Welcome to rlPx4Controller’s documentation!

rlPx4Controller is a quadcopter control library implemented in C++ and provides a python interface through pybind11. The implementation of the controller is consistent with the Px4 flight control to ensure the consistency of sim2real.

4 modules have been implemented so far

• pyControl: Single aircraft controller

• pyParallelControl: Multi-aircraft controller for reinforcement learning

• PolyTrajGen: Fifth degree polynomial trajectory generation

• Lemniscate: Figure-eight curve generation

Note

This project is under active development.

Contents

• Usage
  • Installation
  • Single Quadcopter Test
  • Multi Quadcopter Test
• Dynamic Model
  • Coordinates System
  • Single Rotor Model
  • Quadcopter Model
• Simulator support
• API