microsoft/AirSim-NeurIPS2019-Drone-Racing v0.1.1-windows

Neurips Binaries - Windows

on GitHub

Release notes:

Environment Pak Files

• Same as v0.0-windows. No need to re-download.

airsimneurips

• Please upgrade airsimneurips python package version to 0.0.11 to use the below-mentioned APIs.
  • $ pip install airsimneurips --upgrade
• New: The pip package is now documented at https://microsoft.github.io/AirSim-NeurIPS2019-Drone-Racing/

API

• This patch is concerned with the low level control APIs. Specifically, updating and extending old angle set-point APIs in the previous version, and addition of new angle-rate APIs.

• All of the below-mentioned (old / new) APIs work in the body frame of the drone.
  Set points are given in radians or radians / second.
  The body frame follows the Front Left Up (FLU) convention, and right-handedness.

  • X axis is along the "Front" direction of the quadrotor.
    Clockwise rotation about this axis defines a positive roll angle.
    Hence, rolling with a positive angle is equivalent to translating in the "right" direction, w.r.t. our FLU body frame.

  • Y axis is along the "Left" direction of the quadrotor.
    Clockwise rotation about this axis defines a positive pitch angle.
    Hence, pitching with a positive angle is equivalent to translating in the "front" direction, w.r.t. our FLU body frame.

  • Z axis is along the "Up" direction.
    Clockwise rotation about this axis defines a positive yaw angle.
    Hence, yawing with a positive angle is equivalent to rotated towards the "left" direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.

  • moveByAngleRatesThrottleAsync() (new)

  • moveByAngleRatesZAsync() (new)

  • moveByRollPitchYawThrottleAsync() (new)

  • moveByRollPitchYawZAsync()
    (was moveByAngleZAsync )

  • moveByRollPitchYawrateThrottleAsync()
    (was moveByAngleThrottleAsync )

  • moveByRollPitchYawrateZAsync() (new)

  • moveByYawRateAsync()
    (was rotateByYawRateAsync )

  • moveToYawAsync()
    (was rotateToYawAsync )

• Minor API changes

  • enableApiControl(bool, vehicle_name) is now broken into enableApiControl(vehicle_name), disableApiControl(vehicle_name)

    • enableApiControl
    • disableApiControl

  • armDisarm(bool, vehicle_name) is now broken into arm(vehicle_name), disarm(vehicle_name)

    • arm
    • disarm