Ask for help: Attitude controller instead of angle_rate controller

[Suvian-wy]

Hi, I want to train a attitude controller, this project is angle_rate controller. I think your work is so good! So I want to ask how
to design the reward in my need. Could give some suggestions?
Thanks!

[wil3]

Hey @Suvian-wy waiting for that PR to go through and then ill review this