From 045f47b8dd2d4fa2f35b56d30e1860fb25b2f744 Mon Sep 17 00:00:00 2001 From: spencerfolk Date: Tue, 9 Jan 2024 17:36:25 -0500 Subject: [PATCH] Added time argument for wind profile --- rotorpy/learning/quadrotor_environments.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rotorpy/learning/quadrotor_environments.py b/rotorpy/learning/quadrotor_environments.py index c8c4d28..3772e1f 100644 --- a/rotorpy/learning/quadrotor_environments.py +++ b/rotorpy/learning/quadrotor_environments.py @@ -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)