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RflySim Toolchain Docs
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Showcase
Showcase
Core Feature Videos
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Quick Start
Quick Start
Toolchain Overview
Installation and Environment Setup
5-Minute Quick Start
Core Courses
Core Courses
Chapter 1 Introduction and System Architecture
Chapter 2 Experiment Platform Setup
Chapter 3 3D Environment Modeling and Simulation
Chapter 4 Vehicle Dynamics Modeling and Simulation
Chapter 5 Filtering, Estimation and Inner-Loop Control
Chapter 6 External Control and Trajectory Planning
Chapter 7 Health Management and Safety Evaluation
Chapter 8 Multi-Modal Perception and Intelligent Decision-Making
Chapter 9 Multi-UAV Communication and Intelligent Networking
Chapter 10 Swarm Cooperation and Competitive Games
Software Manual
Software Manual
CopterSim Dynamics Simulator
RflySim3D and UE5 Engine
QGroundControl Ground Station
SimCreate Experiment Builder
VisCreate Sensor Configuration
DistSim Distributed Deployment Tool
WinWSL Build and Development Environment
Python and VS Code
MATLAB/Simulink
Docker Deployment
Developer Reference
Developer Reference
BAT Script Reference
Toolchain Protocol Summary
Automated Test Configuration Protocol
3D Resource Index
RflySim3D Shortcuts and Console Command Index
RflySim3D Model Import XML Configuration
Vision Sensor Configuration Protocol
Vision Communication Protocols
MATLAB Command Line Instructions
Python SDK
Python SDK
ctrl Flight Control
ctrl Flight Control
api High-Level API
PX4MavCtrlV4 Low-Level Communication
PX4MavCtrlV4ROS Interface
DllSimCtrlAPI Integrated Model
DllSimCtrlAPIROS Interface
ReqCopterSim Simulation Initialization
EarthModel Coordinate Transformations
IpManager IP Management
RflyRosStart ROS Launcher
comm Network Communication
comm Network Communication
NetSimAPIV4 Network Simulation Communication
NetUavAPI Networking Communication
RedisUtils Redis Utilities
vision Vision Sensors
vision Vision Sensors
VisionCaptureApi Image Capture
CameraCtrlApi Camera Control
ScreenCapApiV4 Screen Capture
Open3DShow Point Cloud Display
RflyRosCtrlApi ROS Control
ue Engine Control
ue Engine Control
UE4CtrlAPI Engine Control
UEMapServe Map Service
RobotDogStart Robot Dog Startup
swarm Swarm Control
swarm Swarm Control
VehicleApi Single-Vehicle Control
distSimCtrlAPI Distributed Simulation
Crazyflie Swarm Adapter
crazyswarm Swarm Framework
mavRflyShell Command Line
RflyADBLib ADB Debugging
RJ45_px6x Ethernet Communication
phm Health Assessment
phm Health Assessment
AutoMavCtrl Automated Control
AutoMavDB Database
AutoMavCmd Commands
Ass Assessment
DeBug Debugging
QGCCtrlAPI Ground Station
AutoREG Auto Registration
AutoVisConf Vision Configuration
MavDataRec Data Recording
Simulink Toolbox
Simulink Toolbox
ADC and Serial - ADC and Serial Communication Library
ADC and Serial - ADC and Serial Communication Library
Read ADC Channels
Serial
Miscellaneous Utility Blocks - Utility Block Library
Miscellaneous Utility Blocks - Utility Block Library
binary_logger
ExamplePrintFcn
ParamUpdate
RflySim APIs - Low-Level Control Interface Library
RflySim APIs - Low-Level Control Interface Library
HIL16CtrlsNorm
HIL16CtrlsPWM
InputRcCali
InputRcNorm
Msg2SimulinkAPI
OffboardAdvCtrlAPI
OffboardAttCtrlAPI
OffboardPvaCtrlAPI
OffCtrlMsgAll
PosVelAttAll
RCOverCtrlAPI
RePX4Block
TorqueThrustCtrls
RflySim Model - Simulation Model Library
RflySim Model - Simulation Model Library
6DOF
SensorOutput
3DOutput
GroundModel
CopterForceModel
CopterMotorModel
UDP_20100_PX4SilRecv
UDP_30100_TrueSimRecv
UDP_40100_RflyPx4Recv
PX4SILIntFloatSend
PX4FaultInParamsSend
RflySim PHM - Fault Injection and Health Evaluation Library
RflySim PHM - Fault Injection and Health Evaluation Library
MotorFault
PropFault
BatteryFault
LoadFault
WindFault
GPSFault
SensorFault
FaultParamsExtract
RflySim Swarm - Swarm Communication Interface Library
RflySim Swarm - Swarm Communication Interface Library
RflyUdpFast
RflyUdpRaw
RflySerialRaw
RflyUdpMavlink
RflyVrpnRecv
vrpn_data_decoder
real_data_decoder
Full_data_decoder
Simple_data_decoder
Offboard_full
vel_ned_full
vel_body_full
pos_ned_full
RealCtrl28D
SimpleCtrl4D
AutoFirmwareAPI
HighLevelMode
Sensors and Actuators - Sensor and Actuator Interface Library
Sensors and Actuators - Sensor and Actuator Interface Library
Battery_measure
Input_rc
PWM_output
AUX_output
RGB_LED
sensor_combined
Speaker_Tune
vehicle_attitude
vehicle_gps
uORB Read and Write - Flight Controller Message I/O Library
uORB Read and Write - Flight Controller Message I/O Library
uORB Read Async
uORB Read Function-Call Trigger
uORB Write
uORB Write Advanced
uORB Write Advanced_dai
ROS/ROS2 Interfaces
Hardware and Ecosystem
Hardware and Ecosystem
Download Center
Companion Textbooks
Companion Textbooks
Multirotor Aircraft Design and Control
Multirotor Aircraft Design and Control Practice
Multirotor Aircraft from Theory to Practice
Remote Control Practice for Multirotor Aircraft
Flight Control Practice for Small Fixed-Wing UAVs
Intelligent Unmanned System Control Practice
Feisi Hardware Products
Feisi Hardware Products
Hardware-in-the-Loop Simulation Kit
Feisi Swarm Simulation Unit (Swarm Box)
Feisi Intelligent Simulation Unit (Vision Box)
Feisi MiniQuad150 UAV Development Platform
Other Products
Supported Flight Controllers
Supported Flight Controllers
Pixhawk 2.4.8 (also known as Pixhawk 1)
CUAV V5 Nano
Pixhawk 6X and 6X mini
Pixhawk 6C and 6C mini
CubePilot Orange
ZY Racer
Other Flight Controller Configurations
Supported Peripherals
Supported Peripherals
Common RC Controller Configuration
Common RC Controller Configuration
ET10
i6s
AT9S Pro
Other RC Controllers
SKYRC Charger D100
Advanced and Appendix
Advanced and Appendix
Advanced Integration Topics
Frequently Asked Questions
Glossary
Changelog
vehicle_gps
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Document in progress