TABV planar trajectory tasks with direct rotor actions.
Classes:
| Name | Description |
|---|---|
TABVCTBRActionsCfg |
Deployment-aligned collective-thrust and body-rate actions. |
TABVGroundTrajectoryPosCTBREnvCfg |
Position-trajectory tracking with collective-thrust + body-rate actions. |
TABVGroundTrajectoryVelCTBREnvCfg |
Velocity-trajectory tracking with collective-thrust + body-rate actions. |
Bases: ActionsCfg
Deployment-aligned collective-thrust and body-rate actions.
cmd_ctbr exposes normalized collective thrust plus three body-rate
channels; the inner-loop :class:~lav2.controllers.pid.FlightController
stabilizes the body rates so the policy only commands high-level motion.
This mirrors the CTBR action interface used by the LAV2 and ATMO ground
trajectory tasks for cross-platform ground tracking.
Bases: TABVGroundTrajectoryPosEnvCfg
Position-trajectory tracking with collective-thrust + body-rate actions.
Bases: TABVGroundTrajectoryVelEnvCfg
Velocity-trajectory tracking with collective-thrust + body-rate actions.