Minimal three-policy AeroCar sim2real runtime.
类：
| 名称 | 描述 |
|---|---|
AeroCarState |
Deployment state visible to ROS and sim2sim transports. |
AeroCarProfile |
Deployment scope for a full mission or one isolated policy task. |
AeroCarFeedback |
ROS-independent subset of MAVROS vehicle feedback. |
AeroCarRuntimeConfig |
Fixed-contract configuration for the minimal AeroCar deployment. |
AeroCarPlayRuntime |
Orchestrate fixed aerial, landing, and ground policies without ROS types. |
函数：
| 名称 | 描述 |
|---|---|
adapt_aerocar_firmware_yaw_rate |
Compensate the AeroCar firmware's reverse differential-drive mixer. |
Bases: str, Enum
Deployment state visible to ROS and sim2sim transports.
Bases: str, Enum
Deployment scope for a full mission or one isolated policy task.
dataclass
AeroCarFeedback(connected: bool = False, armed: bool = False, offboard: bool = False, vtol_state: int = 0, landed_state: int = 0)
ROS-independent subset of MAVROS vehicle feedback.
dataclass
AeroCarRuntimeConfig(profile: AeroCarProfile | str = AeroCarProfile.MISSION, model_path: str = '', aerial_model_path: str = '', landing_model_path: str = '', ground_model_path: str = '', device: str = 'cpu', aerial_trajectory: str = 'helix', ground_trajectory: str = 'rectangle', trajectory_time_offset: float = 0.0, ground_z: float = 0.0, landing_target_height: float = 0.05, touchdown_max_vertical_speed: float = 0.25, touchdown_stable_s: float = 0.4, touchdown_idle_signal: float = 0.04, mode_switch_retry_s: float = 1.0, mode_switch_timeout_s: float = 10.0, params: TrackVehicleParams = TrackVehicleParams(), flight_mapping: FlightMappingConfig = FlightMappingConfig(), ground_mapping: DifferentialDriveMappingConfig = DifferentialDriveMappingConfig(), thrust_model: ThrustModelConfig = ThrustModelConfig())
Fixed-contract configuration for the minimal AeroCar deployment.
方法：
| 名称 | 描述 |
|---|---|
__post_init__ |
Validate fixed-contract runtime settings. |
__post_init__() -> None
Validate fixed-contract runtime settings.
AeroCarPlayRuntime(cfg: AeroCarRuntimeConfig, *, policy_runners: dict[str, Any] | None = None)
Orchestrate fixed aerial, landing, and ground policies without ROS types.
Load policies and initialize deterministic deployment state.
方法：
| 名称 | 描述 |
|---|---|
set_external_collective_acc |
Provide delayed IMU collective acceleration to the thrust estimator. |
request_landing |
Request the only automatic mission transition exposed to operators. |
step |
Advance the mission and return one transport-neutral command. |
set_external_collective_acc(value: float | None) -> None
Provide delayed IMU collective acceleration to the thrust estimator.
request_landing() -> bool
Request the only automatic mission transition exposed to operators.
step(state: ControllerState | None, feedback: AeroCarFeedback, now_sec: float) -> dict | None
Advance the mission and return one transport-neutral command.
adapt_aerocar_firmware_yaw_rate(forward_speed: float, yaw_rate: float) -> float
Compensate the AeroCar firmware's reverse differential-drive mixer.
The firmware interprets yaw as a steering direction while reversing, but the policy command is a body yaw rate whose sign is independent of forward speed. Reverse the transport value only where the firmware enters its backward-motion branch. Policy/runtime commands remain unchanged.