About direct implementation of CTBR control

[henryshum0]

Hi, Sorry to bother but I am a bit new to this field and I am working on my project where the policy net will output CTBR for the lower controller to track. I have done some research but didn't really have a solid grip of where to begin.
May I ask if there is anything that I could follow to implement a CTBR controller for the racer directly in this project for the sake of RL training? Because I believe the one provided in /control/CTBRControl.py is for the BetaFly SITL and I have read that it would be bad to train on the whole SITL. Thank you.

[JacopoPan]

You are right in saying that using betaflight is probably not the best way to approach your problem but you’d need to add an action space to BaseRLAviary to implement a simple rates to motor thrusts controller. You could start by looking at this paper related work: https://rpg.ifi.uzh.ch/docs/RAL17_Faessler.pdf