how to control the quadrotor by PWM value?

utiasDSL / gym-pybullet-drones

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

https://utiasDSL.github.io/gym-pybullet-drones/

MIT License

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how to control the quadrotor by PWM value? #118

Open huyu94 opened 1 year ago

huyu94 commented 1 year ago

I'm trying to deploy the model to the real quadrotor. But I can't find any conversion from RPM to PWM. Is there any solution in the environment to control a quadrotor by PWM value.

JacopoPan commented 1 year ago

In this simulation I set the low-level action spaces to use RPMs. safe-control-gym uses instead thrusts and internally also computes PWMs. An empirical study of the relation between PWMs, RPMs and thrusts for the Crazyflie quadrotor can be found here