ACRO mode

[kovalishinilya]

Is it posssible to control drones in a similar manner to real ACRO mode, i. e. controlling roll-pitch-yaw rates only?

[JacopoPan]

You can do so using BetaAviary.py which uses an action space in collective thrust and body rates

gym-pybullet-drones/gym_pybullet_drones/envs/BetaAviary.py

Line 146 in 5404871

thro, roll, pitch, yaw = self.ctbr2beta(*action[j,:])

(and relies to Betaflight SITL to translate RC channels to to motor PWM signal values)