First Changes

.vsconfig

@@ -0,0 +1,6 @@
+{
+  "version": "1.0",
+  "components": [
+    "Microsoft.VisualStudio.Workload.ManagedGame"
+  ]
+}

Assets/3rd-Party/ML-Agents/Scripts/Agent.cs

@@ -1015,7 +1015,7 @@ public static void ObservationToTexture(Camera obsCamera, int width, int height,
 
             if (width != texture2D.width || height != texture2D.height)
             {
-                texture2D.Resize(width, height);
+                texture2D.Reinitialize(width, height);
             }
 
             var prevActiveRT = RenderTexture.active;

Assets/Resources/BillingMode.json

@@ -0,0 +1 @@
+{"androidStore":"GooglePlay"}

Assets/Scripts/DroneAgent.cs

@@ -148,7 +148,7 @@ public float normalizedHeader(Vector3 gpsCurr, Vector3 gpsTarg) {
 	public override void CollectObservations()
 	{
         //		List<float> state = new List<float>();
-        //Debug.Log("CALLED");
+        Debug.Log("CALLED");
 
         //NEW STATE
         //do this in collect state so we make sure we don't miss it
@@ -221,7 +221,9 @@ public override void AgentAction(float[] vectorAction, string textAction)
 		// add in code logic for drone control
 //		basicControl.Controller.InputAction(0, act[0], act[1], act[2]);
 
-		//Debug.Log (act);
+		// Debug.Log (act);
+
+        Debug.Log("ACTION");
 
 //		float angle = normalizedHeader (transform.position, endRegion.transform.position);
 //		Debug.Log (angle);

Assets/Scripts/VelocityControl/InputControl.cs

@@ -15,11 +15,15 @@ void Start () {
 
 	// Update is called once per frame
 	void FixedUpdate () {
-//		vc.desired_vx = Input.GetAxisRaw ("Pitch")*4.0f;
-//		vc.desired_vy = Input.GetAxisRaw ("Roll")*4.0f;
-//		vc.desired_yaw = Input.GetAxisRaw ("Yaw")*0.5f;
-//		abs_height += Input.GetAxisRaw("Throttle") * 0.1f;
+
+		// Log the pitch, roll, yaw, and throttle inputs
+		Debug.Log("Pitch: " + Input.GetAxis("Pitch") + " Roll: " + Input.GetAxis("Roll") + " Yaw: " + Input.GetAxis("Yaw") + " Throttle: " + Input.GetAxis("Throttle"));
+
+		vc.desired_vx = Input.GetAxisRaw ("Pitch")*4.0f;
+		vc.desired_vy = Input.GetAxisRaw ("Roll")*4.0f;
+		vc.desired_yaw = Input.GetAxisRaw ("Yaw")*0.5f;
+		abs_height += Input.GetAxisRaw("Throttle") * 0.1f;
 //
-//		vc.desired_height = abs_height;
+		vc.desired_height = abs_height;
 	}
 }

Assets/Scripts/VelocityControl/VelocityControl.cs

@@ -47,7 +47,7 @@ void FixedUpdate () {
         state.GetState ();
 
         // NOTE: I'm using stupid vector order (sideways, up, forward) at the end
-
+        
         Vector3 desiredTheta;
         Vector3 desiredOmega;
 
@@ -56,6 +56,8 @@ void FixedUpdate () {
         Vector3 desiredVelocity = new Vector3 (desired_vy, -1.0f * heightError / time_constant_z_velocity, desired_vx);
         Vector3 velocityError = state.VelocityVector - desiredVelocity;
 
+        Debug.Log("desiredVelocity: " + desiredVelocity);
+
         Vector3 desiredAcceleration = velocityError * -1.0f / time_constant_acceleration;
 
         desiredTheta = new Vector3 (desiredAcceleration.z / gravity, 0.0f, -desiredAcceleration.x / gravity);

Assets/Textures/minimap_rtex.renderTexture

@@ -4,23 +4,29 @@
 RenderTexture:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_Name: minimap_rtex
   m_ImageContentsHash:
     serializedVersion: 2
     Hash: 00000000000000000000000000000000
   m_ForcedFallbackFormat: 4
   m_DownscaleFallback: 0
+  m_IsAlphaChannelOptional: 0
+  serializedVersion: 5
   m_Width: 256
   m_Height: 256
   m_AntiAliasing: 1
-  m_DepthFormat: 2
-  m_ColorFormat: 0
+  m_MipCount: -1
+  m_DepthStencilFormat: 92
+  m_ColorFormat: 8
   m_MipMap: 0
   m_GenerateMips: 1
   m_SRGB: 0
   m_UseDynamicScale: 0
   m_BindMS: 0
+  m_EnableCompatibleFormat: 1
+  m_EnableRandomWrite: 0
   m_TextureSettings:
     serializedVersion: 2
     m_FilterMode: 1
@@ -31,3 +37,4 @@ RenderTexture:
     m_WrapW: 1
   m_Dimension: 2
   m_VolumeDepth: 1
+  m_ShadowSamplingMode: 2