see issue #188

utiasDSL · Jan 30, 2024 · ec807dd · ec807dd
1 parent 2c2470c
commit ec807dd
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
@@ -859,7 +859,7 @@ def _dynamics(self,
         vel = vel + self.PYB_TIMESTEP * no_pybullet_dyn_accs
         rpy_rates = rpy_rates + self.PYB_TIMESTEP * rpy_rates_deriv
         pos = pos + self.PYB_TIMESTEP * vel
-        quat = self._integrateQ(quat, rpy_rates, self.TIMESTEP)
+        quat = self._integrateQ(quat, rpy_rates, self.PYB_TIMESTEP)
         #### Set PyBullet's state ##################################
         p.resetBasePositionAndOrientation(self.DRONE_IDS[nth_drone],
                                           pos,
@@ -1146,4 +1146,4 @@ def _calculateNextStep(self, current_position, destination, step_size=1):
         next_step = (
             current_position + normalized_direction * step_size
         )  # Calculate the next step
-        return next_step
+        return next_step