add source of the quadrotor model

shaoanlu · May 2, 2024 · ed0b8b1 · ed0b8b1
1 parent 5442d87
commit ed0b8b1
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/core/env/planar_quadrotor.py b/core/env/planar_quadrotor.py
@@ -30,6 +30,9 @@ def __init__(self, config: dict = None, state: Optional[jnp.ndarray] = None):
     def step(self, state=None, control=[0, 0], dt: float = 0.01):
         """
         dynamics with JAX-compatible code.
+
+        Equations are from the Aerial Robotics coursera lecture
+        https://www.coursera.org/lecture/robotics-flight/2-d-quadrotor-control-kakc6
         """
         if state is None:
             state = self.state