From b93166fc3b89f45e0cf8ca59eb94e6e50ae4efb5 Mon Sep 17 00:00:00 2001 From: spencerfolk Date: Wed, 20 Dec 2023 20:41:17 -0500 Subject: [PATCH] Fixed documentation --- rotorpy/vehicles/multirotor.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/rotorpy/vehicles/multirotor.py b/rotorpy/vehicles/multirotor.py index 78bf799..efdca54 100644 --- a/rotorpy/vehicles/multirotor.py +++ b/rotorpy/vehicles/multirotor.py @@ -40,10 +40,11 @@ class Multirotor(object): quad_params: a dictionary containing relevant physical parameters for the multirotor. initial_state: the initial state of the vehicle. control_abstraction: the appropriate control abstraction that is used by the controller, options are... - 'cmd_motor_speed': the controller directly commands motor speeds. - 'cmd_motor_force': the controller commands forces for each rotor. + 'cmd_motor_speeds': the controller directly commands motor speeds. + 'cmd_motor_thrusts': the controller commands forces for each rotor. 'cmd_ctbr': the controller commands a collective thrsut and body rates. 'cmd_ctbm': the controller commands a collective thrust and moments on the x/y/z body axes + 'cmd_ctatt': the controller commands a collective thrust and attitude (as a quaternion). 'cmd_vel': the controller commands a velocity vector in the body frame. """ def __init__(self, quad_params, initial_state = {'x': np.array([0,0,0]),