BAT Script Usage Reference¶

The RflySim toolchain has developed numerous batch scripts based on batch processing technology, enabling users to quickly and effortlessly launch multi-vehicle, multi-type, and diverse unmanned system combination simulations—significantly accelerating unmanned system development and simulation workflows.

Common scripts:

SITLRun.bat — Launch multi-vehicle Software-in-the-Loop (SITL) simulation
HITLRun.bat — Launch multi-vehicle Hardware-in-the-Loop (HITL) simulation (enter the COM port number as prompted after connecting the flight controller)

For more scripts, refer to the *\PX4PSP\RflySimAPIs\BatScripts directory.

Simulation Parameter Configuration¶

CopterSim Simulation Function Area Parameters¶

CopterSim Parameter Mapping

The following parameters are configured in BAT scripts via the SET command and correspond one-to-one with the CopterSim GUI interface:

Parameter 1 · CopterID / `START_INDEX`¶

Sets the vehicle ID; used to specify the starting vehicle ID in multi-vehicle simulations.

SET /a START_INDEX=1

Parameter 2 · 3DClassID / `CLASS_3D_ID`¶

Sets the 3D model style of the vehicle displayed in RflySim3D.

Value	Meaning
`-1`	Use the default 3D model (specified by the DLL file)
`ClassID`	Specify vehicle configuration (e.g., quadcopter, fixed-wing), using the default style for that configuration
`Unique3DClassID`	Specify a unique 3D style for a particular configuration

For 3D style parameter reference, see Platform 3D Model Resource Index

Parameter 3 · Use DLL Model File / `DLLModel`¶

Select different DLL dynamic model files (located in *PX4PSP\CopterSim\external\model).

Value	Meaning
`0`	Do not use a DLL; use the model built on the CopterSim interface
`≥1 (index or name)`	Use the specified DLL model

Parameter 4 · Simulation Mode / `SimMode`¶

Simulation Mode Values

Value	Mode Name	Description
`0`	PX4_HITL	PX4 official Hardware-in-the-Loop simulation
`1`	PX4_SITL	PX4 official Software-in-the-Loop simulation
`2`	PX4_SITL_RFLY	RflySim-customized SITL, supporting hundreds of vehicles in swarm simulation
`3`	Simulink&DLL_SIL	Simulink-generated DLL simulation (integrated model)
`4`	PX4_HITL_NET	Ethernet-based flight controller HIL (Full version only)
`5`	EXT_HITL_COM	Serial connection to third-party flight controllers (Full version only)
`6`	EXT_SIM_NET	Network connection to third-party flight controllers (Full version only)
`7`	APM_SITL_COM	APM (Ardupilot) SITL (Full version only)
`8`	PX4_SIH_COM	SIH mode via USB connection (Full version only)
`9`	PX4_SIH_NET	SIH mode via LAN connection (Full version only)
`10`	PX4_SIH_SITL	SIH Software-in-the-Loop (Full version only)
`11`	PX4_SIH_FLY	SIH Hardware-in-the-Loop (Full version only)

Parameter 5 · 3D Display Map / `UE4_MAP`¶

Select the 3D scene (located in *PX4PSP\CopterSim\external\map); supports both numeric indices and names.

SET UE4_MAP=Grasslands

Parameter 6 · Networked Simulation / `IS_BROADCAST`¶

Enable LAN-based networked simulation (also requires pressing the I key in RflySim3D).

Value	Meaning
`0`	Local machine only
`1`	Broadcast to the entire network
`IP address`	Specify a single IP (`0`=`127.0.0.1`, `1`=`255.255.255.255`)
`IP1,IP2,...`	Send to multiple IPs
`json`	Configure communication IPs and ports via a JSON file

Parameter 7 · GPS Coordinates / `isPosGps` (Full version only)¶

Value	Meaning
`0`	Cartesian coordinate system (default)
`1`	GPS/LLA coordinate system

Parameter 8 · Initial Position¶

SET /a ORIGIN_POS_X=0    :: Initial X position (m)
SET /a ORIGIN_POS_Y=0    :: Initial Y position (m)
SET LatLongAlt=116.3,39.9,50  :: LLA coordinates (Full version only)

Parameter 9 · Yaw / `ORIGIN_YAW`¶

Initial heading angle (degrees), relative to true north.

SET /a ORIGIN_YAW=0

---

#### Parameter 10 · Flight Controller Selection

After launching the BAT script, enter the recommended COM port number in the command line.

---

#### Parameter 11 · Baud Rate / `BaudRate`

Serial communication baud rate; default is `921600`.

---

#### Parameter 12 · Communication Mode / `UDPSIMMODE`

??? note "UDPSIMMODE Communication Mode Values"

    | Value | Mode | Applicable Scale | Description |
    |:--:|------|:--------:|------|
    | `0` | **UDP_Full** | <10 vehicles | Most complete data flow: Python → CopterSim → PX4 |
    | `1` | **UDP_Simple** | <100 vehicles | Simplified structure, suitable for large-scale swarms |
    | `2` | **Mavlink_Full** | <4 vehicles | Python directly sends MAVLink messages; high data volume but closest to real hardware |
    | `3` | **Mavlink_Simple** | <8 vehicles | Filters out some message packets to reduce frequency |
    | `4` | **Mavlink_NoSend** | Unlimited | CopterSim does not send MAVLink; requires pairing with telemetry serial port |
    | `5` | **Mavlink_NoGPS** | — | Does not send GPS data; suitable for indoor SLAM simulation |
    | `6` | **Mavlink_Vision** | — | NoGPS mode + automatically sends EKF2_AID_MASK parameter |
    | `7` | **Redis_Full** | — | Full Redis mode (available only in full version) |
    | `8` | **Redis_Simple** | — | Simplified Redis mode (available only in full version) |

---

### Other Key Parameters

#### Frame Configuration

| Parameter | Values | Description |
|------|------|------|
| `PX4SitlFrame` | Frame name | Corresponds to frame files under `Firmware\ROMFS\px4fmu_common\init.d-posix` |

#### Swarm Configuration

| Parameter | Values | Description |
|------|------|------|
| `TOTOAL_COPTER` | Integer | Total number of vehicles |
| `IsSysID` | `0`/`1` | Whether to assign CopterID based on flight controller SysID |
| `VEHICLE_INTERVAL` | Integer | Inter-vehicle spacing (m) |

#### GPS Origin Mode

| Parameter | Values | Description |
|------|------|------|
| `isBatLLAOrin` | `0` | Use default GPS origin from DLL/terrain file |
|  | `1` | Set GPS origin via BAT script |

#### Vehicle Initial Pose

| Parameter | Description |
|------|------|
| `PosXStr` | When `isPosGps=0`: X position list; when `isPosGps=1`: latitude list |
| `PosYStr` | When `isPosGps=0`: Y position list; when `isPosGps=1`: longitude list |
| `YawStr` | Yaw angle list (deg) |

#### RflySim3D Initialization and Startup Configuration

BAT script shortcut key configuration:

```bat
start %PSP_PATH%\RflySimUE5\RflySim3D.exe -key=S,N1

BAT script console command configuration:

start %PSP_PATH%\RflySim3D\RflySim3D.exe -cmd=RflyChangeMapbyID-15

Main Program and Startup Parameter Configuration¶

Setting Simulation Scale¶

REM Max vehicle number 50
SET /a MAX_VEHICLE=50
SET /P VehicleNum=Please input UAV swarm number:
SET /A Evaluated=VehicleNum

if %Evaluated% EQU %VehicleNum% (
  IF %VehicleNum% GTR 0 (
    IF %VehicleNum% GTR %MAX_VEHICLE% (
      ECHO The vehicle number is too large, which may cause a crash
      pause
    )
    GOTO StartSim
  )
  ECHO Not a positive integer
  GOTO Top
) ELSE (
  ECHO Not a integer
  GOTO Top
)

Limits the maximum simulation scale (default 50, adjustable). After entering the vehicle count, validation is performed before proceeding to simulation.

Starting Simulation¶

:StartSim
SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
if not defined TOTOAL_COPTER (
  SET /A TOTOAL_COPTER=%VehicleTotalNum%
)

set /a sqrtNum=1
set /a squareNum=1
:loopSqrt
set /a squareNum=%sqrtNum% * %sqrtNum%
if %squareNum% EQU %TOTOAL_COPTER% ( goto loopSqrtEnd )
if %squareNum% GTR %TOTOAL_COPTER% ( goto loopSqrtEnd )
set /a sqrtNum=%sqrtNum%+1
goto loopSqrt
:loopSqrtEnd

Calculates the total number of swarm vehicles and assigns IDs using a recursive algorithm.

REM Start QGC and RflySim3D
tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe
tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
choice /t 5 /d y /n >nul
tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
cd %PSP_PATH%\CopterSim

```bat
REM Loop to start CopterSim instances
set /a cntr=%START_INDEX%
set /a endNum=%VehicleTotalNum%+1
set /a portNum=%UDP_START_PORT%+((%START_INDEX%-1)*2)

:loopBegin
set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
start /realtime CopterSim.exe 1 %cntr% %portNum% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
choice /t 1 /d y /n >nul
set /a cntr=%cntr%+1
set /a portNum=%portNum%+2
if %cntr% EQU %endNum% goto loopEnd
goto loopBegin
:loopEnd

Within the loop, the initial position for each vehicle is calculated and a CopterSim instance is launched.

REM Compile and start PX4 SITL
SET /a ToolChainType=1
SET WINDOWSPATH=%PATH%
if %ToolChainType% EQU 1 (
  wsl echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ...
) else (
  cd %PSP_PATH%\CygwinToolchain
  CALL setPX4Env.bat
  bash -l -i -c '...'
)
SET PATH=%WINDOWSPATH%

Ending the Simulation¶

tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
ECHO Start End.

Differences Between HITLRun and SITLRun¶

HITLRun.bat is largely identical to SITLRun.bat, with the following key differences:

Difference	HITLRun	SITLRun
Port Configuration	Requires user input of COM serial port number	Automatically assigns UDP ports
QGC Startup Order	Starts after CopterSim (to avoid COM port conflicts)	Starts before CopterSim
Firmware Compilation	Not performed	Compiles PX4 in WSL

Port Configuration (HITLRun-Specific)¶

1. Retrieve COM Port Information¶

for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 3 %BaudRate%') do set ComInfoStr=%%t

2. Parse COM Port Information¶

for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
    set ComNumExe=%%a
    set ComNameList=%%b
    set ComInfoList=%%c
)

3. Display Available COM Ports¶

set remain=%ComInfoList%
echo All COM ports on this computer are:
:loopInfo
for /f "tokens=1* delims=;" %%a in ("%remain%") do (
    echo %%a
    set remain=%%b
)
if defined remain goto :loopInfo

4. Output Recommended Port List¶

if %ComNumExe% EQU 0 (
    echo Warning: there is no available COM port
) else (
    echo Recommended COM list input is: %ComNameList%
)

5. Input COM Port List¶

SET /P ComNum=My COM list for HITL simulation is:

COM Port Input Interface

6. Parse and Validate Input¶

SET string=%ComNum%
set /a VehicleNum=0
:split
    for /f "tokens=1,* delims=," %%i in ("%string%") do (
    set subStr=%%i
    set string=%%j
    )
    set /a eValue=subStr
    if not %eValue% EQU %subStr% (
        echo Error: Input '%subStr%' is not a integer!
        goto EOF
    )
    set /a VehicleNum = VehicleNum +1
if not "%string%"=="" goto split

QGC Startup Order (HITLRun)¶

QGC is started after CopterSim parameters are configured, to prevent QGC from occupying the COM port.

start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% ... %subStr%:%BaudRate% %UDPSIMMODE% %IsSysID%
...
tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix

---

## BAT Script Quick Reference Index

The table below lists all available BAT scripts and their key features:

### Basic Simulation Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLRun.bat** | HIL | Conventional hardware-in-the-loop; manual COM port input required |
| **SITLRun.bat** | SIL | Conventional software-in-the-loop; automatically starts based on aircraft count input |
| **HITLRunAuto.bat** | HIL | Automatically assigns COM ports; no manual input needed |
| **SITLRunDebug.bat** | SIL | PX4 official single-vehicle SITL debugging |

### Position Initialization Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLPos.bat** | HIL | Manual input of PosX/PosY/Yaw |
| **SITLPos.bat** | SIL | Manual input of PosX/PosY/Yaw |
| **HITLPosAlt.bat** | HIL | Supports initialization in air or underwater |
| **SITLPosAlt.bat** | SIL | Supports initialization in air or underwater |
| **HITLPosStr.bat** | HIL | Position specified as string within script |
| **SITLPosStr.bat** | SIL | Position specified as string within script |
| **HITLPosAltStr.bat** | HIL | Automatic input; supports air/underwater initialization |
| **SITLPosAltStr.bat** | SIL | Automatic input; supports air/underwater initialization |
| **SITLPosStrSel.bat** | SIL | String-based position + selective subset enabling |

### GPS Coordinate Scripts (Full Version Only)

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLPosStrGPS.bat** | HIL | Global GPS coordinate initialization |
| **SITLPosStrGPS.bat** | SIL | Global GPS coordinate initialization |

Key settings: `SET isPosGps=1` + `SET isBatLLAOrin=1`

### SysID Binding Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLRunSysID.bat** | HIL | CopterID automatically determined by flight controller SysID |
| **HITLPosSysID.bat** | HIL | SysID + manual position input |
| **HITLPosSysIDStr.bat** | HIL | SysID + string-based position |

Key setting: `SET /a IsSysID=1`

### Networked & Swarm Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLRunLANSwarm.bat** | HIL | LAN-based networked swarm flight (`IS_BROADCAST=1`) |
| **SITLRunLANSwarm.bat** | SIL | LAN-based networked swarm flight |

### Special Mode Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLRunFw.bat** | HIL | Fixed-wing mode (`DLLModel=FixWingModel`) |
| **SITLRunFw.bat** | SIL | Fixed-wing SITL |
| **HITLRunChange3D.bat** | HIL | Switch 3D vehicle model style |
| **SITLRunChange3D.bat** | SIL | Switch 3D vehicle model style |
| **HITLRunMAVLinkNoGPS.bat** | HIL | No-GPS mode (SLAM) |
| **SITLRunMAVLinkNoGPS.bat** | SIL | No-GPS mode (SLAM) |
| **HITLRunPX4Net.bat** | HIL | Network-connected flight controller (`PX4_HITL_NET`) |
| **HITLRunExtNet.bat** | HIL | Third-party flight controller (`EXT_SIM_NET`) |
| **HITLRunLowGPU.bat** | HIL | Low GPU mode (`UE4_MAP=LowGPU`) |
| **SITLRunLowGPU.bat** | SIL | Low GPU mode |
| **HITLRunNoUI.bat** | HIL | Headless background execution |
| **SITLRunNoUI.bat** | SIL | Headless background execution |
| **HITLRunUE5.bat** | HIL | Uses UE5-based 3D program |
| **SITLRunUE5.bat** | SIL | Uses UE5-based 3D program |

### ROS Integration Scripts

| Script Name | Simulation Type | Feature Description |
|--------|:--------:|----------|
| **HITLRunROS.bat** | HIL | HIL + automatic MAVROS startup |
| **SITLRunROS.bat** | SIL | SIL + automatic MAVROS startup |

### Utility & Environment Scripts

| Script Name | Function |
|--------|------|
| **CloseALL.bat** | One-click cleanup of all simulation processes + WSL |
| **StopBuild.bat** | Terminate WSL-related processes |
| **DistSim.bat** | Launch distributed simulation manager |
| **UdpPortFree.bat** | Port conflict detection and resolution |
| **Python38Env.bat** | Open command line with preconfigured Python 3.8 environment |
| **Python38Run.bat** | Open Python 3.8 environment in current directory |
| **StartCFclient.bat** | Launch cfclient |
| **WinWSL.bat** | Open WSL console + VcXsrv |
| **WslGUI.bat** | One-click enable WSL GUI support |
| **WslSwith2.bat** | WSL1/WSL2 switching and network configuration |
| **gpedit.bat** | Install Group Policy Editor on Windows Home Edition |

---

## Appendix: Common Batch Script Code Snippets

### 1) Self-Elevation to Administrator Privileges

```bat
NET SESSION >nul 2>&1 || powershell -Command "Start-Process cmd -ArgumentList '/c, ""%~f0""' -Verb RunAs" && exit /b

`NET SESSION` can only be successfully executed by administrators; if it fails, the script automatically elevates to administrator privileges and re-runs itself.

### 2) Silent Output and Error Redirection

```bat
someCommand >nul 2>&1

Suppresses both standard output and error output. Commonly used in combination: cmd1 || cmd2 (executes cmd2 only if cmd1 fails).

3) Process Query and Safe Termination¶

tasklist | find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
tasklist | find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"

Queries the process first before terminating it to avoid "process not found" errors. /f forces termination.

4) WSL Environment Management¶

wsl --shutdown          :: Shuts down all WSL distributions
wsl -d RflySim-20.04    :: Executes commands within the specified distribution

5) X Server and GUI Launch¶

cd /d %PSP_PATH%\VcXsrv
tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config.xlaunch

6) Path and Working Directory¶

cd /d %PSP_PATH%\CopterSim     :: Cross-drive directory switching
pushd "%~dp0"                   :: Switches to the directory where the script resides

7) Program Launch and Console Session Control¶

start /realtime CopterSim.exe ...
start cmd.exe /k "SET PATH=...;%PATH% & someCommand"

/min: Minimizes the window; /realtime: Sets high priority; /k: Keeps the window open after execution; /c: Exits after execution.

8) Delay and Throttling¶

choice /t 2 /d y /n >nul

Non-interactive wait for 2 seconds to allow processes time to start.

9) Environment Variables and Arithmetic Operations¶

set /a VEHICLE_INTERVAL=2
setlocal enabledelayedexpansion
echo !var!   :: Delayed expansion, used within loops

%var%: Expands at parse time; !var!: Expands at execution time.

10) String and List Parsing¶

for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
  set ComNumExe=%%a
  set ComNameList=%%b
  set ComInfoList=%%c
)

11) Labels and Subroutines¶

call :check_and_kill 20010
goto :eof

:check_and_kill
REM ...implementation...
exit /b 0

12) Temporary PATH Injection¶

SET WINDOWSPATH=%PATH%
SET PATH=%PSP_PATH%\Python38;%PATH%
...
SET PATH=%WINDOWSPATH%

13) Pipelines and Conditional Execution¶

tasklist | find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe

Starts a new instance only if the process is not found.