Different formula for computing RPM

[mfarrelm]

Hi, Jacopo
Is the matrix A below is used to compute RPM given the torque and force? If it is, why for the calculation of torque x and y, it is divided by 2 not square root of 2. As I know for the X drone model, you divide the total RPM by square root of two

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

Lines 167 to 171 in 68a9612

	if self.DYNAMICS_ATTR:
	if self.DRONE_MODEL == DroneModel.CF2X:
	self.A = np.array([ [1, 1, 1, 1], [.5, .5, -.5, -.5], [-.5, .5, .5, -.5], [-1, 1, -1, 1] ])
	elif self.DRONE_MODEL in [DroneModel.CF2P, DroneModel.HB]:
	self.A = np.array([ [1, 1, 1, 1], [0, 1, 0, -1], [-1, 0, 1, 0], [-1, 1, -1, 1] ])

[JacopoPan]

Hi @mfarrelm, thanks for pointing this out, fix'd! DynAviary—the one class using RPMs computed from self.A—is a bit of a orphaned implementation at this time: if you develop any controller on top of it, please let me know, I'd be happy to include it.