rlPx4Controller is a quadcopter control library implemented in C++ and provides a python interface through pybind11. The motivation of this work is to build a parallel flight control for large-scale quadrotor reinforcement learning (RL) and Sim-to-Real on the PX4 stack. Thus, the implementation of the controller is consistent with the Px4 flight control to ensure the consistency of sim2real.
rlPx4Controller is developed for DRL simulation flight control. The attributes include:
- CPU-based parallel flight geometric control computation.
- Strict PX4-like flight controller with differential flatness.
- Parallel control for different levels that supports: position & yaw control (PY), velocity & yaw control (LV), collective thrust & attitude angle (CTA), collective thrust & body rate (CTBR)
4 modules have been implemented so far:
- PolyTrajGen: Fifth degree polynomial trajectory generation
- Lemniscate: Figure-eight curve generation
- pyControl: Single aircraft controller
- pyParallelControl：Multi-aircraft controller for reinforcement learning in vectorized environments.
For usage and more details, please refer to the documentation.