Welcome aboard the exciting adventure of flight control tuning with GymFC! This unique framework shines in the realm of attitude control for UAVs (Unmanned Aerial Vehicles). Developed with a modular structure, GymFC allows for both synthesizing neuro-flight controllers and tuning traditional PID controllers. In this guide, we’ll walk you through the installation process, help you set up your development environment, and provide some troubleshooting tips along the way.
Table of Contents
Features
- Support for IMU, ESC, and battery sensors
- Aircraft agnostic — configure any aircraft with number of actuators and sensors.
- Digital twin independence
- Google Protobuf aircraft digital twin API for signal communication
- Support for Gazebo 8, 9, and 11
Installation
Quick Start
To install GymFC on a system running Ubuntu 18.04, simply run the following commands in your terminal:
sudo MAKE_FLAGS=-j4 .install_dependencies.sh
pip3 install .This set of commands installs all dependencies and the GymFC framework.
Setting Up a Virtual Environment (Optional)
For better package management, it’s advised to set up a virtual environment. Here’s how:
python3 -m venv env
source env/bin/activate
pip3 install .To deactivate the environment later, just run deactivate.
Getting Started
To create your custom flight control environment, adhere to this structure in your code:
from gymfc.envs.fc_env import FlightControlEnv
class MyEnv(FlightControlEnv):
def __init__(self, aircraft_config, config=None, verbose=False):
super().__init__(aircraft_config, config_filepath=config, verbose=verbose)Think of this structure as crafting your own flight simulation game. Your environment is the game board, where MyEnv represents the customized plane, and you can dictate how it behaves in various simulations, just like configuring different planes in a racing game.
Troubleshooting
If you face issues during installation or while running GymFC, here are some troubleshooting steps:
- First, check for any out-of-memory errors by reviewing logs from
dmesg. - If ‘plugin failed to load’ errors occur, ensure that the plugin binaries are correctly built and located.
- Consult the documentation or example models provided within the library for structure and syntax.
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Conclusion
Now, you are set to dive into the world of UAV control using GymFC. With its robust features and flexible framework, the sky is literally the limit!
