Inquiry: How to adapt the l2f environment for a 5-motor Standard VTOL?

[yygbruce]

Dear Jonas,

I am using the raptor framework and I would like to adapt the current quadrotor setup (4 motors) to a Standard VTOL configuration (4 lift motors + 1 pusher motor).

Could you please point out which parts of the code I should modify to achieve this? Specifically:

1. Motor Count: I have changed ACTION_DIM and PARAMETERS_SPEC to 5. Is this enough to let the environment recognize the 5th motor?
2. Thrust Direction: The 5th motor (pusher) needs to provide horizontal thrust () instead of vertical. Where should I define this thrust vector in the Dynamics configuration?
3. Observation: Do I need to add any specific observation (like airspeed) to help the agent learn the transition from hover to forward flight?

Thank you for your help!
Best regards,
Bruce