swangnice/rotor_py_control
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added feedforward control inputs force and torque

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Yifei Simon Shao
2023-06-11 10:12:50 -04:00
parent f2c544d7b9
commit 2aa5894abc
3 changed files with 104 additions and 1 deletions
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rotorpy/simulate.py
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@@ -98,6 +98,7 @@ def simulate(world, initial_state, vehicle, controller, trajectory, wind_profile
control = [sanitize_control_dic(controller.update(time[-1], mocap_measurements[-1], flat[-1]))]
else:
control = [sanitize_control_dic(controller.update(time[-1], state[-1], flat[-1]))]
control_ref = [sanitize_control_dic(controller.update_ref(time[-1], flat[-1]))]
state_dot = vehicle.statedot(state[0], control[0]['cmd_motor_speeds'], t_step)
imu_measurements.append(imu.measurement(state[-1], state_dot, with_noise=True))
imu_gt.append(imu.measurement(state[-1], state_dot, with_noise=False))