From 6a9b685203e043062f2ec57dca1e0d53d87b5080 Mon Sep 17 00:00:00 2001 From: spencerfolk Date: Mon, 20 Jan 2025 12:05:16 -0500 Subject: [PATCH] Clip motor speeds AFTER noise is added. --- rotorpy/vehicles/multirotor.py | 1 + 1 file changed, 1 insertion(+) diff --git a/rotorpy/vehicles/multirotor.py b/rotorpy/vehicles/multirotor.py index 10200b3..851a974 100644 --- a/rotorpy/vehicles/multirotor.py +++ b/rotorpy/vehicles/multirotor.py @@ -200,6 +200,7 @@ class Multirotor(object): # Add noise to the motor speed measurement state['rotor_speeds'] += np.random.normal(scale=np.abs(self.motor_noise), size=(self.num_rotors,)) + state['rotor_speeds'] = np.clip(state['rotor_speeds'], self.rotor_speed_min, self.rotor_speed_max) return state