from plot import plot
 
class UserCode:
    def __init__(self):
        # initialize data you want to store in this object between calls to the measurement_callback() method
        self.last_yaw = 0
 
    def measurement_callback(self, t, dt, navdata):
        yaw_vel = (navdata.rotZ - self.last_yaw) / dt
        self.last_yaw = navdata.rotZ
 
 
        '''
        :param t: time since simulation start
        :param dt: time since last call to measurement_callback
        :param navdata: measurements of the quadrotor
        '''
 
        # add your plot commands here
        plot("roll", navdata.rotX);
        plot("pitch", navdata.rotX);        
        plot("yaw", navdata.rotZ)
        plot("vx", navdata.vx)
        plot("vy", navdata.vy)
        plot("yaw velocity", yaw_vel)

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