From 0542623baa999692eca0d911bfbe19349aba08a2 Mon Sep 17 00:00:00 2001
From: Jacopo Panerati <jacopo.panerati@utoronto.ca>
Date: Wed, 11 Oct 2023 15:06:06 +0400
Subject: [PATCH] Reinstated bf configurator file

---
 gym_pybullet_drones/assets/beta.txt  | 82 ++++++++++++++++++++++++++++
 gym_pybullet_drones/examples/beta.py |  2 +-
 2 files changed, 83 insertions(+), 1 deletion(-)
 create mode 100644 gym_pybullet_drones/assets/beta.txt

diff --git a/gym_pybullet_drones/assets/beta.txt b/gym_pybullet_drones/assets/beta.txt
new file mode 100644
index 000000000..bf44da53f
--- /dev/null
+++ b/gym_pybullet_drones/assets/beta.txt
@@ -0,0 +1,82 @@
+defaults nosave
+
+
+# version
+# Betaflight / SITL (SITL) 4.5.0 Jul  7 2023 / 10:53:28 (b54ae921f) MSP API: 1.46
+
+# start the command batch
+batch start
+
+# reset configuration to default settings
+defaults nosave
+
+mcu_id 000000000000000100000002
+signature 
+
+# feature
+feature -GPS
+feature -TELEMETRY
+
+# aux
+aux 0 0 0 1300 1700 0 0
+
+# master
+set motor_pwm_protocol = PWM
+set pid_process_denom = 16
+
+profile 0
+
+# profile 0
+set pidsum_limit = 1000
+set pidsum_limit_yaw = 1000
+set p_pitch = 70
+set i_pitch = 75
+set d_pitch = 43
+set f_pitch = 224
+set p_roll = 58
+set i_roll = 62
+set d_roll = 42
+set f_roll = 187
+set p_yaw = 58
+set i_yaw = 62
+set f_yaw = 187
+set d_min_roll = 42
+set d_min_pitch = 43
+set simplified_master_multiplier = 130
+set simplified_i_gain = 60
+set simplified_d_gain = 110
+set simplified_dmax_gain = 0
+set simplified_feedforward_gain = 120
+set simplified_pitch_d_gain = 90
+set simplified_pitch_pi_gain = 115
+
+profile 1
+
+profile 2
+
+profile 3
+
+# restore original profile selection
+profile 0
+
+rateprofile 0
+
+# rateprofile 0
+set rates_type = BETAFLIGHT
+set roll_rc_rate = 180
+set pitch_rc_rate = 180
+set yaw_rc_rate = 180
+set roll_srate = 0
+set pitch_srate = 0
+set yaw_srate = 0
+
+rateprofile 1
+
+rateprofile 2
+
+rateprofile 3
+
+# restore original rateprofile selection
+rateprofile 0
+
+# save configuration
\ No newline at end of file
diff --git a/gym_pybullet_drones/examples/beta.py b/gym_pybullet_drones/examples/beta.py
index 3e2f60f0f..52afa7ab2 100644
--- a/gym_pybullet_drones/examples/beta.py
+++ b/gym_pybullet_drones/examples/beta.py
@@ -55,7 +55,7 @@
 DEFAULT_DURATION_SEC = 20
 DEFAULT_OUTPUT_FOLDER = 'results'
 NUM_DRONES = 2
-INIT_XYZ = np.array([[.3*i, .3*i, .1] for i in range(NUM_DRONES)])
+INIT_XYZ = np.array([[.3*i, .3*i, .1] for i in range(1,NUM_DRONES+1)])
 INIT_RPY = np.array([[.0, .0, .0] for _ in range(NUM_DRONES)])
 
 def run(