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Fix Sim.control_freq in rotor_vel mode - #153
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amacati
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Nov 3, 2026
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Looks good, thanks for contributing!
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@ratheron Do you know how fast the desired rotor velocities are updated on the firmware? We might need a "proper" frequency for that to have it run at 500Hz or 1kHz. Not a priority though |
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Not completely sure, but I think the uC sends the thrust commands out to the ESCs at 500Hz. The ESCs run at higher frequency of course |
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Sim.control_freqraises inrotor_velmodecontrol_freqhas norotor_velbranch, so thesim.step(sim.freq // sim.control_freq)pattern from the README and docs raisesNotImplementedError. Rotor velocity commands are applied every sim step (controllablealready returns all True forrotor_vel, and the control docs list it as every dynamics step), so now it returnssim.freq.