From ac5021111c7747d72f2c62e10768ef1f67fed1ad Mon Sep 17 00:00:00 2001
From: crobarcro <3159692+crobarcro@users.noreply.github.com>
Date: Wed, 29 Oct 2025 01:27:25 +0000
Subject: [PATCH 1/2] quadx.py: allow setting the urdf link to attach the
 camera to

---
 PyFlyt/core/drones/quadx.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/PyFlyt/core/drones/quadx.py b/PyFlyt/core/drones/quadx.py
index 29c19996..d84f4957 100644
--- a/PyFlyt/core/drones/quadx.py
+++ b/PyFlyt/core/drones/quadx.py
@@ -36,6 +36,7 @@ def __init__(
         camera_position_offset: np.ndarray = np.array([0.0, 0.0, 0.0]),
         camera_resolution: tuple[int, int] = (128, 128),
         camera_fps: None | int = None,
+        camera_link_id: int = 0,
     ):
         """Creates a drone in the QuadX configuration and handles all relevant control and physics.
 
@@ -202,7 +203,7 @@ def __init__(
             self.camera = Camera(
                 p=self.p,
                 uav_id=self.Id,
-                camera_id=0,
+                camera_id=camera_link_id,
                 use_gimbal=use_gimbal,
                 camera_FOV_degrees=camera_FOV_degrees,
                 camera_angle_degrees=camera_angle_degrees,

From af4a4a866e0c2ba0496b57b77c15476644971b60 Mon Sep 17 00:00:00 2001
From: crobarcro <3159692+crobarcro@users.noreply.github.com>
Date: Mon, 3 Nov 2025 15:41:40 +0000
Subject: [PATCH 2/2] quadx_base_env.py: allow specifying a world_scale in
 constructor

---
 PyFlyt/gym_envs/quadx_envs/quadx_base_env.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py b/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py
index 0b3eb4dd..be213259 100644
--- a/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py
+++ b/PyFlyt/gym_envs/quadx_envs/quadx_base_env.py
@@ -29,6 +29,7 @@ def __init__(
         agent_hz: int = 30,
         render_mode: None | Literal["human", "rgb_array"] = None,
         render_resolution: tuple[int, int] = (480, 480),
+        world_scale: int = 1,
     ):
         """__init__.
 
@@ -125,6 +126,8 @@ def __init__(
         elif angle_representation == "quaternion":
             self.angle_representation = 1
 
+        self.world_scale = world_scale
+
     def close(self) -> None:
         """Disconnects the internal Aviary."""
         # if we already have an env, disconnect from it
@@ -189,6 +192,7 @@ def begin_reset(
             drone_type="quadx",
             render=self.render_mode == "human",
             drone_options=drone_options,
+            world_scale=self.world_scale,
             np_random=self.np_random,
         )