Hotfix/cf tuning

examples/basic_usage.py

@@ -60,7 +60,7 @@
 # An instance of the simulator can be generated as follows: 
 sim_instance = Environment(vehicle=Multirotor(quad_params),           # vehicle object, must be specified. 
                            controller=SE3Control(quad_params),        # controller object, must be specified.
-                           trajectory=TwoDLissajous(),         # trajectory object, must be specified.
+                           trajectory=ThreeDCircularTraj(radius=np.array([3, 3, 0]), freq=np.array([0.15, 0.15, 0])),         # trajectory object, must be specified.
                            wind_profile=SinusoidWind(),               # OPTIONAL: wind profile object, if none is supplied it will choose no wind. 
                            sim_rate     = 100,                        # OPTIONAL: The update frequency of the simulator in Hz. Default is 100 Hz.
                            imu          = None,                       # OPTIONAL: imu sensor object, if none is supplied it will choose a default IMU sensor.

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "rotorpy"
-version = "2.1.2"
+version = "2.1.3"
 description = "A multirotor simulator with aerodynamics for education and research."
 readme = "README.md"
 requires-python = ">=3.8"

rotorpy/controllers/quadrotor_control.py

@@ -58,8 +58,8 @@ def __init__(self, quad_params):
         # Gains  
         self.kp_pos = np.array([6.5,6.5,15])
         self.kd_pos = np.array([4.0, 4.0, 9])
-        self.kp_att = 544
-        self.kd_att = 46.64
+        self.kp_att = quad_params.get("kp_att", 310)
+        self.kd_att = quad_params.get("kd_att", 57.0)
         self.kp_vel = 0.1*self.kp_pos   # P gain for velocity controller (only used when the control abstraction is cmd_vel)
 
         # Linear map from individual rotor forces to scalar thrust and vector
@@ -207,13 +207,13 @@ def __init__(self, batch_params, num_drones, device, kp_pos=None, kd_pos=None, k
         else:
             self.kd_pos = kd_pos.to(self.device).double()
         if kp_att is None:
-            self.kp_att = torch.tensor([544], device=device).repeat(num_drones, 1).double()
+            self.kp_att = batch_params.kp_att.to(self.device).double()
         else:
             self.kp_att = kp_att.to(self.device).double()
             if len(self.kp_att.shape) < 2:
                 self.kp_att = self.kp_att.unsqueeze(-1)
         if kd_att is None:
-            self.kd_att = torch.tensor([46.64], device=device).repeat(num_drones, 1).double()
+            self.kd_att = batch_params.kd_att.to(self.device).double()
         else:
             self.kd_att = kd_att.to(self.device).double()
             if len(self.kd_att.shape) < 2:

rotorpy/vehicles/crazyflie_params.py

@@ -58,10 +58,10 @@
     'rotor_speed_max': 2500,    # rad/s
     'motor_noise_std': 0.0,     # rad/s
 
-    # Lower level controller properties (for higher level control abstractions)
+    # Lower level controller properties
     'k_w': 200,               # The body rate P gain (for cmd_ctbr)
     'k_v': 10,              # The *world* velocity P gain (for cmd_vel)
-    'kp_att': 1030,      # The attitude P gain (for cmd_vel, cmd_acc, and cmd_ctatt)
-    'kd_att': 51,       # The attitude D gain (for cmd_vel, cmd_acc, and cmd_ctatt)
+    'kp_att': 310,      # The attitude P gain (for cmd_vel, cmd_acc, and cmd_ctatt)
+    'kd_att': 57.0,       # The attitude D gain (for cmd_vel, cmd_acc, and cmd_ctatt)
 
 }