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uzh-rpg / agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight
MIT License
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Config.yaml and control structure #56

Open fudavd opened 2 years ago

fudavd commented 2 years ago

Hi, I've been trying to hoover the quadrotor using SRT control and applying thrust proportional to the gravitational force based on the parameters of flightpy/configs/vision/config.yaml. I start the simulator through launch_evaluation.bash and change the commands in user_code.py It seems like a different drone is simulated namely: envsim/parameters/quads/kingfisher.yaml I checked by changing the weight and it does affect the dynamics.

Is this the intended behaviour? Maybe I did something wrong during the install and can always copy/paste the quadrotor into the other yaml? I was wondering what drone will be used during the challenge?

On a seperate note. It seems that the user_code.py only sends signals every 0.04s (25Hz). Is it possible to increase the command request speed and/or provide a chain of commands as an output of user_code.py to increase the control frequency. If so where would be a good place to adapt the code?

Thank you, Fuda

yun-long commented 2 years ago

Hi Fuda,

yes. there are two simulators, each has its own configuration. The simulation in Flightmare is used for RL training because we need to parallelize the simulator. Another simulator is the dodgedrone simulation, which is used for ROS and for the final evaluation. You should not change the configuration file for the drone dynamics.

fudavd commented 2 years ago

Thnx for the reply, Im not sure if I understand correctly? Why do we have the different drone dynamics? Are we supposed to train on a different drone than the one that we are assessed on?

Thank you! Fuda