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Python & VS Code — Programming Environment

The RflySim toolchain comes with a uniformly configured Python + VS Code programming environment, customized and optimized for unmanned system simulation and control tasks.

Python Environment

Version and Path

  • Actual Version: Python 3.12 (even though the folder name is Python38Env)
  • Path: [Installation Directory]\Python38\python.exe
  • Package Management: Use pip to install additional dependency packages on demand

Pre-installed Core Libraries

Library Purpose
NumPy / SciPy Numerical computation and scientific modeling
Matplotlib / Seaborn Data visualization
opencv-python (OpenCV) Image processing and visual perception
Pandas Structured data analysis
Pymavlink Python implementation of the MAVLink protocol
MAVSDK Python API for high-level control of PX4
TensorFlow Deep learning framework
PyTorch (torchvision) Deep learning framework (image classification/object detection)

Typical Application Scenarios

Scenario Specific Application
Flight log analysis Parsing .ulg and .bag flight log files
State data processing Real-time parsing of CopterSim state data
Visual perception development Object detection, object tracking algorithms
Simulated vehicle control Sending control commands via PX4MavCtrlV4
Automated testing Batch testing and parameter scanning scripts
AI/ML training Reinforcement learning training, large model embodied intelligence integration

About Version Updates

The Python environment of RflySim is regularly updated to follow the latest Python version to maintain compatibility with the latest AI frameworks. Some large-scale dependencies (such as GPU acceleration components) are installed online.

RflySimSDK

The Python SDK of RflySim is uniformly integrated under [Installation Directory]\RflySimAPIs\RflySimSDK\, and it is automatically added to the Python environment path after installation:

Module Function Introduction
ctrl Core interface for flight control and data interaction with CopterSim
comm Swarm network communication simulation interface
vision Visual sensor data acquisition and camera control
ue 3D scene interaction and visualization control
swarm Multi-UAV swarm control interface
phm Fault injection and safety assessment interface 
# Quick import example
from RflySimSDK.ctrl import PX4MavCtrlV4
from RflySimSDK.vision import VisionCaptureApi

Custom Environment

If you want to use a custom environment such as PyCharm + Anaconda, please run RflySimSDK\ReLabPath.py first to complete path registration and link the RflySimSDK library.

VS Code Configuration

  1. Install Visual Studio Code
  2. Install the following recommended extensions:
Extension Purpose
Python (Official) Python language support, debugging, and Linting
C/C++ C++ code browsing and debugging
Remote - WSL Direct editing and debugging in WSL Ubuntu
Remote - SSH Remote connection for on-board computer development
MATLAB MATLAB syntax highlighting
JSON JSON configuration file editing

Configure Python Interpreter

  1. Press Ctrl+Shift+P in VS Code
  2. Search for Python: Select Interpreter
  3. Select the path: [Installation Directory]\Python38\python.exe

After configuration, you can execute various RflySim visual algorithms and control scripts in run or debug mode.

Multi-terminal Integration

VS Code supports opening multiple terminals simultaneously in the same interface:

  • PowerShell / CMD: Run Python scripts on the Windows side
  • WSL Terminal: Run Linux tasks such as ROS / PX4 compilation
  • SSH Terminal: Remote connection to on-board computers such as Jetson

Quick Start

Use the desktop shortcut RflyTools\Python38Run to register the Python environment in the current directory, and launch custom control scripts or visual algorithm modules via the command line.