10.3 Frequently Asked Questions
10.3.1 What is the overall development workflow for platform examples (using Python/MATLAB control)? What software is involved and what is the communication process?
Answer:
For the Python control development workflow, refer to Chapter 8 PPT Section 2.1. For the MATLAB control development workflow, refer to Chapter 10 PPT. The paths are:
- [RflySim Installation Directory]\RflySimAPIs\8.RflySimVision\PPT.pdf
- [RflySim Installation Directory]\RflySimAPIs\10.RflySimSwarm\PPT.pdf
10.3.2 How can a developed formation algorithm be verified in the simulation environment? Does formation simulation support three vehicle types?
Answer:
Formation simulation supports three vehicle types. For implementation details, refer to: RflySimAPIs\OtherVehicleTypes\MultiVehicleDemo\Readme.pdf
This example demonstrates how to run SITL simulation for multiple different vehicle types on a single computer (HIL simulation can follow a similar method). Refer to the modification content to achieve the desired simulation effect.
For Simulink-based swarm control, refer to Chapter 10 PPT Section 2.3: [RflySim Installation Directory]\RflySimAPIs\10.RflySimSwarm\PPT.pdf
For Python-based swarm control, refer to Chapter 10 PPT Section 3.2: [RflySim Installation Directory]\RflySimAPIs\10.RflySimSwarm\PPT.pdf
10.3.3 In the new version of RflySim, some swarm simulation folders seem to contain only default files and cannot be run directly. Is this a known issue?
Answer:
Refer to Chapter 10 PPT Section 2 for swarm simulation startup instructions:
RflySimAPIs\10.RflySimSwarm\PPT.pdf
The new version of the platform has organized all interface files into: [RflySim Installation Directory]\PX4PSP\RflySimAPIs\RflySimSDK
10.3.4 Obstacle avoidance is written in Python, and swarm formation flight is written in Simulink. Can obstacle avoidance and formation flight work simultaneously? Is there a reference example? How do we generate obstacle models in the map?
Answer:
Refer to Chapter 10 PPT Section 4 — Collision Detection routine. The specific path is:
[RflySim Installation Directory]\RflySimAPIs\10.RflySimSwarm\1.BasicExps\e5_CollisionExpAPI\1.CrashMonitorAPI\Readme.pdf
10.3.5 Does the free version of the RflySim Toolchain limit swarms to a maximum of 8 aircraft?
Answer:
Yes. After installing the RflySim Toolchain, the version limitations can be viewed at:
[RflySim Installation Directory]\RflySimAPIs\1.RflySimIntro\RflysimVersions.pdf
For more questions, please visit: https://github.com/RflySim/Docs/issues