control_for_gym is a PX4 middleware stack to publish NN-inferenced commands to expected levels of PX4 control loop. It is integrated in AirGym-Real for sending commands to PX4 autopilot during the Sim-to-Real.
Two functions are primarily implemented: constructing a finite state machine (FSM) to enable switching between trained policy control and classical PID control; and forwarding control commands to the PX4 Autopilot controller based on the selected control hierarchy.
-
Four types of controls are implemented:
- VEL + YAW
- POS + YAW
- ATTI + THRUST
- RATE + THRUST
-
PID controls in FSM:
- Takeoff
- Hovering
Use channal 8 to switch classic control and nerual network inference control.