QuadX

Model Description

The QuadX UAV describes a multirotor UAV in the Quad-X configuration as described by ArduPilot and PX4. It consists of four motors with implementations for cascaded PID controllers.

Variants

Two different models of the QuadX drone are provided. This option can be selected through the drone_model parameter. The available models are:

• cf2x (default)

• primitive_drone

Control Modes

The control mode of the QuadX can be changed using the Aviary.set_mode or specifically calling set_mode on the drone instance itself. Inspired by pybullet drones by University of Toronto’s Dynamic Systems Lab. The various modes available are documented below.

Class Description

class PyFlyt.core.drones.QuadX(p: BulletClient, start_pos: ndarray, start_orn: ndarray, control_hz: int = 120, physics_hz: int = 240, drone_model: str = 'cf2x', model_dir: None | str = None, np_random: None | RandomState = None, use_camera: bool = False, use_gimbal: bool = False, camera_angle_degrees: int = 20, camera_FOV_degrees: int = 90, camera_resolution: tuple[int, int] = (128, 128))

QuadX instance that handles everything about a quadrotor in the X configuration.

register_controller(controller_id: int, controller_constructor: type[ControlClass], base_mode: int) → None

Registers a new controller for the UAV.

Parameters:

• controller_id (int) – controller_id

• controller_constructor (type[ControlClass]) – controller_constructor

• base_mode (int) – base_mode

reset() → None

Resets the vehicle to the initial state.

set_mode(mode: int) → None

Sets the current flight mode of the vehicle.

flight modes:

• -1: m1, m2, m3, m4

• 0: vp, vq, vr, T

• 1: p, q, r, vz

• 2: vp, vq, vr, z

• 3: p, q, r, z

• 4: u, v, vr, z

• 5: u, v, vr, vz

• 6: vx, vy, vr, vz

• 7: x, y, r, z

breakdown:

• vp, vq, vr = angular velocities

• p, q, r = angular positions

• u, v, w = local linear velocities

• x, y, z = linear positions

• vx, vy, vz = ground linear velocities

• T = thrust

Parameters:

mode (int) – flight mode

update_control() → None

Runs through controllers.

update_last() → None

Updates things only at the end of Aviary.step().

update_physics() → None

Updates the physics of the vehicle.

update_state() → None

Updates the current state of the UAV.

This includes: ang_vel, ang_pos, lin_vel, lin_pos.