0.15.0

PZ environments converted to parallel

from PyFlyt.pz_envs import MAQuadXHoverEnv

env = MAQuadXHoverEnv(render_mode="human")
observations, infos = env.reset()

while env.agents:
    # this is where you would insert your policy
    actions = {agent: env.action_space(agent).sample() for agent in env.agents}

    observations, rewards, terminations, truncations, infos = env.step(actions)
env.close()

0.14.1

Bug fixes:

1. Start pos and orn not being passed to multiagent quadx environments
2. Added is_parallelizable

0.14.0

PettingZoo Support!

AEC ENVIRONMENTS HAVE BEEN DEPRECATED

from PyFlyt.pz_envs import MAQuadXHoverEnv

env = MAQuadXHoverEnv(render_mode="human")
env = wrappers.OrderEnforcingWrapper(env)

env.reset(seed=42)
for agent in env.agent_iter():
    observation, reward, termination, truncation, info = env.last()

    if termination or truncation:
        action = None
    else:
        action = env.action_space(agent).sample()

    env.step(action)

0.13.0

Fixes problem where PyFlyt wasn't obeying inertia tensor provided in the URDF file from #12.

0.12.0

Added the ability to flatten the waypoints environment to be used with popular reinforcement learning libraries.

0.11.1

Fix missing package files.

0.11.0

0.11.0

The main improvement here is the jitting of various can-be-statically-typed functions, resulting in about a >50% speedup in the fixedwing environment.
See #10 for more results.

On top of that, the logic for the lifting surface has been changed, there is no longer the usage of command_id and command_sign, instead, all actuator commands are assumed to be mapped and signed within the update_control function of the drone itself, in a similar manner to how the motors are done.

0.10.1

Remove flaps on main wing for fixedwing model when flying in mode 1.
The rationale is that flaps add a countertorque to what is actually desired.

0.10.0

Enabled full control over actuator surfaces for the fixedwing model under control mode -1.

In this mode, the setpoint for the fixedwing is a 6-long vector, with each element corresponding to control over:

1. Left Aileron [-1, 1]
2. Right Aileron [-1, 1]
3. Horizontal Tail [-1, 1]
4. Vertical Tail [-1, 1]
5. Main Wing [-1, 1]
6. Thrust [0, 1]

0.9.5

Fix package data again.