Python SDK Overview

RflySim’s Python control interface is uniformly integrated into RflySimSDK, located under [Installation Directory]\RflySimAPIs\RflySimSDK\. This SDK provides comprehensive capabilities for drone simulation control, visual sensing, swarm collaboration, and health management development.

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Module Architecture

graph TB
    SDK["<b>RflySimSDK</b>"]

    subgraph 飞行控制
        ctrl["<b>ctrl</b><br>Flight Controller Communication · State Acquisition<br>Coordinate Transformation · ROS Integration"]
    end

    subgraph 网络通信
        comm["<b>comm</b><br>Cluster Networking Simulation · Multi-Drone Broadcasting<br>Redis Middleware"]
    end

    subgraph 视觉传感
        vision["<b>vision</b><br>Image Acquisition · Camera Control<br>Point Cloud Visualization · ROS Publishing"]
    end

    subgraph 引擎控制
        ue["<b>ue</b><br>3D Interaction · Map Services<br>Quadruped Robot Initialization"]
    end

    subgraph 集群控制
        swarm["<b>swarm</b><br>Multi-Drone Management · Distributed Simulation<br>Crazyflie · ADB Debugging"]
    end

    subgraph 健康评估
        phm["<b>phm</b><br>Automated Testing · Fault Injection<br>Data Logging · Safety Evaluation"]
    end

    SDK --> ctrl
    SDK --> comm
    SDK --> vision
    SDK --> ue
    SDK --> swarm
    SDK --> phm

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Core Module Quick Reference

ctrl — Flight Control

MAVLink communication core with PX4/APM flight controllers, supporting single-vehicle and multi-vehicle control.

Interface File	Core Class	Function
PX4MavCtrlV4	PX4MavCtrler	MAVLink control core: arm/takeoff/land/Offboard/waypoint
PX4MavCtrlV4ROS	PX4MavCtrlerROS	ROS-integrated PX4 controller
DllSimCtrlAPI	DllSimModel	CopterSim DLL integrated model interaction
DllSimCtrlAPIROS	DllSimModelROS	DLL model ROS integration
api	RflyCtrl	High-level simplified API
ReqCopterSim	ReqCopterSim	CopterSim simulation initialization request
EarthModel	EarthModel	WGS84/UTM/NED coordinate transformation
IpManager	IpManager	IP address allocation and management
RflyRosStart	RflyRosStart	Automatic ROS environment startup

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comm — Network Communication

Cluster network communication simulation, supporting UDP broadcast/unicast and Redis message middleware.

Interface File	Core Class	Function
NetSimAPIV4	NetSimAPI	Custom cluster networking simulation
NetUavAPI	NetUavAPI	Multi-UAV cluster networking communication
RedisUtils	RedisUtils	Redis publish-subscribe utility

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vision — Vision Sensing

Vision sensor data acquisition and control, supporting RGB images, depth maps, point clouds, and LiDAR.

Interface File	Core Class	Function
VisionCaptureApi	VisionCaptureApi	Image/depth/point cloud data acquisition
CameraCtrlApi	CameraCtrlApi	Camera parameter control (resolution/FOV/pose)
ScreenCapApiV4	ScreenCapApiV4	Screen capture acquisition
Open3DShow	Open3DShow	Real-time Open3D point cloud visualization
RflyRosCtrlApi	RflyRosCtrlApi	ROS vision data publishing and control

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ue — Engine Control

Interaction and control with RflySim3D/RflySimUE5 3D engines.

Interface File	Core Class	Function
UE4CtrlAPI	UE4CtrlAPI	Engine console commands, scene interaction
UEMapServe	UEMapServe	Map loading and scene switching service
RobotDogStart	RobotDogStart	Robot dog simulation startup

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swarm — Swarm Control

Large-scale multi-vehicle swarm management, distributed simulation, and heterogeneous platform adaptation.

Interface File	Core Class	Function
VehicleApi	VehicleApi	Single-vehicle state subscription and control encapsulation
distSimCtrlAPI	DistSimCtrlAPI	Distributed simulation node control
Crazyflie	Crazyflie	Crazyflie micro-drone adaptation
CrazySwarm	CrazySwarm	CrazySwarm swarm framework
MavRflyShell	MavRflyShell	MAVLink command-line tool
RflyADBLib	RflyADBLib	ADB remote debugging library
RJ45_px6x	RJ45_px6x	Ethernet-based flight controller communication (Pixhawk 6x)

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phm — Health Assessment

Automated testing, fault injection, flight data logging, and safety evaluation.

Interface File	Core Class	Function
AutoMavCtrl	AutoMavCtrl	Automated test process management
AutoMavDB	AutoMavDB	Test case database management
AutoMavCmd	AutoMavCmd	Standardized control sequence parsing
Ass	Ass	Safety and reliability assessment
DeBug	DeBug	Debugging assistance tool
QGCCtrlAPI	QGCCtrlAPI	QGC ground station control interface
AutoREG	AutoREG	Automatic registration and discovery
AutoVisConf	AutoVisConf	Visual configuration automation
MavDataRec	MavDataRec	MAVLink flight data recording

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Quick Start

Minimal Example: Single-Vehicle Takeoff and Landing

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler
import time

# Create control instance (connect to vehicle ID=1)
mav = PX4MavCtrler(ID=1)

# Send global start signal
mav.sendStartMsg(copterID=-1)
mav.waitForStartMsg()

# Arm → Takeoff → Hover → Land
mav.SendMavArm(True)
mav.SendMavTakeoff(5)   # Take off to 5m
time.sleep(10)
mav.SendMavLand()

Multi-Machine Cluster Example

from RflySimSDK.ctrl.PX4MavCtrlV4 import PX4MavCtrler

# Create control instances for 3 drones
mavs = [PX4MavCtrler(ID=i+1) for i in range(3)]

# Global startup
mavs[0].sendStartMsg(copterID=-1)
for m in mavs:
    m.waitForStartMsg()

# Individual takeoff
for m in mavs:
    m.SendMavArm(True)
    m.SendMavTakeoff(5)

Vision Sensor Image Capture

from RflySimSDK.vision.VisionCaptureApi import VisionCaptureApi
import cv2

# Initialize visual capture
vis = VisionCaptureApi()
vis.jsonLoad("Config.json")

# Retrieve image
img = vis.getImg(0)
cv2.imshow("Camera", img)
cv2.waitKey(0)

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