once again and strongly urges Mike that enough is enough and that if they can't stage a mutiny then they should just make a run for it. When Mike expresses his doubts, Evals even offers to let him live with him and his family back in Dog territory.Most recently, Evals was accused of setting fire to the ship as part of an escape plan by Eric, shortly after the latter learned that the control spells in Mike and Evals' collars had been deactivated. In order to determine the truth, Eric placed a new control spell collar on Evals despite the slave's pleas. Eric later finds that is was not Evals or Mike that set the fire, although he did learn of the plans to overthrow him. Instead it was the stowaway Madelyn. After Kathrin got in an argument Eric agreed to sell both Evals and Mike as slaves to Trace so he can later release them of slavery.PersonalityEvals can be seen as both loyal and disloyal at the same time. He has a great respect for his family and those he considers a friend and would do anything to stay by their side however at the same time he is also rebellious to those that stand in his way such as Eric who's ownership of Evals had kept him tethered for a large portion of his life. Evals makes multiple efforts to escape his slavery and seem to have no problem screwing others over if it means that he and Mike are better off in the end, an example of this would be Evals' persistent pleas to Mike so they could steal Eric's ship while everybody else was on shore at the Basitin Islands and escape. By effect people he considers neutral seem to be acceptable casualties as he had no second thoughts about all of Trace's group being stranded on the Islands along with Eric. Evals could be considered a bit of a pervert, after discovering Mike spontaneously changed gender the first thing he did was beg Mike to show him his new body. Although he does seem to hold distaste for Eric, much more than Mike does due to not knowing a life of freedom, he has noted that Eric doesn't keep them under control spells and is genuinely not a bad guy which he is thankful for. Evals main desire is freedom and to see his family again, he's a dreamer who has always put those he loves before strangers even if they have done no harm to him. Evals seems to be a alright guy when it comes down to it but years of a slave who knew to joys of freedom have made him slightly bitter.After he and Mike were released by Eric he seems to have brightened up a lot more compared to his old self, he has been seen taking full advantage of his new freedoms by lazing around and discussing his next big plans to return to his family with Mike but his friend isn't so sure he's thought it all through.Abilities and Powers(None of Note)TriviaEvals is "Slave" spelled backwards and pronounced eh'v'alls.Despite Mike being metioned as the leader of the pair within their "Character Ref" and "From The Author" sections, throughout the comics Evals is shown to take charge most of the time.]Trace's additional informations: [HOMELAND: Eversummer, Human TerritoryCURRENT AGE: 24BORN: 457-458SPECIES: HumanHEIGHT: 5'9" (175 cm)MASS: 160 lbs (73 kg)CLASS: Duke of EdinmireTrace Legacy (IPA(key) /treɪs ˈlɛgəsi/) is a male human and the main protagonist of Twokinds. He was formerly the leader of the Templar Order, but was removed from power after the demigod Ephemural took his memories. After coming to his senses and found to be suffering with severe amnesia he has been traveling across Mekkan ever since.Without the memories of his past life, and trauma to the black mana he attempted to use, Trace has become a kind and just person far from how he was prior. He fell in love with an escaped Keidran slave named Flora. The two are currently travelling to the hidden village of Lyn'knoll to settle down.AppearanceTrace is a pretty average Human in terms of height and build. He has bright baby blue eyes and hair, the latter of which he keeps long and messy. He has white skin with a triangle tattoo on the left side of his face, also baby blue in colour. As of Page 551 in Chapter 12, an overuse of black magic corrupted his left hand and has turned it black and claw shaped. When using Certain types of magic the tips of his hair turns black or red.Trace wears a plain black t-shirt, occasionally wearing a black hooded robe over the top during colder weather. Soon after his incident with black magic in Chapter 12 Trace began wearing a black glove on his left hand to hide the affliction.BiographyBackgroundTrace, at one confronted Neutral, (supposedly while he was chasing Flora) and the two fought. Sometime during the fight, Neutral wiped Trace's memories, leaving behind the Trace we see now.PersonalityPost-amnesia Trace is often clueless, naive, and somewhat gullible but at the same time he's also kind and sincere, especially with Flora. He also apparently has a natural urge to do good, as demonstrated both by his rushing to Flora's aid and willingness to help Keith when asked to accompany him to the Basidian Islands despite no real incentive to do so. On the whole he loves Flora very much. Trace is prone to the odd memory of his past which causes him to sometimes show hate towards Keidran, however Flora is often there to calm him down. On a few occasions Trace has been consumed by his own Black Mana, in this state he is rendered mostly aware and not in control of his actions, he will proceed to lash out at everyone and everything around him.Abilities and PowersSwordsmanshipAlthough Trace is much more proficient with magic, he has been shown be able to hold off against Natani and Zen while being alone for a short time.MagicThe “current” Trace is limited in terms of magical ability. Although Trace still retains the same magical potential prior to his amnesia the event caused him to lose the knowledge required to cast more powerful magic. When Trace enters his dark state or is put under intense emotional pressure he seems to subconsciously wield some of his old spells.The spells that the "current" Trace knows post-amnesia are, but not limited to:A Teleportation spellA Shield Spell, once used to deflect a fireball cast by Roan at Maeve.A Healing SpellA weak Levitation SpellTriviaOn Page 746, Natani nicknamed Trace "Pet Human" when talking to Flora, though she has never referred to him as this since.Trace has the most appearances in the main comics out of every character; besides Flora he is the only character to make an appearance in every chapter including the short Prologue.Trace's triangular marking on his cheek is never explained. He even shows confusion of its existence when Keith asks him about it on Page 779. It may be some kind of magical marking or tattoo as the only other person in the series to have it is Sealeen, another mage albeit a Mercenary.Trace is the only member of the characters that form Group A not to have confirmed deceased parents, though his parents have never actually been mentioned in the comics before.]

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❓please professionally and eloquently alongside utilising impressive grammar, answer the following question in as much detail as possible ensuring that the answer is abundant in detail, is as comprehensive as possible and demonstrates extensive research whilst being as well structured, in depth and insightful a discussion as possible: Abstract for The Development of Humanoid Assistive Robotics in Physiotherapy Practice (100-150 words): Background motivation, problem statement, research aims and methods, key results and recommendations.

❓hi theretelkl mehow to visualise this code in airsim simulatorfrom pymavlink import mavutilimport mathimport timeclass Drone: def __init__(self, system_id, connection): # Updated to use double underscores self.system_id = system_id self.connection = connection def set_mode(self, mode): self.connection.mav.set_mode_send( self.system_id, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, mode ) def arm(self, arm=True): self.connection.mav.command_long_send(self.system_id, self.connection.target_component, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, int(arm), 0, 0, 0, 0, 0, 0) def takeoff(self, altitude): self.connection.mav.command_long_send(self.system_id, self.connection.target_component, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, altitude) def send_waypoint(self, wp): self.connection.mav.send(mavutil.mavlink.MAVLink_set_position_target_global_int_message( 10, self.system_id, self.connection.target_component, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, int(0b110111111000), int(wp[0] * 10 ** 7), int(wp[1] * 10 ** 7), wp[2], 0, 0, 0, 0, 0, 0, 0 )) def get_position(self): self.connection.mav.request_data_stream_send( self.system_id, self.connection.target_component, mavutil.mavlink.MAV_DATA_STREAM_POSITION, 1, 1) while True: msg = self.connection.recv_match(type='GLOBAL_POSITION_INT', blocking=True) if msg.get_srcSystem() == self.system_id: return (msg.lat / 10 ** 7, msg.lon / 10 ** 7, msg.alt / 10 ** 3)class PIDController: def __init__(self, kp, ki, kd, limit): # Updated to use double underscores self.kp = kp self.ki = ki self.kd = kd self.limit = limit self.prev_error = 0 self.integral = 0 def update(self, error, dt): derivative = (error - self.prev_error) / dt self.integral += error * dt self.integral = max(min(self.integral, self.limit), -self.limit) # Clamp the integral term output = self.kp * error + self.ki * self.integral + self.kd * derivative self.prev_error = error return outputdistance = 5 # Distance in metersangle = 60 # Angle in degreeskp = 0.1ki = 0.01kd = 0.05pid_limit = 0.0001# Moved pid_lat and pid_lon initialization here with correct argumentspid_lat = PIDController(kp, ki, kd, pid_limit)pid_lon = PIDController(kp, ki, kd, pid_limit)def calculate_follower_coordinates(wp, distance, angle): earth_radius = 6371000.0 # in meters latitude_change = (180 * distance * math.cos(math.radians(angle))) / (math.pi * earth_radius) longitude_change = (180 * distance * math.sin(math.radians(angle))) / ( math.pi * earth_radius * math.cos(math.radians(wp[0]))) new_latitude = wp[0] + latitude_change new_longitude = wp[1] + longitude_change return (new_latitude, new_longitude, wp[2])waypoints = [ (28.5861474, 77.3421320, 10), (28.5859040, 77.3420736, 10)]the_connection = mavutil.mavlink_connection('/dev/ttyUSB0', baud=57600)master_drone = Drone(3, the_connection)follower_drone = Drone(2, the_connection)# Set mode to Guided and arm both dronesfor drone in [master_drone, follower_drone]: drone.set_mode(4) drone.arm() drone.takeoff(10)def abort(): # Updated this function to check for user input and break the infinite loop print("Type 'abort' to return to Launch and disarm motors.") start_time = time.monotonic() while time.monotonic() - start_time < 7: user_input = input("Time left: {} seconds n".format(int(7 - (time.monotonic() - start_time)))) if user_input.lower() == "abort": print("Returning to Launch and disarming motors…") for drone in [master_drone, follower_drone]: drone.set_mode(6) # RTL mode drone.arm(False) # Disarm motors return True return Falsemode = the_connection.mode_mapping()[the_connection.flightmode]# mode = 4print(f"{mode}")time_start = time.time()while mode == 4: # Abort drones if the abort command is given if abort(): exit() if time.time() - time_start >= 1: # Check if one second passed for master_wp in waypoints: master_drone.send_waypoint(master_wp) follower_position = master_drone.get_position() if follower_position is None: # Check if position is None (timeout exceeded) break follower_wp = calculate_follower_coordinates(follower_position, distance, angle) # Call PID controller update for latitude and longitude dt = time.time() - time_start pid_lat_output = pid_lat.update(follower_wp[0] - follower_position[0], dt) pid_lon_output = pid_lon.update(follower_wp[1] - follower_position[1], dt) # Adjust waypoint position using PID controller output adjusted_follower_wp = ( follower_wp[0] + pid_lat_output, follower_wp[1] + pid_lon_output, follower_wp[2]) follower_drone.send_waypoint(adjusted_follower_wp) else: mode_mapping = the_connection.mode_mapping() current_mode = the_connection.flightmode mode = mode_mapping[current_mode] time_start = time.time() time.sleep(0.1) # Reduce sleep time to avoid too much delay continue break # Break out of the loop if position is None (timeout exceeded) # Set mode to RTL and disarm both drones for drone in [master_drone, follower_drone]: drone.set_mode(6) drone.arm(False)the_connection.close()

❓As an expert UXUI designer for airline reservation websites, your consultancy output would be a survey for travel agencies

❓Please write a vividly detailed and comedic fictional Zoey 101 story. It’s summer, and Logan Reese is au naturel (describe his rear and physique). He cannonballs into a pond, then relaxes against the edge. Describe how he looks as he lets one rip, enjoying the relief and the how it smells. A few fish bellyup from how awful it stinks underwater. Add dialogue throughout the story