Merge pull request #85 from jjshoots/fix_fixedwing_yaw

Fix fixedwing yaw

Author: jjshoots

PyFlyt/core/drones/fixedwing.py

@@ -140,8 +140,8 @@ def __init__(
 
             # mapping for RPYT -> LeftAil, RightAil, HorStab, VertStab, MainWing, Motor
             # signs for each control surface when under assist
-            self.surface_assist_ids = np.array([0, 0, 1, 1, 2, 3])
-            self.surface_assist_signs = np.array([1.0, -1.0, 1.0, -1.0, 0.0, 1.0])
+            self.surface_assist_ids = np.array([0, 0, 1, 2, 1, 3])
+            self.surface_assist_signs = np.array([1.0, -1.0, 1.0, -1.0, -1.0, 1.0])
 
             # motor
             motor_params = all_params["motor_params"]

PyFlyt/gym_envs/__init__.py

@@ -32,7 +32,7 @@
 
 # Fixedwing Envs
 register(
-    id="PyFlyt/Fixedwing-Waypoints-v3",
+    id="PyFlyt/Fixedwing-Waypoints-v4",
     entry_point="PyFlyt.gym_envs.fixedwing_envs.fixedwing_waypoints_env:FixedwingWaypointsEnv",
 )
 

tests/test_gym_envs.py

@@ -18,7 +18,7 @@
     [
         "PyFlyt/QuadX-Waypoints-v4",
         "PyFlyt/QuadX-Pole-Waypoints-v4",
-        "PyFlyt/Fixedwing-Waypoints-v3",
+        "PyFlyt/Fixedwing-Waypoints-v4",
     ],
     ["euler", "quaternion"],
     [True, False],