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Reinstated bf configurator file
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JacopoPan committed Oct 11, 2023
1 parent 65fbd1c commit 0542623
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Showing 2 changed files with 83 additions and 1 deletion.
82 changes: 82 additions & 0 deletions gym_pybullet_drones/assets/beta.txt
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defaults nosave


# version
# Betaflight / SITL (SITL) 4.5.0 Jul 7 2023 / 10:53:28 (b54ae921f) MSP API: 1.46

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

mcu_id 000000000000000100000002
signature

# feature
feature -GPS
feature -TELEMETRY

# aux
aux 0 0 0 1300 1700 0 0

# master
set motor_pwm_protocol = PWM
set pid_process_denom = 16

profile 0

# profile 0
set pidsum_limit = 1000
set pidsum_limit_yaw = 1000
set p_pitch = 70
set i_pitch = 75
set d_pitch = 43
set f_pitch = 224
set p_roll = 58
set i_roll = 62
set d_roll = 42
set f_roll = 187
set p_yaw = 58
set i_yaw = 62
set f_yaw = 187
set d_min_roll = 42
set d_min_pitch = 43
set simplified_master_multiplier = 130
set simplified_i_gain = 60
set simplified_d_gain = 110
set simplified_dmax_gain = 0
set simplified_feedforward_gain = 120
set simplified_pitch_d_gain = 90
set simplified_pitch_pi_gain = 115

profile 1

profile 2

profile 3

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set rates_type = BETAFLIGHT
set roll_rc_rate = 180
set pitch_rc_rate = 180
set yaw_rc_rate = 180
set roll_srate = 0
set pitch_srate = 0
set yaw_srate = 0

rateprofile 1

rateprofile 2

rateprofile 3

# restore original rateprofile selection
rateprofile 0

# save configuration
2 changes: 1 addition & 1 deletion gym_pybullet_drones/examples/beta.py
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Expand Up @@ -55,7 +55,7 @@
DEFAULT_DURATION_SEC = 20
DEFAULT_OUTPUT_FOLDER = 'results'
NUM_DRONES = 2
INIT_XYZ = np.array([[.3*i, .3*i, .1] for i in range(NUM_DRONES)])
INIT_XYZ = np.array([[.3*i, .3*i, .1] for i in range(1,NUM_DRONES+1)])
INIT_RPY = np.array([[.0, .0, .0] for _ in range(NUM_DRONES)])

def run(
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