Skip to content

RflySimSDK Developer Reference Manual

Welcome to the RflySim low-level developer interface center. This section fully corresponds to the original RflySimAPIs development package documentation, providing a series of highly open APIs that allow you to deeply interact with hardware, the environment, and the aircraft algorithm layer programmatically during simulation.

🚀 Overview of Usage

Python SDK Workflow

  1. Install Environment: Install the Python environment and core dependency packages (i.e., the various RflySim tool platforms you have installed).
  2. Configure Editor: Set up your code editor environment (e.g., VS Code and related interpreter settings).
  3. Call Interfaces: Call various interface functions in RflySimAPIs according to this document (for image acquisition, state polling, and sending control commands).
  1. Install Environment: Install the compatible version of MATLAB and Simulink toolbox.
  2. Configure Generation: Set up the automatic code generation pipeline environment based on PSP configuration.
  3. Build Model: Drag and drop corresponding modules and bridge interfaces into your model for joint verification.

📚 Quick Reference for Common Functions and Protocols

🐍 Python SDK Core Module Summary

To meet the full architecture verification requirements of Sim-to-Real, we provide the following segmented interface libraries for different technology stacks:

  • 📡 Network Communication

    comm Module Interface: Includes NetSimAPIV4, NetUavAPI, and LAN data forwarding with Redis synchronization mechanisms.

  • 🚁 Vehicle Model and Control

    ctrl Module Interface: Includes basic offline control APIs, DllSimCtrlAPI (for interaction with DLL comprehensive models), and PX4MavCtrl.

  • 🛡️ Prognostics and Health Management (PHM)

    phm Module Interface: Includes automated test configuration protocols, automatic command injection (AutoMavCmd), and cloud data logging (MavDataRec).

  • 🐝 UAV Swarm Multi-agent Cooperation

    swarm Module Interface: Includes crazyflie, VehicleApi, and distributed swarm interfaces compatible with DistSim.

  • 🎮 3D Simulation Engine Interaction

    ue Module Interface: Includes scene resource control tables, UE4CtrlAPI (for controlling weather, time, and camera view), and UEMapServe.

  • 👁️ Computer Vision Processing

    vision Module Interface: Includes VisionConfig, as well as CameraCtrlApi and VisionCaptureApi for acquiring 3D images from the scene.

RflySim natively supports exposing all bus functionalities to Simulink, enabling developers to achieve low-level co-simulation by dragging and dropping graphical modules:

Sub-toolbox Name Core Component Description
Sensors and Actuators Low-level logic models for sensor and actuator interaction
uORB Read and Write Bridge for direct subscription and publishing of low-level flight controller uORB messages
RflySim APIs Essential C/C++ interface library for low-level control algorithm verification
RflySim Model Core joint model for dynamics and 3D scene simulation
RflySim PHM Automated safe flight envelope and extreme environment fault injection channel
RflySim Swarm & Vision Support for high-level data generation and swarm state extraction

💡 Advanced Development Tip: If you need to directly modify the low-level flight controller architecture or implement higher-level topic communication, please refer to ROS / ROS2 Node Low-level Interface Library.