From b96226370c15401b77584f049e2d1d94b76fd3d0 Mon Sep 17 00:00:00 2001
From: YifeiNie <2096935953@qq.com>
Date: Sat, 13 Sep 2025 15:22:05 +0800
Subject: [PATCH 1/3] add drone controller

---
 .../controllers/drone_controller/README.md    |    24 +
 .../config/pos_ctrl_eval/flight.yaml          |    82 +
 .../config/pos_ctrl_eval/genesis_env.yaml     |    29 +
 .../config/rc_FPV_eval/flight.yaml            |    82 +
 .../config/rc_FPV_eval/genesis_env.yaml       |    29 +
 .../drone_controller/drone_urdf/body.mtl      |     6 +
 .../drone_controller/drone_urdf/body.obj      | 19609 ++++++++++++++++
 .../drone_controller/drone_urdf/drone.urdf    |   126 +
 .../drone_urdf/propeller0.obj                 |  2461 ++
 .../drone_urdf/propeller1.obj                 |  2455 ++
 .../drone_urdf/propeller2.obj                 |  2453 ++
 .../drone_urdf/propeller3.obj                 |  2459 ++
 .../drone_urdf/propeller_back.mtl             |     6 +
 .../drone_urdf/propeller_front.mtl            |     6 +
 .../drone_controller/eval/genesis_env.py      |   175 +
 .../drone_controller/eval/pos_ctrl_eval.py    |    58 +
 .../drone_controller/eval/rc_FPV_eval.py      |    39 +
 .../drone_controller/mavlink_sim.py           |    93 +
 .../sim/controllers/drone_controller/odom.py  |   164 +
 .../sim/controllers/drone_controller/pid.py   |   285 +
 20 files changed, 30641 insertions(+)
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/README.md
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/flight.yaml
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/flight.yaml
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/genesis_env.yaml
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.mtl
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.obj
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/drone.urdf
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller0.obj
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller1.obj
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller2.obj
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller3.obj
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_back.mtl
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_front.mtl
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/eval/genesis_env.py
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/eval/pos_ctrl_eval.py
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/eval/rc_FPV_eval.py
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/mavlink_sim.py
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/odom.py
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/pid.py

diff --git a/src/env/gs_env/sim/controllers/drone_controller/README.md b/src/env/gs_env/sim/controllers/drone_controller/README.md
new file mode 100644
index 0000000..560300e
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/README.md
@@ -0,0 +1,24 @@
+### Run demos
+- Make sure your PC has one GPU at least
+- Enter your conda env
+- Install dependencies by: `pip install -e`
+
+#### Use RC control FPV in Genesis
+- Flash HEX file in `./utils/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex` to your FCU (for STM32H743)
+- Use Type-c to power the FCU, and connect UART port (on FCU) and USB port (on PC) through USB2TTL module, like:
+- <img src="./docs/1.png"  width="300" /> <br>
+- Connect the FC and use mavlink to send FC_data from FCU to PC
+- Use `ls /dev/tty*` to check the port id and modified param `USB_path` in `./config/flight.yaml`
+- Do this since the default mavlink frequence for rc_channle is too low
+- Use RC to control the sim drone by:
+    ```
+    python src/env/gs_env/sim/controllers/drone_controller/eval/rc_FPV_eval.py
+    ```
+#### Position controller test
+- Try to get the target with no planning, thus **has poor performance**
+    ```
+    python src/env/gs_env/sim/controllers/drone_controller/eval/pos_ctrl_eval.py
+    ```
+
+### NOTE
+- Add `export SETUPTOOLS_USE_DISTUTILS=stdlib` into ~/.bashrc if distutils.core has been pointed to distutils but not setuptools/_distutils, or an assert will be triggered in some cases
diff --git a/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/flight.yaml b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/flight.yaml
new file mode 100644
index 0000000..cbbf21f
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/flight.yaml
@@ -0,0 +1,82 @@
+
+# =========== pid_param =============
+ang:
+  kp_r: 6500
+  ki_r: 0.005
+  kd_r: 0.0001
+  kf_r: 0.0
+
+  kp_p: 6500
+  ki_p: 0.005
+  kd_p: 0.0001
+  kf_p: 0.0
+
+  kp_y: 7000                                          
+  ki_y: 0.0
+  kd_y: 0.0
+  kf_y: 0.0
+
+rat:
+  kp_r: 6500
+  ki_r: 0.01
+  kd_r: 0.0
+  kf_r: 0.0
+
+  kp_p: 6500
+  ki_p: 0.01
+  kd_p: 0.0
+  kf_p: 0.0
+
+  kp_y: 7000.0
+  ki_y: 0.0
+  kd_y: 0.0
+  kf_y: 0.0
+
+pos:
+  kp_x: 0.5
+  ki_x: 0.001
+  kd_x: 0.005
+  kf_x: 0.0
+
+  kp_y: 0.5
+  ki_y: 0.001
+  kd_y: 0.005
+  kf_y: 0.0
+
+  kp_t: 1.7
+  ki_t: 0.01
+  kd_t: 0.01
+  kf_t: 0.0
+
+pid_exec_freq: 60
+
+# =========== drone_param =============
+# see in assets/drone_urdf/cf2x.urdf
+thrust_compensate: 0.0
+weight: 0.5   
+motor_inertia: 2.6e-07
+g: 9.81   
+kf: 3.16e-10
+base_rpm: 62293.9641914   # equal to (m*g/4*kf)^0.5
+inertia_matrix:       # no use
+  - [0.0014, 0.0,     0.0,     0.0]
+  - [0.0,    0.0014,  0.0,     0.0]
+  - [0.0,    0.0,     0.00217, 0.0]
+  - [0.0,    0.0,     0.0,     1.0]
+
+# =========== mavlink_param =============
+USB_path: "/dev/ttyUSB0"
+baudrate: 2000000
+
+ARM:       "ch5"
+ANGLE:     "ch6"
+OFFBOARD:  "ch8"
+YAW:       "ch3" 
+PITCH:     "ch2"
+ROLL:      "ch1"
+THRUTTLE:  "ch4"   
+
+# =========== odom_param =============
+gyro_update_freq: 8000
+att_update_freq: 100
+acc_update_freqL: 1000
\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
new file mode 100644
index 0000000..96dfa27
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
@@ -0,0 +1,29 @@
+
+# ========= genesis =========
+num_envs: 1     
+drone_num: 1
+dt: 0.01
+max_vis_FPS: 30 
+max_dis_num: 5
+cam_quat: [-0.455, -0.542, 0.542, 0.455]  # FPV camera, 70.0 degree, show in https://quaternions.online/
+cam_pos: [0.02, 0.0, 0.04]
+cam_res: [16, 12]                         # width, height
+drone_init_pos: [0.0, 0.0, 0.01]           # Initial position of the drone
+use_FPV_camera: True
+viewer_follow_drone: False
+load_map: False
+use_rc: False
+show_viewer: True
+render_cam: False
+controller: "position"
+vis_waypoints: True
+map: "gates"
+min_dis: 0.8
+map_width: 3
+map_length: 3
+
+
+
+
+
+
diff --git a/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/flight.yaml b/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/flight.yaml
new file mode 100644
index 0000000..ef6643a
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/flight.yaml
@@ -0,0 +1,82 @@
+
+# =========== pid_param =============
+ang:
+  kp_r: 6500
+  ki_r: 0.005
+  kd_r: 0.0001
+  kf_r: 0.0
+
+  kp_p: 6500
+  ki_p: 0.005
+  kd_p: 0.0001
+  kf_p: 0.0
+
+  kp_y: 4000                                          
+  ki_y: 0.0
+  kd_y: 0.0
+  kf_y: 0.0
+
+rat:
+  kp_r: 6500
+  ki_r: 0.01
+  kd_r: 0.0
+  kf_r: 0.0
+
+  kp_p: 6500
+  ki_p: 0.01
+  kd_p: 0.0
+  kf_p: 0.0
+
+  kp_y: 5000.0
+  ki_y: 0.0
+  kd_y: 0.0
+  kf_y: 0.0
+
+pos:
+  kp_x: 1.0
+  ki_x: 0.001
+  kd_x: 0.0
+  kf_x: 0.0
+
+  kp_y: 1.0
+  ki_y: 0.001
+  kd_y: 0.0
+  kf_y: 0.0
+
+  kp_t: 1.0
+  ki_t: 0.001
+  kd_t: 0.0
+  kf_t: 0.0
+
+pid_exec_freq: 60
+
+# =========== drone_param =============
+# see in assets/drone_urdf/cf2x.urdf
+thrust_compensate: 0.7
+weight: 0.5   
+motor_inertia: 2.6e-07
+g: 9.81   
+kf: 3.16e-10
+base_rpm: 62293.9641914   # equal to (m*g/4*kf)^0.5
+inertia_matrix:       # no use
+  - [0.0014, 0.0,     0.0,     0.0]
+  - [0.0,    0.0014,  0.0,     0.0]
+  - [0.0,    0.0,     0.00217, 0.0]
+  - [0.0,    0.0,     0.0,     1.0]
+
+# =========== mavlink_param =============
+USB_path: "/dev/ttyUSB0"
+baudrate: 2000000
+
+ARM:       "ch5"
+ANGLE:     "ch6"
+OFFBOARD:  "ch8"
+YAW:       "ch3" 
+PITCH:     "ch2"
+ROLL:      "ch1"
+THRUTTLE:  "ch4"   
+
+# =========== odom_param =============
+gyro_update_freq: 8000
+att_update_freq: 100
+acc_update_freqL: 1000
\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/genesis_env.yaml b/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/genesis_env.yaml
new file mode 100644
index 0000000..2301716
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/genesis_env.yaml
@@ -0,0 +1,29 @@
+
+# ========= genesis =========
+num_envs: 1     
+drone_num: 1
+dt: 0.01
+max_vis_FPS: 30 
+max_dis_num: 5
+cam_quat: [-0.455, -0.542, 0.542, 0.455]  # FPV camera, 70.0 degree, show in https://quaternions.online/
+cam_pos: [0.02, 0.0, 0.04]
+cam_res: [16, 12]                         # width, height
+drone_init_pos: [0.0, 0.0, 0.01]           # Initial position of the drone
+use_FPV_camera: True
+viewer_follow_drone: False
+load_map: False
+use_rc: False
+show_viewer: True
+render_cam: False
+controller: "angle"
+vis_waypoints: True
+map: "gates"
+min_dis: 0.8
+map_width: 3
+map_length: 3
+
+
+
+
+
+
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.mtl b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.mtl
new file mode 100644
index 0000000..ad866af
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 0.6 0.6 0.6
+Ks 0.8 0.8 0.8
+Ns 250
+d 1
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.obj b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.obj
new file mode 100644
index 0000000..f43cf51
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/body.obj
@@ -0,0 +1,19609 @@
+# https://github.com/mikedh/trimesh
+mtllib body.mtl
+usemtl material_0
+v -0.00100000 -0.00817500 0.01199300
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diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/drone.urdf b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/drone.urdf
new file mode 100644
index 0000000..b65d19f
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/drone.urdf
@@ -0,0 +1,126 @@
+<?xml version="1.0" ?>
+
+<robot name="cf2">
+
+  <properties arm="0.12" kf="3.16e-10" km="7.94e-12" thrust2weight="2.25" max_speed_kmh="30" gnd_eff_coeff="11.36859" prop_radius="2.31348e-2" drag_coeff_xy="9.1785e-3" drag_coeff_z="10.311e-3" dw_coeff_1="276700.18" dw_coeff_2=".16" dw_coeff_3="-.11" />
+
+  <link name="base_link"> 
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.5"/>
+      <inertia ixx="1.4e-3" ixy="0.0" ixz="0.0" iyy="1.4e-3" iyz="0.0" izz="1.4e-3"/>
+    </inertial>
+
+    <!-- links>
+      <carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
+      <julian url="https://www.research-collection.ethz.ch/handle/20.500.11850/214143" />
+      <mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
+    </links -->
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./body.obj" scale="1 1 1"/>
+      </geometry> 
+      <material name="grey">
+        <color rgba=".5 .5 .5 1"/>
+      </material> 
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder radius=".06" length=".025"/>
+      </geometry>
+    </collision>  
+
+  </link>
+
+  <link name="prop0_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1 -0.1 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0323 -0.0323 0.0132"/>
+      <geometry>
+          <mesh filename="./propeller0.obj"/>
+      </geometry> 
+    </visual>
+
+  </link>
+  <joint name="prop0_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="prop0_link"/>
+  </joint>
+
+  <link name="prop1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 -0.1 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.0323 -0.0323 0.0132"/>
+      <geometry>
+          <mesh filename="./propeller1.obj"/>
+      </geometry> 
+    </visual>
+  </link>
+  <joint name="prop1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="prop1_link"/>
+  </joint>
+
+  <link name="prop2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.1 0.1 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.0323 0.0323 0.0132"/>
+      <geometry>
+          <mesh filename="./propeller2.obj"/>
+      </geometry> 
+    </visual>
+  </link>
+  <joint name="prop2_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="prop2_link"/>
+  </joint>
+
+  <link name="prop3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1 0.1 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0323 0.0323 0.0132"/>
+      <geometry>
+          <mesh filename="./propeller3.obj"/>
+      </geometry> 
+    </visual>
+  </link>
+  <joint name="prop3_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="prop3_link"/>
+  </joint>
+
+  <link name="center_of_mass_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <joint name="center_of_mass_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="center_of_mass_link"/>
+  </joint>
+
+</robot>
+
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller0.obj b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller0.obj
new file mode 100644
index 0000000..b699412
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller0.obj
@@ -0,0 +1,2461 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_front.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller1.obj b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller1.obj
new file mode 100644
index 0000000..112339e
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller1.obj
@@ -0,0 +1,2455 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_back.mtl
+usemtl material_0
+v 0.00028900 -0.00019800 -0.00011000
+v 0.00023400 -0.00026100 -0.00018100
+v 0.00016600 -0.00030900 -0.00025200
+v 0.00008700 -0.00033900 -0.00032200
+v 0.00032900 -0.00012200 -0.00004300
+v 0.00034900 -0.00003400 0.00001900
+v 0.00034500 0.00006200 0.00007100
+v -0.00000000 -0.00035000 -0.00038700
+v 0.00007100 0.00007200 -0.00007900
+v -0.00012400 -0.00032700 -0.00045800
+v -0.00024200 -0.00025300 -0.00049300
+v 0.00031200 0.00015900 0.00010800
+v 0.00024800 0.00024700 0.00012300
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diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller2.obj b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller2.obj
new file mode 100644
index 0000000..58e9741
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller2.obj
@@ -0,0 +1,2453 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_back.mtl
+usemtl material_0
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diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller3.obj b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller3.obj
new file mode 100644
index 0000000..5fe3392
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller3.obj
@@ -0,0 +1,2459 @@
+# https://github.com/mikedh/trimesh
+mtllib propeller_front.mtl
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\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_back.mtl b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_back.mtl
new file mode 100644
index 0000000..d333e69
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_back.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 1 0.5 0
+Ks 0.8 0.8 0.8
+Ns 550
+d 0.7
diff --git a/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_front.mtl b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_front.mtl
new file mode 100644
index 0000000..d61718c
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/drone_urdf/propeller_front.mtl
@@ -0,0 +1,6 @@
+newmtl material_0
+Ka 1 0 0
+Kd 0 1 1
+Ks 0.5 0.5 0.5
+Ns 550
+d 0.7
diff --git a/src/env/gs_env/sim/controllers/drone_controller/eval/genesis_env.py b/src/env/gs_env/sim/controllers/drone_controller/eval/genesis_env.py
new file mode 100644
index 0000000..fb94a2e
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/eval/genesis_env.py
@@ -0,0 +1,175 @@
+
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+
+import torch
+import types
+import genesis as gs
+import numpy as np
+from pid import PIDcontroller
+from odom import Odom
+from mavlink_sim import rc_command
+
+from genesis.utils.geom import trans_quat_to_T, transform_quat_by_quat, transform_by_trans_quat
+
+def gs_rand_float(lower, upper, shape, device):
+    return (upper - lower) * torch.rand(size=shape, device=device) + lower
+
+class Genesis_env :
+    def __init__(
+            self, 
+            env_config, 
+            flight_config,
+            num_envs=None,
+        ):
+        
+        # configs
+        self.env_config = env_config
+        self.flight_config = flight_config
+
+        # bool switches
+        self.render_cam = self.env_config["render_cam"]
+        self.use_rc = self.env_config["use_rc"]
+        self.use_ros = self.env_config.get("use_ros", False)
+
+        # flight
+        self.controller = env_config["controller"]
+        self.device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+        if num_envs is None:
+            self.num_envs = self.env_config.get("num_envs", 1)
+        else:
+            self.num_envs = num_envs
+        self.dt = self.env_config.get("dt", 0.01)           # default sim env update in 100hz
+        self.cam_quat = torch.tensor(self.env_config.get("cam_quat", [0.5, 0.5, -0.5, -0.5]), device=self.device, dtype=gs.tc_float).expand(self.num_envs, -1)
+        
+        self.rendered_env_num = self.num_envs if self.render_cam else min(4, self.num_envs)
+        
+        # create scene
+        self.scene = gs.Scene(
+            sim_options = gs.options.SimOptions(dt = self.dt, substeps = 1),
+            viewer_options = gs.options.ViewerOptions(
+                max_FPS = self.env_config.get("max_vis_FPS", 15),
+                camera_pos = (-3.0, 0.0, 3.0),
+                camera_lookat = (0.0, 0.0, 1.0),
+                camera_fov = 40,
+            ),
+            vis_options = gs.options.VisOptions(
+                show_world_frame = False,
+                rendered_envs_idx = list(range(self.rendered_env_num)),
+                env_separate_rigid = True,
+                shadow = False,
+            ),
+            rigid_options = gs.options.RigidOptions(
+                dt = self.dt,
+                constraint_solver = gs.constraint_solver.Newton,
+                enable_collision = True,
+                enable_joint_limit = True,
+            ),
+            show_viewer = self.env_config["show_viewer"],
+        )
+
+        # add plane (ground)
+        self.plane = self.scene.add_entity(gs.morphs.Plane())
+
+        # add drone
+        drone = gs.morphs.Drone(
+            file="src/env/gs_env/sim/controllers/drone_controller/drone_urdf/drone.urdf", 
+            pos=self.env_config["drone_init_pos"], 
+            euler=(0, 0, 0),
+            default_armature=self.flight_config.get("motor_inertia", 2.6e-07)
+        )
+        self.drone = self.scene.add_entity(drone)
+        
+        # set viewer
+        if self.env_config["viewer_follow_drone"] is True:
+            self.scene.viewer.follow_entity(self.drone)  # follow drone   
+        
+        # add odom for drone
+        self.set_drone_imu()
+
+        # add controller for drone
+        self.set_drone_controller()
+
+        # add drone camera
+        self.set_drone_camera()
+
+        # set target for vis
+        self.set_target_phere_for_vis()
+
+        # build world
+        self.scene.build(n_envs = self.num_envs)
+
+        # init
+        self.drone_init_pos = self.drone.get_pos()
+        self.drone_init_quat = self.drone.get_quat()
+        self.drone.set_dofs_damping(torch.tensor([0.0, 0.0, 0.0, 1e-4, 1e-4, 1e-4]))  # Set damping to a small value to avoid numerical instability
+
+
+    def step(self, action=None): 
+        self.scene.step()
+        self.drone.cam.set_FPV_cam_pos()
+        if self.render_cam:
+            self.drone.cam.depth = self.drone.cam.render(rgb=True, depth=True)[1]   # [1] is idx of depth img
+        self.drone.controller.step(action)
+
+
+    def set_drone_imu(self):
+        odom = Odom(
+            num_envs = self.num_envs,
+            device = torch.device("cuda")
+        )
+        odom.set_drone(self.drone)
+        setattr(self.drone, 'odom', odom) 
+
+    def set_drone_camera(self):
+        if (self.env_config.get("use_FPV_camera", False)):
+            cam = self.scene.add_camera(
+                res=self.env_config["cam_res"],
+                pos=(-3.5, 0.0, 2.5),
+                lookat=(0, 0, 0.5),
+                fov=58,
+                GUI=True,
+            )
+        def set_FPV_cam_pos(self):
+            self.cam.set_pose(
+            transform = trans_quat_to_T(trans = self.get_pos(), 
+                                        quat = transform_quat_by_quat(self.cam.cam_quat, self.odom.body_quat))[0].cpu().numpy()
+        )
+        setattr(cam, 'cam_quat', self.cam_quat)  
+        setattr(cam, 'set_FPV_cam_pos', types.MethodType(set_FPV_cam_pos, self.drone))
+        depth: np.ndarray = None
+        setattr(cam ,'depth', depth)
+        setattr(self.drone, 'cam', cam)
+
+    def set_drone_controller(self):
+        pid = PIDcontroller(
+            num_envs = self.num_envs, 
+            rc_command = rc_command,
+            odom = self.drone.odom, 
+            config = self.flight_config,
+            device = torch.device("cuda"),
+            use_rc = self.use_rc,
+            controller = self.controller,
+        )
+        pid.set_drone(self.drone)
+        setattr(self.drone, 'controller', pid)      
+
+    def set_target_phere_for_vis(self):
+        if self.env_config["vis_waypoints"]:
+            self.target = self.scene.add_entity(
+                morph=gs.morphs.Mesh(
+                    file="meshes/sphere.obj",
+                    scale=0.02,
+                    fixed=False,
+                    collision=False,
+                ),
+                surface=gs.surfaces.Rough(
+                    diffuse_texture=gs.textures.ColorTexture(
+                        color=(1.0, 0.5, 0.5),
+                    ),
+                ),
+            )
+        else:
+            self.target = None
\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/eval/pos_ctrl_eval.py b/src/env/gs_env/sim/controllers/drone_controller/eval/pos_ctrl_eval.py
new file mode 100644
index 0000000..142c180
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/eval/pos_ctrl_eval.py
@@ -0,0 +1,58 @@
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+
+import yaml
+import torch
+from genesis_env import Genesis_env
+import genesis as gs
+
+
+def gs_rand_float(lower, upper, device="cuda"):
+    shape = lower.shape  # scalar
+    return (upper - lower) * torch.rand(size=shape, device=device) + lower
+
+
+def main():
+    # logging_level="warning"
+    gs.init(logging_level="warning")
+    num_envs = 1
+    command_buf = torch.zeros((num_envs, 4), device="cuda", dtype=gs.tc_float)
+    def update_commands(cur_pos, envs_idx=None):
+        if envs_idx is None:
+            idx = torch.arange(num_envs, "cuda")
+        else:
+            idx = envs_idx
+        command_buf[idx, 0] = gs_rand_float(cur_pos[idx, 0]-0.3, cur_pos[idx, 0]+0.3)
+        command_buf[idx, 1] = gs_rand_float(cur_pos[idx, 1]-0.3, cur_pos[idx, 1]+0.3)
+        command_buf[idx, 2] = gs_rand_float(torch.clamp(cur_pos[idx, 2]-0.2, min=0.3, max=2.0), cur_pos[idx, 2]+0.2)
+
+    
+    def at_target(cur_pos):
+        cur_pos_error = cur_pos - command_buf[:, :3]
+        at_target = ((torch.norm(cur_pos_error, dim=1) < 0.1).nonzero(as_tuple=False).flatten())
+        return at_target
+
+    with open("src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml", "r") as file:
+        env_config = yaml.load(file, Loader=yaml.FullLoader)
+    with open("src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/flight.yaml", "r") as file:
+        flight_config = yaml.load(file, Loader=yaml.FullLoader)
+
+
+    genesis_env = Genesis_env(
+        env_config = env_config, 
+        flight_config = flight_config,
+    )
+
+    while True:
+        cur_pos = genesis_env.drone.odom.world_pos
+        update_commands(cur_pos, at_target(cur_pos))
+        genesis_env.target.set_pos(command_buf[:, :3], zero_velocity=True, envs_idx=list(range(num_envs)))
+        genesis_env.step(command_buf)
+
+if __name__ == "__main__" :
+    main()
+
+
+    
\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/eval/rc_FPV_eval.py b/src/env/gs_env/sim/controllers/drone_controller/eval/rc_FPV_eval.py
new file mode 100644
index 0000000..d6fac9d
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/eval/rc_FPV_eval.py
@@ -0,0 +1,39 @@
+import sys
+import os
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(parent_dir)
+import yaml
+from genesis_env import Genesis_env
+from mavlink_sim import start_mavlink_receive_thread
+import genesis as gs
+
+
+def main():
+
+    # logging_level="warning"
+    gs.init(logging_level="warning")
+    
+    with open("src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/genesis_env.yaml", "r") as file:
+        env_config = yaml.load(file, Loader=yaml.FullLoader)
+    with open("src/env/gs_env/sim/controllers/drone_controller/config/rc_FPV_eval/flight.yaml", "r") as file:
+        flight_config = yaml.load(file, Loader=yaml.FullLoader)
+
+
+    genesis_env = Genesis_env(
+        env_config = env_config, 
+        flight_config = flight_config,
+    )
+
+    device = "/dev/ttyUSB0"
+    if not os.path.exists(device):
+        print(f"[MAVLINK] Device {device} not found, skipping mavlink thread.")
+    else :
+        start_mavlink_receive_thread(device)
+
+    while True:
+        genesis_env.step()
+if __name__ == "__main__" :
+    main()
+
+
+    
\ No newline at end of file
diff --git a/src/env/gs_env/sim/controllers/drone_controller/mavlink_sim.py b/src/env/gs_env/sim/controllers/drone_controller/mavlink_sim.py
new file mode 100644
index 0000000..397759e
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/mavlink_sim.py
@@ -0,0 +1,93 @@
+import threading
+import time
+import yaml
+from pymavlink import mavutil
+from enum import IntFlag
+import torch
+
+class MODE(IntFlag):
+    ANGLE       = 0
+    ANGLE_RATE  = 1
+    MIX         = 2
+    DISARM      = 3
+    ARM         = 4
+    MANUAL      = 5
+    OFFBOARD    = 6
+
+def load_rc_config(yaml_file):
+    with open(yaml_file, "r") as file:
+        return yaml.safe_load(file)
+
+rc_data_lock = threading.Lock()
+rc_data = {
+    "ch1": None,
+    "ch2": None,
+    "ch3": None,
+    "ch4": None,
+    "ch5": None,
+    "ch6": None,
+    "ch7": None,
+    "ch8": None,
+}
+
+# [roll, pitch, yaw, throttle, angle_mode, arm_mode, offboard_mode]
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+rc_command = torch.zeros((7, ), device=device, dtype=torch.float32)  
+
+def clamp(min_val, max_val, value):
+    return max(min_val, min(value, max_val))
+
+def mavlink_receive_thread(device="/dev/ttyUSB0", baudrate=2000000, rc_config=None):
+    connection = mavutil.mavlink_connection(device, baud=baudrate)
+    
+    print(f"Connected to {device} at baudrate {baudrate}")
+    
+    while True:
+        try:
+            msg = connection.recv_match(blocking=True)
+            
+            if msg is None:
+                continue
+
+            if msg.get_type() == "RC_CHANNELS_RAW":
+                with rc_data_lock:
+                    rc_data.update({        # interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
+                        "ch1": msg.chan1_raw,
+                        "ch2": msg.chan2_raw,
+                        "ch3": msg.chan3_raw,
+                        "ch4": msg.chan4_raw,
+                        "ch5": msg.chan5_raw,
+                        "ch6": msg.chan6_raw,
+                        "ch7": msg.chan7_raw,
+                        "ch8": msg.chan8_raw,
+                    })
+                    # print("RC Data:", rc_data)
+                    rc_command[0] = clamp(-1, 1, (rc_data[rc_config.get("ROLL", "ch1")] - 1500) / 500)      # scale to range [-1.0, 1.0]
+                    rc_command[1] = clamp(-1, 1, (rc_data[rc_config.get("PITCH", "ch2")] - 1500) / 500)
+                    rc_command[2] = clamp(-1, 1, (rc_data[rc_config.get("YAW", "ch3")] - 1500) / 500)
+                    rc_command[3] = clamp(0, 1, (rc_data[rc_config.get("throttle", "ch4")] - 1000) / 1000)
+                    temp_angle = rc_data[rc_config.get("ANGLE", "ch6")]
+                    temp_arm = rc_data[rc_config.get("ARM", "ch5")]
+                    temp_offboard = rc_data[rc_config.get("OFFBOARD", "ch8")]
+                    
+                    rc_command[4] = 0 if temp_angle < 1400 else 1 if temp_angle <= 1700 else 0  
+                    rc_command[5] = 1 if temp_arm > 1400 else 0          
+                    rc_command[6] = 0 if temp_offboard < 1400 else 1     
+
+                    # print("RC Command:", rc_command)
+
+        except KeyboardInterrupt:
+            print("Exiting...")
+            break
+
+
+def start_mavlink_receive_thread(device):
+    rc_config = load_rc_config("examples/drone/controller/config/rc_FPV_eval/flight.yaml")
+    t = threading.Thread(target=mavlink_receive_thread, args=(device, rc_config["baudrate"], rc_config), daemon=True)
+    t.start()
+
+if __name__ == "__main__":
+
+    start_mavlink_receive_thread()
+    while True:
+        time.sleep(0.1)
diff --git a/src/env/gs_env/sim/controllers/drone_controller/odom.py b/src/env/gs_env/sim/controllers/drone_controller/odom.py
new file mode 100644
index 0000000..2fae080
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/odom.py
@@ -0,0 +1,164 @@
+import time
+import torch
+import genesis as gs
+from genesis.utils.geom import quat_to_xyz, transform_by_quat, inv_quat, transform_quat_by_quat
+
+# NOTE :IMU is not an odomtry, only has anglear_velocity and linear_accerleration
+class Odom:
+    def __init__(self, num_envs, device = torch.device("cuda")):
+        self.device = device
+        self.drone = None
+        self.num_envs = num_envs
+        self.has_nan = torch.zeros((self.num_envs,), device=self.device, dtype=bool)
+
+        # body data
+        self.body_euler = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.body_linear_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.body_linear_acc = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)        
+        self.body_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        identity_quat = torch.tensor([1.0, 0.0, 0.0, 0.0], device=self.device, dtype=gs.tc_float)
+        self.body_quat = identity_quat.unsqueeze(0).repeat(self.num_envs, 1)
+        self.body_quat_inv = identity_quat.unsqueeze(0).repeat(self.num_envs, 1)
+
+        self.last_body_linear_vel = torch.zeros_like(self.body_linear_vel)    # used to cal acc
+
+        # global data
+        self.world_euler = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.world_linear_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.world_linear_acc = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.world_pos = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.world_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+
+        self.last_world_pos = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.last_world_linear_vel = torch.zeros_like(self.body_linear_vel)
+        self.last_time = time.perf_counter()
+
+    def set_drone(self, drone):
+        self.drone = drone
+
+    def cal_cur_quat(self):
+        self.body_quat[:] = self.drone.get_quat()
+        self.has_nan[:] = torch.isnan(self.body_quat).any(dim=1)
+        if (torch.any(self.has_nan)):
+            print("get_quat NaN env_idx:", torch.nonzero(self.has_nan).squeeze())
+            self.body_quat_inv[self.has_nan] = inv_quat(self.body_quat[self.has_nan])
+            self.reset(self.has_nan.nonzero(as_tuple=False).flatten())
+        else:
+            self.body_quat_inv = inv_quat(self.body_quat)
+
+    def gyro_update(self):  
+        self.world_ang_vel[:] = self.drone.get_ang()     # (roll, pitch, yaw)
+        self.body_ang_vel[:] = self.world_to_body_vector(self.world_ang_vel)
+
+    def vel_update(self):
+        self.last_world_linear_vel[:] = self.world_linear_vel
+        self.last_body_linear_vel[:] = self.body_linear_vel
+        self.world_linear_vel[:] = self.drone.get_vel()
+        self.body_linear_vel[:] = self.world_to_body_vector(self.world_linear_vel)
+
+    def acc_update(self, dT):
+        self.body_linear_acc[:] = (self.body_linear_vel - self.last_body_linear_vel) / dT
+        self.world_linear_acc[:] = (self.world_linear_vel - self.last_world_linear_vel) / dT
+
+    def att_update(self):
+        self.cal_cur_quat()  
+        self.body_euler[:] = quat_to_xyz(self.body_quat, rpy=True)
+
+    def pos_update(self):
+        self.last_world_pos[:] = self.world_pos
+        self.world_pos[:] = self.drone.get_pos()
+
+    def odom_update(self):
+        self.att_update()
+        self.gyro_update()
+        self.vel_update()
+        self.acc_update(time.perf_counter() - self.last_time)
+        self.pos_update()
+        self.last_time = time.perf_counter()
+        
+    def reset(self, rand_quat, envs_idx):
+        # use reset when the status mutation occurs
+        if envs_idx is None:
+            reset_range = torch.arange(self.num_envs, device=self.device)
+        else:
+            reset_range = envs_idx
+        # Reset body data to zero
+        self.body_euler.index_fill_(0, reset_range, 0.0)
+        self.body_linear_vel.index_fill_(0, reset_range, 0.0)
+        self.body_linear_acc.index_fill_(0, reset_range, 0.0)
+        self.body_ang_vel.index_fill_(0, reset_range, 0.0)
+        identity_quat = torch.tensor([1.0, 0.0, 0.0, 0.0], device=self.device, dtype=gs.tc_float)
+        self.body_quat[reset_range] = rand_quat
+        self.body_quat_inv[reset_range] = inv_quat(rand_quat)
+        self.body_euler[:] = quat_to_xyz(self.body_quat, rpy=True)
+        
+        self.last_body_linear_vel.index_fill_(0, reset_range, 0.0)
+
+        # Reset global data to zero
+        self.world_euler.index_fill_(0, reset_range, 0.0)
+        self.world_linear_vel.index_fill_(0, reset_range, 0.0)
+        self.world_linear_acc.index_fill_(0, reset_range, 0.0)
+        self.world_pos.index_fill_(0, reset_range, 0.0)
+        self.world_ang_vel.index_fill_(0, reset_range, 0.0)
+
+        self.last_world_pos.index_fill_(0, reset_range, 0.0)
+        self.last_world_linear_vel.index_fill_(0, reset_range, 0.0)
+
+        # Reset the time
+        self.last_time = time.perf_counter()
+
+        # self.odom_update()
+        self.last_world_pos[reset_range] = self.world_pos[reset_range]
+        self.last_world_linear_vel[reset_range] = self.world_linear_vel[reset_range]
+        self.last_body_linear_vel[reset_range] = self.body_linear_vel[reset_range]
+
+
+    # utils
+    def world_to_body_vector(self, input_tensor):
+        """
+        Convert body frame vector tensor to world frame.
+        :param:
+            input_tensor: vectors like vel, acc ...(N, 3) or quat(N, 3), where N is the number of environments.
+        """
+        if input_tensor.shape[-1] == 3:
+            return transform_by_quat(input_tensor, self.body_quat_inv)
+        elif input_tensor.shape[-1] == 4:
+            return transform_quat_by_quat(input_tensor, self.body_quat_inv)
+        else:
+            raise ValueError("Input tensor must have shape (N, 3) or (N, 4).")
+        
+    def body_to_world_vector(self, input_tensor):
+        """
+        Convert world frame vector tensor to body frame.
+        :param:
+            input_tensor: vectors like vel, acc ...(N, 3) or quat(N, 4), where N is the number of environments.
+        """
+        if input_tensor.shape[-1] == 3:
+            return transform_by_quat(input_tensor, self.body_quat)
+        elif input_tensor.shape[-1] == 4:
+            return transform_quat_by_quat(input_tensor, self.body_quat)
+        else:
+            raise ValueError("Input tensor must have shape (N, 3) or (N, 4).")
+
+
+        
+def ve2vb(input_vec: torch.Tensor, yaw: torch.Tensor) -> torch.Tensor:
+    assert input_vec.ndim == 2 and input_vec.shape[1] == 3, "input_vec must be (N, 3)"
+    assert yaw.ndim == 1 or (yaw.ndim == 2 and yaw.shape[1] == 1), "yaw must be (N,) or (N,1)"
+
+    yaw = -yaw.view(-1)
+    cos_yaw = torch.cos(yaw)
+    sin_yaw = torch.sin(yaw)
+
+    R = torch.zeros((input_vec.shape[0], 3, 3), dtype=input_vec.dtype, device=input_vec.device)
+    R[:, 0, 0] = cos_yaw
+    R[:, 0, 1] = sin_yaw
+    R[:, 1, 0] = -sin_yaw
+    R[:, 1, 1] = cos_yaw
+    R[:, 2, 2] = 1.0
+
+    input_vec = input_vec.unsqueeze(-1)
+    output = torch.bmm(R, input_vec)
+
+    return output.squeeze(-1) 
+   
diff --git a/src/env/gs_env/sim/controllers/drone_controller/pid.py b/src/env/gs_env/sim/controllers/drone_controller/pid.py
new file mode 100644
index 0000000..cf65c09
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/pid.py
@@ -0,0 +1,285 @@
+
+
+import torch
+import genesis as gs
+
+import math
+from genesis.utils.geom import quat_to_R
+from flight.odom import ve2vb
+
+class PIDcontroller:
+    def __init__(
+            self, 
+            num_envs, 
+            rc_command, 
+            odom, 
+            config, 
+            controller = "angle",
+            use_rc = False, 
+            device = torch.device("cuda")):
+
+        self.rc_command = rc_command
+        self.device = device
+        self.num_envs = num_envs
+        self.odom = odom
+        self.use_rc = use_rc
+        self.thrust_compensate = config.get("thrust_compensate", 0.5)  
+        self.controller = controller
+            
+        if self.controller == "position":
+            self.controller = self.position_controller
+        elif self.controller == "rate":
+            self.controller = self.rate_controller
+        elif self.controller == "angle":
+            self.controller = self.angle_controller
+        else:
+            raise ValueError(f"Invalid controller type: {self.controller}. Choose from 'angle', 'rate', or 'position'.")
+        
+        # Shape: (n, 3)
+        ang_cfg = config.get("ang", {})
+        rat_cfg = config.get("rat", {})
+        pos_cfg = config.get("pos", {})
+        def get3(cfg, k1, k2, k3):
+            return torch.tensor([
+                cfg.get(k1, 0.0),
+                cfg.get(k2, 0.0),
+                cfg.get(k3, 0.0)
+            ], device=self.device).unsqueeze(0).repeat(self.num_envs, 1)
+        
+        # Angular controller (angle controller PID)
+        self.kp_a = get3(ang_cfg, "kp_r", "kp_p", "kp_y")
+        self.ki_a = get3(ang_cfg, "ki_r", "ki_p", "ki_y")
+        self.kd_a = get3(ang_cfg, "kd_r", "kd_p", "kd_y")
+        self.kf_a = get3(ang_cfg, "kf_r", "kf_p", "kf_y")
+        self.P_term_a = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.I_term_a = torch.zeros_like(self.P_term_a)
+        self.D_term_a = torch.zeros_like(self.P_term_a)
+        self.F_term_a = torch.zeros_like(self.P_term_a)
+
+        # Angular Rate controller (angular rate PID)
+        self.kp_r = get3(rat_cfg, "kp_r", "kp_p", "kp_y")
+        self.ki_r = get3(rat_cfg, "ki_r", "ki_p", "ki_y")
+        self.kd_r = get3(rat_cfg, "kd_r", "kd_p", "kd_y")
+        self.kf_r = get3(rat_cfg, "kf_r", "kf_p", "kf_y")
+        self.P_term_r = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.I_term_r = torch.zeros_like(self.P_term_r)
+        self.D_term_r = torch.zeros_like(self.P_term_r)
+        self.F_term_r = torch.zeros_like(self.P_term_r)
+
+        # Position controller (xyz and throttle)
+        self.kp_p = get3(pos_cfg, "kp_x", "kp_y", "kp_t")
+        self.ki_p = get3(pos_cfg, "ki_x", "ki_y", "ki_t")
+        self.kd_p = get3(pos_cfg, "kd_x", "kd_y", "kd_t")
+        self.kf_p = get3(pos_cfg, "kf_x", "kf_y", "kf_t")
+        self.P_term_p = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.I_term_p = torch.zeros_like(self.P_term_p)
+        self.D_term_p = torch.zeros_like(self.P_term_p)
+        self.F_term_p = torch.zeros_like(self.P_term_p)                
+        
+        self.pid_freq = config.get("pid_exec_freq", 60)     # no use
+        self.base_rpm = config.get("base_rpm", 14468.429183500699)
+        self.dT = 1 / self.pid_freq                         # no use
+        self.tpa_factor = 1
+        self.tpa_rate = 0
+        self.throttle_command = torch.zeros((self.num_envs, ), device=self.device, dtype=gs.tc_float)
+
+        self.last_body_ang_vel = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+
+        self.angle_rate_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.angle_error = torch.zeros_like(self.angle_rate_error)
+
+        self.body_set_point = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.pid_output = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.cur_setpoint_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.last_setpoint_error = torch.zeros((self.num_envs, 3), device=self.device, dtype=gs.tc_float)
+        self.drone = None
+
+        self.cnt = 0
+
+    def set_drone(self, drone):
+        self.drone = drone
+
+
+    def mixer(self, action=None) -> torch.Tensor:
+
+        throttle_rc = torch.clamp((self.rc_command[3] + self.throttle_command) * 3, 0.1, 3) * self.base_rpm
+        if action is None:
+            throttle = throttle_rc
+        else:
+            throttle_action = torch.clamp((action[:, -1] + self.thrust_compensate) * 3, min=0.1, max=3.0) * self.base_rpm
+            throttle = throttle_rc + throttle_action
+
+        # self.pid_output[:] = torch.clip(self.pid_output[:], -3.0, 3.0)
+        motor_outputs = torch.stack([
+           throttle - self.pid_output[:, 0] - self.pid_output[:, 1] - self.pid_output[:, 2],  # M1
+           throttle - self.pid_output[:, 0] + self.pid_output[:, 1] + self.pid_output[:, 2],  # M2
+           throttle + self.pid_output[:, 0] + self.pid_output[:, 1] - self.pid_output[:, 2],  # M3
+           throttle + self.pid_output[:, 0] - self.pid_output[:, 1] + self.pid_output[:, 2],  # M4
+        ], dim = 1)
+
+        return torch.clamp(motor_outputs, min=1, max=self.base_rpm * 3.5)  # size: tensor(num_envs, 4)
+
+    def pid_update_TpaFactor(self):
+        if (self.rc_command[3] > 0.35):       # 0.35 is the tpa_breakpoint, the same as Betaflight, 
+            if (self.rc_command[3] < 1.0): 
+                self.tpa_rate *= (self.rc_command[3] - 0.35) / (1.0 - 0.35);            
+            else:
+                self.tpa_rate = 0.0
+            self.tpa_factor = 1.0 - self.tpa_rate
+
+    def step(self, action=None):
+        # controller test
+        # self.cnt += 1
+        # if self.cnt % 40 == 0:     
+        #     quat = random_quaternion(self.num_envs)
+        #     self.drone.set_quat(quat)
+        #     self.cnt = 0
+        self.odom.odom_update()
+        if self.use_rc is True:
+            self.pid_update_TpaFactor() 
+            if(self.rc_command[5] == 0):        # not arm
+                self.drone.set_propellels_rpm(torch.zeros((self.num_envs, 4), device=self.device, dtype=gs.tc_float))
+                return
+            if self.rc_command[4] == 0:         # angle mode
+                self.angle_controller(action)
+            elif self.rc_command[4] == 1:       # angle rate mode
+                self.rate_controller(action)
+            else:                               # undifined
+                print("undifined mode, do nothing!!")
+                return
+        else:
+            self.controller(action)
+            
+        self.drone.set_propellels_rpm(self.mixer(action))
+
+    def rate_controller(self, action=None): 
+        """
+        Anglular rate controller, sequence is (roll, pitch, yaw), use previous-D-term PID controller
+        :param: 
+            action: torch.Size([num_envs, 4]), like [[roll, pitch, yaw, thrust]] if num_envs = 1
+        """
+        if action is None:
+            self.body_set_point[:] = self.rc_command[:3] * 15   # max 15 rad/s
+        else:
+            self.body_set_point[:] = action[:, :3] * 1
+
+        self.last_setpoint_error[:] = self.cur_setpoint_error
+        self.cur_setpoint_error[:] = self.body_set_point - self.odom.body_ang_vel
+        self.P_term_r[:] = (self.cur_setpoint_error * self.kp_r) * self.tpa_factor
+        self.I_term_r[:] = torch.clamp(self.I_term_r + self.cur_setpoint_error * self.ki_r, -0.5, 0.5)
+        self.D_term_r[:] = (self.last_body_ang_vel - self.odom.body_ang_vel) * self.kd_r * self.tpa_factor    
+
+        self.pid_output[:] = (self.P_term_r + self.I_term_r + self.D_term_r)
+        self.last_body_ang_vel[:] = self.odom.body_ang_vel
+
+    def angle_controller(self, action=None):  
+        """
+        Angle controller, sequence is (roll, pitch, yaw), use previous-D-term PID controller
+        :param: 
+            action: torch.Size([num_envs, 4]), like [[roll, pitch, yaw, thrust]] if num_envs = 1
+        """
+        yaw_mask = torch.tensor([1,1,0], device=self.device)
+        if action is None:
+            self.body_set_point[:] = -self.odom.body_euler * yaw_mask + self.rc_command[:3]  
+        else:
+            self.body_set_point[:] = -self.odom.body_euler * yaw_mask + action[:, :3]  # action is in rad, like [[roll, pitch, yaw, thrust]] if num_envs = 1
+
+        self.last_setpoint_error[:] = self.cur_setpoint_error
+        self.cur_setpoint_error[:] = (self.body_set_point * 15 - self.odom.body_ang_vel)
+        self.P_term_a[:] = (self.cur_setpoint_error[:] * self.kp_a) * self.tpa_factor
+        self.I_term_a[:] = torch.clamp(self.I_term_a + self.cur_setpoint_error[:] * self.ki_a, -0.5, 0.5)
+        self.D_term_a[:] = torch.clamp((self.last_body_ang_vel - self.odom.body_ang_vel) * self.kd_a * self.tpa_factor, -0.5, 0.5)    
+        
+        self.pid_output[:] = (self.P_term_a + self.I_term_a + self.D_term_a)
+        self.last_body_ang_vel[:] = self.odom.body_ang_vel
+
+    def position_controller(self, action, head_free=False):
+        """
+        Position controller, sequence is (x, y, z), use previous-D-term PID controller
+        Note that the action is in world frame, (x, y, z) -> (pitch, -roll, throttle)
+        :param: 
+            action: torch.Size([num_envs, 4]), like [[x, y, z, 0]] if num_envs = 1, 0 sued to adapt thrust
+            head_free: Keep yaw follow the target, namely keep the drone facing the target direction.
+        """
+        self.body_set_point[:] = action[:, :3]
+        cur_pos_error = (self.body_set_point - self.odom.world_pos)
+        cur_pos_error[:, 1] *= -1                       # since roll increase, y decrease
+        cur_pos_error = cur_pos_error[:, [1, 0, 2]]     # change to (roll, pitch, throttle)
+        if head_free:
+            cur_pos_error = ve2vb(cur_pos_error, self.odom.body_euler[:, 2])
+
+        self.P_term_p[:] = (cur_pos_error * self.kp_p)
+        self.I_term_p[:] = torch.clamp(self.I_term_p + cur_pos_error * self.ki_p, -0.5, 0.5)
+        self.D_term_p[:] = torch.clamp((self.odom.last_world_linear_vel - self.odom.world_linear_vel) * self.kd_p, -0.5, 0.5)  
+
+        sum = self.P_term_p + self.I_term_p + self.D_term_p 
+        self.throttle_command = torch.clamp(sum[:,-1], min=0.0, max=1.0)
+
+        # sum[:,-1] = torch.atan2(action[:, 1], action[:, 0])
+        sum[:, -1] = 0
+        self.angle_controller(torch.clamp(sum, -1, 1))
+
+    def reset(self, env_idx=None):
+        if env_idx is None:
+            reset_range = torch.arange(self.num_envs, device=self.device)
+        else:
+            reset_range = env_idx
+        # Reset the PID terms (P, I, D, F)
+        self.P_term_a.index_fill_(0, reset_range, 0.0)
+        self.I_term_a.index_fill_(0, reset_range, 0.0)
+        self.D_term_a.index_fill_(0, reset_range, 0.0)
+        self.F_term_a.index_fill_(0, reset_range, 0.0)
+
+        self.P_term_r.index_fill_(0, reset_range, 0.0)
+        self.I_term_r.index_fill_(0, reset_range, 0.0)
+        self.D_term_r.index_fill_(0, reset_range, 0.0)
+        self.F_term_r.index_fill_(0, reset_range, 0.0)
+
+        self.P_term_p.index_fill_(0, reset_range, 0.0)
+        self.I_term_p.index_fill_(0, reset_range, 0.0)
+        self.D_term_p.index_fill_(0, reset_range, 0.0)
+        self.F_term_p.index_fill_(0, reset_range, 0.0)
+
+        # Reset the angle, position, and velocity errors
+        self.angle_rate_error.index_fill_(0, reset_range, 0.0)
+        self.angle_error.index_fill_(0, reset_range, 0.0)
+
+        # Reset the body set points and pid output
+        self.body_set_point.index_fill_(0, reset_range, 0.0)
+        self.pid_output.index_fill_(0, reset_range, 0.0)
+        
+        # Reset the last angular velocity
+        self.last_body_ang_vel.index_fill_(0, reset_range, 0.0)
+        self.last_setpoint_error.index_fill_(0, reset_range, 0.0)
+        self.cur_setpoint_error.index_fill_(0, reset_range, 0.0)
+        # Reset the TPA factor and rate
+        self.tpa_factor = 1
+        self.tpa_rate = 0
+        # Reset the RC command values if necessary
+        if self.use_rc:
+            self.rc_command = 0
+
+
+
+def random_quaternion(num_envs=1, device="cuda"):
+    max_rad = math.radians(180)
+    roll  = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad
+    pitch = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad
+    yaw   = (torch.rand(num_envs, 1, device=device) * 2 - 1) * max_rad / 10
+
+    cy = torch.cos(yaw * 0.5)
+    sy = torch.sin(yaw * 0.5)
+    cp = torch.cos(pitch * 0.5)
+    sp = torch.sin(pitch * 0.5)
+    cr = torch.cos(roll * 0.5)
+    sr = torch.sin(roll * 0.5)
+
+    w = cr * cp * cy + sr * sp * sy
+    x = sr * cp * cy - cr * sp * sy
+    y = cr * sp * cy + sr * cp * sy
+    z = cr * cp * sy - sr * sp * cy
+
+    quat = torch.cat([w, x, y, z], dim=1)
+    quat = quat / quat.norm(dim=1, keepdim=True)
+    return quat
+

From ceccfd5f6f87ffff9a4e08aed62306c596935e47 Mon Sep 17 00:00:00 2001
From: YifeiNie <2096935953@qq.com>
Date: Sat, 13 Sep 2025 15:26:53 +0800
Subject: [PATCH 2/3] add drone controller

---
 .../controllers/drone_controller/README.md    |     6 +-
 .../betaflight_4.4.0_STM32H743_forRC.hex      | 36275 ++++++++++++++++
 2 files changed, 36278 insertions(+), 3 deletions(-)
 create mode 100644 src/env/gs_env/sim/controllers/drone_controller/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex

diff --git a/src/env/gs_env/sim/controllers/drone_controller/README.md b/src/env/gs_env/sim/controllers/drone_controller/README.md
index 560300e..b70a83b 100644
--- a/src/env/gs_env/sim/controllers/drone_controller/README.md
+++ b/src/env/gs_env/sim/controllers/drone_controller/README.md
@@ -4,9 +4,8 @@
 - Install dependencies by: `pip install -e`
 
 #### Use RC control FPV in Genesis
-- Flash HEX file in `./utils/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex` to your FCU (for STM32H743)
-- Use Type-c to power the FCU, and connect UART port (on FCU) and USB port (on PC) through USB2TTL module, like:
-- <img src="./docs/1.png"  width="300" /> <br>
+- Flash HEX file in `./modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex` to your FCU (for STM32H743)
+- Use Type-c to power the FCU, and connect UART port (on FCU) and USB port (on PC) through USB2TTL module
 - Connect the FC and use mavlink to send FC_data from FCU to PC
 - Use `ls /dev/tty*` to check the port id and modified param `USB_path` in `./config/flight.yaml`
 - Do this since the default mavlink frequence for rc_channle is too low
@@ -21,4 +20,5 @@
     ```
 
 ### NOTE
+- Use `pip install pymavlink` to install pymavlink
 - Add `export SETUPTOOLS_USE_DISTUTILS=stdlib` into ~/.bashrc if distutils.core has been pointed to distutils but not setuptools/_distutils, or an assert will be triggered in some cases
diff --git a/src/env/gs_env/sim/controllers/drone_controller/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex b/src/env/gs_env/sim/controllers/drone_controller/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex
new file mode 100644
index 0000000..61a20f5
--- /dev/null
+++ b/src/env/gs_env/sim/controllers/drone_controller/modified_BF_firmware/betaflight_4.4.0_STM32H743_forRC.hex
@@ -0,0 +1,36275 @@
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From a899c1fa0e3decb2b763b2f8f827cb1e23a73926 Mon Sep 17 00:00:00 2001
From: YifeiNie <2096935953@qq.com>
Date: Sun, 14 Sep 2025 23:44:27 +0800
Subject: [PATCH 3/3] Change the position controller to a cascaded structure

---
 .../config/pos_ctrl_eval/genesis_env.yaml     |  2 +-
 .../sim/controllers/drone_controller/pid.py   | 30 ++++++++++---------
 2 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
index 96dfa27..04b10c6 100644
--- a/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
+++ b/src/env/gs_env/sim/controllers/drone_controller/config/pos_ctrl_eval/genesis_env.yaml
@@ -10,7 +10,7 @@ cam_pos: [0.02, 0.0, 0.04]
 cam_res: [16, 12]                         # width, height
 drone_init_pos: [0.0, 0.0, 0.01]           # Initial position of the drone
 use_FPV_camera: True
-viewer_follow_drone: False
+viewer_follow_drone: True
 load_map: False
 use_rc: False
 show_viewer: True
diff --git a/src/env/gs_env/sim/controllers/drone_controller/pid.py b/src/env/gs_env/sim/controllers/drone_controller/pid.py
index cf65c09..3c6a837 100644
--- a/src/env/gs_env/sim/controllers/drone_controller/pid.py
+++ b/src/env/gs_env/sim/controllers/drone_controller/pid.py
@@ -102,11 +102,11 @@ def set_drone(self, drone):
 
     def mixer(self, action=None) -> torch.Tensor:
 
-        throttle_rc = torch.clamp((self.rc_command[3] + self.throttle_command) * 3, 0.1, 3) * self.base_rpm
+        throttle_rc = torch.clamp((self.rc_command[3] + self.throttle_command) * 3, 0.0, 3.0) * self.base_rpm
         if action is None:
             throttle = throttle_rc
         else:
-            throttle_action = torch.clamp((action[:, -1] + self.thrust_compensate) * 3, min=0.1, max=3.0) * self.base_rpm
+            throttle_action = torch.clamp(action[:, -1] * 3 + self.thrust_compensate, min=0.0, max=3.0) * self.base_rpm
             throttle = throttle_rc + throttle_action
 
         # self.pid_output[:] = torch.clip(self.pid_output[:], -3.0, 3.0)
@@ -179,9 +179,9 @@ def angle_controller(self, action=None):
             action: torch.Size([num_envs, 4]), like [[roll, pitch, yaw, thrust]] if num_envs = 1
         """
         yaw_mask = torch.tensor([1,1,0], device=self.device)
-        if action is None:
+        if action is None:  # in RC mode
             self.body_set_point[:] = -self.odom.body_euler * yaw_mask + self.rc_command[:3]  
-        else:
+        else:               # in RL mode
             self.body_set_point[:] = -self.odom.body_euler * yaw_mask + action[:, :3]  # action is in rad, like [[roll, pitch, yaw, thrust]] if num_envs = 1
 
         self.last_setpoint_error[:] = self.cur_setpoint_error
@@ -198,26 +198,28 @@ def position_controller(self, action, head_free=False):
         Position controller, sequence is (x, y, z), use previous-D-term PID controller
         Note that the action is in world frame, (x, y, z) -> (pitch, -roll, throttle)
         :param: 
-            action: torch.Size([num_envs, 4]), like [[x, y, z, 0]] if num_envs = 1, 0 sued to adapt thrust
+            action: torch.Size([num_envs, 4]), like [[x, y, z, 0]] if num_envs = 1, 0 used to adapt thrust
             head_free: Keep yaw follow the target, namely keep the drone facing the target direction.
         """
-        self.body_set_point[:] = action[:, :3]
-        cur_pos_error = (self.body_set_point - self.odom.world_pos)
-        cur_pos_error[:, 1] *= -1                       # since roll increase, y decrease
-        cur_pos_error = cur_pos_error[:, [1, 0, 2]]     # change to (roll, pitch, throttle)
+        cur_pos_error = (action[:, :3] - self.odom.world_pos)
+        self.cur_setpoint_error[:] = cur_pos_error*5 - self.odom.world_linear_vel
+        self.cur_setpoint_error[:, 1] *= -1                       # since roll increase, y decrease
+        self.cur_setpoint_error = self.cur_setpoint_error[:, [1, 0, 2]]     # change to (roll, pitch, throttle)
+
         if head_free:
-            cur_pos_error = ve2vb(cur_pos_error, self.odom.body_euler[:, 2])
+            # cur_pos_error = ve2vb(cur_pos_error, self.odom.body_euler[:, 2])
+            print("head_free not implemented yet")
 
-        self.P_term_p[:] = (cur_pos_error * self.kp_p)
-        self.I_term_p[:] = torch.clamp(self.I_term_p + cur_pos_error * self.ki_p, -0.5, 0.5)
+        self.P_term_p[:] = (self.cur_setpoint_error[:] * self.kp_p)
+        self.I_term_p[:] = torch.clamp(self.I_term_p + self.cur_setpoint_error[:] * self.ki_p, -0.5, 0.5)
         self.D_term_p[:] = torch.clamp((self.odom.last_world_linear_vel - self.odom.world_linear_vel) * self.kd_p, -0.5, 0.5)  
 
         sum = self.P_term_p + self.I_term_p + self.D_term_p 
-        self.throttle_command = torch.clamp(sum[:,-1], min=0.0, max=1.0)
+        self.throttle_command = torch.clamp(sum[:,-1], min=0.0, max=0.5)
 
         # sum[:,-1] = torch.atan2(action[:, 1], action[:, 0])
         sum[:, -1] = 0
-        self.angle_controller(torch.clamp(sum, -1, 1))
+        self.angle_controller(torch.clamp(sum, -0.5, 0.5))
 
     def reset(self, env_idx=None):
         if env_idx is None: