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Toolchain Long-Term Support Flight Controller Introduction

1. ZY_Racer

​ The Racer flight controller is a drone flight controller developed by Beijing Zhuoying Intelligent Technology Co., Ltd., based on the PX4 open-source flight control architecture. It features high reliability, strong performance, and stable operation. It integrates a 3-axis gyroscope, 3-axis accelerometer, barometer, and other sensors, supports SD card flight data logging, and provides open-source code for secondary development. It supports multiple unmanned platforms, including quadcopters, fixed-wing aircraft, vertical takeoff and landing drones, ground vehicles, and unmanned boats. An integrated power module allows direct battery power supply, reducing wiring and greatly improving flight reliability.

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2.RflySim Configuration

If using the Zhuoying Racer flight controller hardware (corresponding firmware: droneyee_zyfc-h7_default), it is recommended to use the software installation and configuration shown in the figure below.

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  • Use the droneyee_zyfc-h7_default compilation command
  • Use “6”: PX4 1.12.3 firmware version
  • Use “1”: WinWSL compiler

3. Restore Official Firmware

Open QGroundControl (QGC) and navigate to the following interface.

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Connect the flight controller to the computer, and in the pop-up interface, select the following option to flash the firmware: droneyee_zyfc-h7_default.px4

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Wait for the firmware flashing to complete. image-20240123171632687

Reset the flight controller parameters to the firmware's default values. image-20240123171743005

Set the airframe to HIL Quadcopter X, scroll to the top, and click “Apply and Restart”. Wait for the restart to complete.

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Connect the RC receiver (note the wiring sequence) and power on the remote controller. Calibrate the remote controller as shown in the figure. image-20240123172518100

Set the flight modes as shown below. image-20240123172705944 In the Safety settings, enable only Hardware-in-the-Loop (HIL) simulation. image-20240123172816130

4. Start Hardware-in-the-Loop (HIL) Simulation

After completing the above settings, close QGC. Run the "[Installation Directory]\Desktop\RflyTools\HITLRun.lnk" script as Administrator. In the

pop-up cmd dialog box, enter the flight controller's port number (e.g., 4). image-20240123173110715

Wait until the bottom-left corner of CopterSim displays: PX4: GPS 3D fixed & EKF initialization finished. image-20240123173206282

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Arm the aircraft via the CH5 channel on the remote controller, then take off and control the aircraft flight.

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