Simulating a 2D Quadcopter from Scratch

Author here.

I've spent the last six months replicating the paper "Champion-level drone racing using deep reinforcement learning" and now I'm writing down the blog posts I wish I had along the way.

Any feedback is welcome, especially as I'm a bit unsure if I struck the right balance between being concise and not requiring too many prerequisites.

Also if you're working on RL and robotics (especially aerial), let's connect!

Physics simulations from scratch are great learning projects. Did you implement your own PID controller for stabilization? That's usually where things get interesting — tuning the gains without it oscillating to death.