Clip motor speeds AFTER noise is added.

2025-01-20 12:05:16 -05:00
parent 0608381234
commit 6a9b685203
1 changed files with 1 additions and 0 deletions
--- 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