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Toolchain Long-Term Support for Flight Controller Introduction

1. ZY_Racer

The Racer flight controller is a drone flight controller developed by Beijing Zeying 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, VTOL drones, ground vehicles, and unmanned boats.
An integrated power module allows direct battery power supply, reducing wiring and significantly improving flight reliability.

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2. RflySim Configuration

If using the Zeying 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
  • Select “6”: PX4 1.12.3 firmware version
  • Select “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.
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Reset the flight controller parameters to the firmware’s default values.
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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.
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Set the flight modes as shown below.
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In the Safety settings, enable only Hardware-in-the-Loop (HIL) simulation.
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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 window, enter the flight controller’s COM port number (e.g., 4).
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Wait until the bottom-left corner of CopterSim displays: PX4: GPS 3D fixed & EKF initialization finished.
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Disarm the aircraft via CH5 channel on the remote controller, and then take off and control the aircraft flight.

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