u/Big_Pin_5549

I want to control my drone with RL by outputting joystick commands.
What’s generally better for sim2real: controlling in acro mode (body rates, rad/s) or angle mode (attitude targets, rad)?

My intuition is that angle control provides a higher abstraction layer, which may reduce sim2real issues and allow lower control frequency. But it also requires strong consistency between the low-level PID attitude controller on the real drone and in simulation.