Merge pull request #34 from mchawa/fix_rot_drag_quadx

Fix rot drag quadx
jjshoots · Apr 30, 2024 · cac8bd9 · cac8bd9
2 parents a1e3084 + 907b4fc
commit cac8bd9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/PyFlyt/core/drones/quadx.py b/PyFlyt/core/drones/quadx.py
@@ -470,7 +470,7 @@ def update_physics(self):
         self.motors.physics_update(self.pwm)
 
         # simulate rotational damping
-        drag_pqr = -self.drag_coef_pqr * (np.array(self.state[0]) ** 2)
+        drag_pqr = -np.sign(self.state[0]) * self.drag_coef_pqr * (np.array(self.state[0]) ** 2)
 
         # warning, the physics is funky for bounces
         if len(self.p.getContactPoints()) == 0: