pid

Array API PID controllers for batched simulation.

类：

名称	描述
PID	Vectorized PID controller with optional derivative filtering.
FlightController	PID-based flight controller for batched Array API arrays.

PID

PID(xp: ModuleType, device, Kp: ArrayLike, Ki: ArrayLike | None = None, Kd: ArrayLike | None = None, dt: float = 0.01, N: float = 100.0, integral_limit: ArrayLike | None = None)

Vectorized PID controller with optional derivative filtering.

Initialize PID gains and internal state arrays.

方法：

名称	描述
reset	Reset integrator and derivative state for selected environments.
update	Compute the PID output for the current batched error.

reset

reset(env_ids=None)

Reset integrator and derivative state for selected environments.

update

update(error: ArrayLike) -> ArrayLike

Compute the PID output for the current batched error.

FlightController

FlightController(params: VehicleParams = VehicleParams(), control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: ControllerBase

PID-based flight controller for batched Array API arrays.

Initialize the batched flight PID controller.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters used by the controller.	VehicleParams()
control_mask	dict | None	Dict mask mapped to state keys. Channels not in the mask are filled by the cascade.	None
gains	dict | None	Optional PID gain dictionary.	None
limits	dict | None	Optional controller-side target limits.	None
num_envs	int	Number of parallel environments represented by the batch.	1
device		Optional backend device, mainly used by Torch.	None
backend	BackendName | None	Explicit Array API backend name.	None
xp	ModuleType | None	Pre-resolved Array API namespace. Overrides backend.	None

方法：

名称	描述
randomize	Randomize gains, limits, and selected physical parameters.
reset	Reset all inner PID loops for selected environments.
update	Compute batched thrust and moments for the current target/state.
gains_to_randomization_ranges	Gains to randomization ranges.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

randomize

randomize(env_ids=None, gains: dict[str, Any] | None = None, limits: dict[str, Any] | None = None, params: dict[str, Any] | None = None)

Randomize gains, limits, and selected physical parameters.

reset

reset(env_ids=None)

Reset all inner PID loops for selected environments.

update

update(target: ControllerTarget, state: ControllerState) -> ArrayLike

Compute batched thrust and moments for the current target/state.

参数：

名称	类型	描述	默认
target	ControllerTarget	Desired state dict with batched Array API arrays.	必需
state	ControllerState	Current state dict with pos, vel, att_euler, and ang_vel arrays of shape (num_envs, 3). cmd_acc may provide a world-frame acc target to bypass the velocity PID.	必需

返回：

类型	描述
ArrayLike	Control output [thrust, roll_moment, pitch_moment, yaw_moment]
ArrayLike	with shape (num_envs, 4).

gains_to_randomization_ranges classmethod

gains_to_randomization_ranges(gains: dict | None = None, scale: float = 0.2) -> dict

Gains to randomization ranges.