swangnice/rotor_py_control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added time argument for wind profile

Browse Source
This commit is contained in:
spencerfolk
2024-01-09 17:36:25 -05:00
parent fec3c87f98
commit 045f47b8dd
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
rotorpy/learning/quadrotor_environments.py
View File

@@ -291,7 +291,7 @@ class QuadrotorEnv(gym.Env):
self.control_dict = self.rescale_action(action)
# Now update the wind state using the wind profile
self.vehicle_state['wind'] = self.wind_profile.update(0, self.vehicle_state['x'])
self.vehicle_state['wind'] = self.wind_profile.update(self.t, self.vehicle_state['x'])
# Last perform forward integration using the commanded motor speed and the current state
self.vehicle_state = self.quadrotor.step(self.vehicle_state, self.control_dict, self.t_step)