swangnice/rotor_py_control
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Remove flyaway safety check.

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spencerfolk
2024-08-06 13:22:03 -04:00
parent 1831e02e2c
commit 4cf54daaff
1 changed files with 1 additions and 3 deletions
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4
rotorpy/simulate.py
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@@ -195,12 +195,10 @@ def safety_exit(world, margin, state, flat, control):
""" """
Return exit status if any safety condition is violated, otherwise None. Return exit status if any safety condition is violated, otherwise None.
""" """
if np.any(np.abs(state['v']) > 100): if np.any(np.abs(state['v']) > 20):
return ExitStatus.OVER_SPEED return ExitStatus.OVER_SPEED
if np.any(np.abs(state['w']) > 100): if np.any(np.abs(state['w']) > 100):
return ExitStatus.OVER_SPIN return ExitStatus.OVER_SPIN
if np.any(np.abs(state['x'] - flat['x']) > 20):
return ExitStatus.FLY_AWAY
if len(world.world.get('blocks', [])) > 0: if len(world.world.get('blocks', [])) > 0:
# If a world has objects in it we need to check for collisions. # If a world has objects in it we need to check for collisions.