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5-Minute Quick Start

After installation, you can get your first simulation experiment running in just a few steps! This page provides two paths: SITL (software-only) and HITL (with hardware).

Recommended Path

The vast majority of users should start with SITL Simulation, which requires no additional hardware.

SITL Simulation (Software-Only)

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Step 1: Start the Simulation

  1. Navigate to the RflyTools folder on your desktop and double-click the SITLRun shortcut
  2. Enter 1 in the pop-up CMD command window → press Enter (this means launching 1 quadrotor)
  3. Wait for the system to automatically launch 1 instance each of CopterSim, QGroundControl, and RflySim3D. You can observe the generated quadrotor UAV in the RflySim3D software.

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Step 2: Wait for Initialization

Wait until the log bar at the bottom of the CopterSim software displays GPS 3D fixed & EKF initialization finished, or observe the top-left corner of the RflySim3D window. When *** EKF 3DFixed is displayed, it indicates that the autopilot’s state estimator has completed initialization, and positioning lock is successful.
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Common Issues

If 3DFixed does not appear after waiting more than 30 seconds, please check:

  1. Whether your antivirus software is completely disabled
  2. Whether any network proxy or port forwarding program is interfering with UDP communication
  3. Whether your computer configuration meets the minimum requirements

Step 3: Command Takeoff

  1. In the QGroundControl ground station, confirm the current mode is Hold mode
  2. Click the Takeoff button in the top-left corner
  3. Drag the slider to confirm takeoff

Step 4: Verify Result

If the quadrotor in RflySim3D can take off smoothly and hover, your toolchain is correctly configured, and you have successfully completed your first introduction to RflySim.

Success!

Congratulations on completing your first SITL simulation! You can continue trying the following in QGroundControl:

  • Set waypoint missions for autonomous flight
  • Switch flight modes (e.g., Position / Mission / Return)
  • Observe real-time telemetry data

Step 5: End the Simulation

Press any key in the CMD command window, and the system will automatically close all related programs.

HITL Simulation (With Hardware)

Prerequisites

Step 1: Connect Hardware

  1. Connect the Pixhawk to your computer using a USB cable
  2. After hearing the Pixhawk startup tone, confirm the COM port number in Device Manager

Step 2: Start the Simulation

  1. Navigate to the RflyTools folder on your desktop and double-click the HITLRun shortcut
  2. Enter the corresponding COM port number (e.g., COM3) in the pop-up CMD window, then press Enter
  3. Wait for CopterSim → RflySim3D → QGC to launch in sequence

Step 3: Takeoff Test

Operation is the same as in SITL mode:

  1. Wait until the log bar at the bottom of the CopterSim software displays GPS 3D fixed & EKF initialization finished, or observe the top-left corner of the RflySim3D window. When *** EKF 3DFixed is displayed, it indicates that the autopilot’s state estimator has completed initialization.
  2. Perform the same takeoff operation in QGC as in SITL mode
  3. Observe whether the quadrotor takes off smoothly

Low-Performance Computer Launch

If your computer’s graphics card performance is insufficient, causing the aircraft to jitter during simulation, you can try the low-precision 3D scene mode by double-clicking RflyTools\SITLRunLowGPU or RflyTools\HITLRunLowGPU to launch.

Next Steps

After passing installation verification, you can:

  • Enter the Core Course for systematic learning through the 10-chapter curriculum
  • Check the Software Manual to learn more about how each component works
  • Browse the Developer Reference directly to start API-level secondary development