2.1 How to Use This Chapter

The RflySim Toolchain includes a wide range of software for unmanned system modeling, simulation, and algorithm verification. The core components are CopterSim, QGroundControl, RflySim3D/RflySimUE5, Python38Env, Win10WSL subsystem, SITL/HITL one-click batch scripts, MATLAB automatic code generation toolbox, Simulink swarm control interface, PX4 Firmware source code, RflySim supplementary resources, and the supporting hardware system. Users can quickly get started with unmanned system development and testing by learning these core components.

The experimental workflow of the RflySim Toolchain is primarily divided into two tracks: low-level control system development and high-level control system development. For low-level control, the stages progress in order of difficulty: algorithm development and numerical simulation → simplified model co-simulation → software-in-the-loop (SIL) simulation → hardware-in-the-loop (HIL) simulation → indoor/outdoor flight experiments. For high-level control, the stages include: onboard computer HIL → multi-vehicle HIL simulation → single-vehicle autonomous control → HIL swarm control → real-aircraft swarm control → multi-vehicle cooperation in fully real environments.

Chapter Introduction Document

The introduction document for this chapter is located at: 🔗[Installation Directory]\RflySimAPIs\2.RflySimUsage\Intro.pdf🔗

API Reference

The development API reference for this chapter is located at: 🔗[Installation Directory]\RflySimAPIs\2.RflySimUsage\API.pdf🔗

PPT Courseware

The PPT courseware for this chapter is located at: 🔗[Installation Directory]\RflySimAPIs\2.RflySimUsage\PPT.pdf🔗

All Example Files

For all examples in this chapter, see the Readme documentation located at: 🔗[Installation Directory]\RflySimAPIs\2.RflySimUsage\Readme.pdf🔗