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@madratman madratman released this 06 Aug 09:12
· 96 commits to master since this release
v0.1.1-linux
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Release Notes:

  • Environment Pak files are same as v0.0.0-linux. No need to re-download.

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

    • $ pip install airsimneurips --upgrade

  • 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)

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

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