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They represent the PWM ratio, which can actually take values between 0 and 65535. Below 10k you can expect almost no thrust. The PWM is limited to 60k in the firmware to avoid thrust saturation (so that we can still orient the drone correctly when requesting high thrust). |
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From #1265
The PWM is a ratio. In this example measurement of pwm to thrust you can see the relation between pwm ratio and thrust is non-linear. |
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Now I am training RL task in pybullet_drones , but I find that the min_pwm is 20000 and the max_pwm is 65535 in simulation environment.And after training a model to control CF2.1, I scale the range (-1 , 1) to (10000, 60000) which means to map the RL output to the set_point command.However, the CF can fly and hover at 1.5m high in sim.In real world, the output is not enough to give it power to fly to the height. |
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Hello, I want to know something about the 'set_point' command in the Crazyflie Python API.
Does the value of thrust that is range from 10001 to 60000 mean the motors's PWM? Maybe as far as i can tell, it just means the value to denote the motors' power.
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