void Start()
{
ds = GetComponent <DroneSensors>();
dm = GetComponent <DroneMotors>();
dc = GetComponent <DroneController>();
rigidbody = GetComponent <Rigidbody>();
}
// Agent 클래스가 처음 실행될 때 실행 //생명주기 Awake() -> OnEnabled() -> Initialize() -> start() -> OnEpisodeBegin()
public override void Initialize()
{
_droneController = GetComponent <DroneMovement>();
_sensor = GetComponent <DroneSensors>();
_initPosition = transform.position;
_rigidbody = GetComponent <Rigidbody>();
}
void Start()
{
pitchRatePid = new PID(0.02f, 0.0001f, 0.2f);
rollRatePid = new PID(0.02f, 0.0001f, 0.2f);
yawRatePid = new PID(0.02f, 0.0001f, 0.2f);
pitchStabPid = new PID(0.05f, 0.00005f, 0.2f);
rollStabPid = new PID(0.05f, 0.00005f, 0.2f);
yawStabPid = new PID(0.05f, 0.0002f, 0.2f);
altitudeStabPid = new PID(0.05f, 0.0003f, 5);
dm = GetComponent <DroneMotors>();
ds = GetComponent <DroneSensors>();
diodeRed = transform.Find("diode_red").GetComponent <Light>();
diodeYellow = transform.Find("diode_yellow").GetComponent <Light>();
diodeGreen = transform.Find("diode_green").GetComponent <Light>();
}
