Since posting on X, I've gotten many DMs asking exactly how I want to approach the next phase of this project: making the drone fly with RL. Here's the plan I have so far.

Most importantly, the RL policy will directly command all 8 motors at 50 Hz over a serial link to the flight controller with no traditional PID loop in the path. This is the only architecture that gives the policy full authority to reallocate thrust when motors fail.

I'm focusing on six unique failure classes (ignoring rotational equivalence): single motor, adjacent pair (45°, mixed CW/CCW), 90° same-type, 135° mixed, 180° same-type, and full ESC loss (each ESC controls its own quad).…