swangnice/rotor_py_control
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Clip motor speeds AFTER noise is added.

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spencerfolk
2025-01-20 12:05:16 -05:00
parent 0608381234
commit 6a9b685203
1 changed files with 1 additions and 0 deletions
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rotorpy/vehicles/multirotor.py
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@@ -200,6 +200,7 @@ class Multirotor(object):
# Add noise to the motor speed measurement # 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.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 return state