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Simulink Interface Reference

RflySim provides two sets of Simulink toolboxes, targeting PX4 low-level algorithm development and RflySim extended function development, respectively.

SimulinkPSP (Pixhawk Target Blocks)

Provided officially by MATLAB/Simulink, for low-level control algorithm development and automatic code generation for Pixhawk/PX4 autopilots.

ADC and Serial (ADC and Serial Communication Library)

Block Function
ADC Read Read data from 3 external ADC channels
Serial Read/Write Read and write operations for a specified serial port

Miscellaneous Utility Blocks (Utility Blocks Library)

Block Function
Log Storage Flight log storage
Print Function Print debug information to the terminal
QGC Param Parameter exchange between QGroundControl and Simulink

Sensors and Actuators (Sensor and Actuator Interface Library)

Block Function
Battery Monitor Battery voltage/current monitoring
RC Input Remote control channel data
Motor Output Motor PWM control signal output
LED Control LED indicator control
IMU/Mag/Baro/GPS Sensor data reading
Buzzer Buzzer alarm
Vehicle Attitude Vehicle attitude data
Vehicle GPS GPS positioning data

uORB Read and Write (uORB Message Read/Write Library)

Block Function
uORB Read Subscribe to PX4 uORB messages
uORB Read Trigger Triggered uORB message reading
uORB Write Publish PX4 uORB messages
uORB Write Advanced Advanced uORB message writing
uORB Write Advanced (Dai) Dai-extended uORB message writing

RflySimPSP (RflySim Extended Toolbox)

Developed by the RflySim team, it further improves the high-level function library based on the official interface.

RflySim APIs (Advanced Low-Level Control Library)

Covers read and write interfaces for various key data including attitude, velocity, position, acceleration, force/torque, remote control, actuators, etc.

Block Function
HIL16 Ctrls Norm HIL 16-dimensional normalized control
HIL16 Ctrls PWM HIL 16-dimensional PWM control
Input RC Cali Remote control input calibration
Input RC Norm Normalized remote control input
Msg2Simulink API Message-to-Simulink API
Offboard Adv Ctrl Offboard advanced control
Offboard Att Ctrl Offboard attitude control
Offboard PVA Ctrl Offboard position/velocity/acceleration control
Off Ctrl Msg All Offboard control message summary
Pos Vel Att All Full position/velocity/attitude data
RC Over Ctrl Remote control override control
Re PX4 Block PX4 block reconfiguration
Torque Thrust Ctrls Torque/thrust control

RflySim Model (Motion Model Library)

Module Function
6DOF 6-DOF dynamics model
3D Output 3D visualization output
Sensor Output Sensor output
Ground Model Ground model
Copter Force Model Multi-rotor force model
Copter Motor Model Multi-rotor motor model
UDP 20100 PX4SIL Recv PX4SIL UDP data reception
UDP 30100 TrueSim Recv TrueSim UDP data reception
UDP 40100 RflyPX4 Recv RflyPX4 UDP data reception
PX4SIL IntFloat Send PX4SIL integer/float data transmission
PX4 Fault Params Send PX4 fault parameter transmission

RflySim PHM (Fault Modeling and Prognostics Health Management Library)

Fault Type Description
Battery Fault Voltage drop, abnormal charging/discharging
Environmental Wind Gust, turbulence
Load Change Mass mutation during operation
GNSS Fault Positioning drift, loss of lock
Motor Fault Abnormal rotation speed, jamming
Propeller Fault Pull force reduction
Other Sensors Accelerometer/Gyroscope/Magnetometer faults
Module Function
Motor Fault Motor fault injection
Prop Fault Propeller fault injection
Battery Fault Battery fault injection
Load Fault Load fault injection
Wind Fault Wind disturbance fault injection
GPS Fault GPS fault injection
Sensor Fault Sensor fault injection
Fault Params Extract Fault parameter extraction

RflySim Swarm (Swarm Control Library)

Module Function
Multi-UAV State Acquisition Get the pose and status of each vehicle in the swarm
Multi-UAV Control Interface Send control commands to multiple vehicles
Motion Capture Data Subscription Subscribe to data from external motion capture systems
MAVLink Encoding & Decoding Encapsulation and unpacking of MAVLink messages
Module Function
Rfly UDP Fast High-speed UDP swarm communication
Rfly UDP Raw Raw UDP data communication
Rfly Serial Raw Raw serial data communication
Rfly UDP MAVLink MAVLink UDP communication
Rfly VRPN Recv VRPN motion capture data reception
VRPN Data Decoder VRPN data decoding
Real Data Decoder Real-vehicle data decoding
Full Data Decoder Full-data decoding
Simple Data Decoder Simplified data decoding
Offboard Full Offboard full-data control
Vel NED Full NED velocity full-data control
Vel Body Full Body-frame velocity full-data control
Pos NED Full NED position full-data control
Real Ctrl 28D Real-vehicle 28-dimensional control
Simple Ctrl 4D Simplified 4-dimensional control
Auto Firmware API Auto firmware API
High Level Mode High-level mode control

Usage Recommendations

Development Phase Selection

Development Stage Recommended Toolbox Description
Low-level Algorithm Development SimulinkPSP Develop PX4 low-level control algorithms using official blocks
High-level Application Development RflySimPSP Develop application-layer functions using RflySim extended blocks
Hardware-in-the-Loop (HIL) Simulation Combined Use of Both SimulinkPSP generates code; RflySimPSP provides simulation interfaces
Swarm Cooperative Development RflySim Swarm Use swarm communication modules for multi-UAV cooperative development

Note: This document serves as a consolidated index for the RflySim platform’s Simulink interfaces. For detailed usage instructions of each module, please refer to its respective standalone documentation page.