Compatible Flight Controllers¶

The RflySim toolchain supports multiple flight controller hardware platforms based on the PX4 software system. The following list includes flight controllers that are long-term supported and thoroughly validated, each accompanied by a complete RflySim configuration guide, official firmware flashing instructions, and hardware-in-the-loop (HIL) simulation startup procedures.

Flight Controller List¶

Flight Controller Model	Build Command	Recommended PX4 Version	Description
Pixhawk 2.4.8 (Pixhawk 1)	`px4_fmu-v3_default`	v1.13.2	Classic entry-level flight controller, ARM Cortex-M4, 14 PWM channels
CUAV V5 Nano	`px4_fmu-v5_default`	v1.13.2	CUAV high-performance compact flight controller, STM32F765
Pixhawk 6X	`px4_fmu-v6x_default`	v1.13.2	Holybro’s latest high-performance flight controller, STM32H753, triple-redundant IMU, Ethernet interface
Pixhawk 6C	`px4_fmu-v6c_default`	v1.13.2	Holybro compact flight controller, STM32H743, high cost-performance ratio in a small form factor
Pixhawk 6X mini	`px4_fmu-v6x_default`	v1.13.2	Mini version of the Pixhawk 6X, smaller size but equivalent performance
CUAV V5+	`px4_fmu-v5_default`	v1.13.2	CUAV standard-size high-performance flight controller
Cube Orange	`cubepilot_cubeorange_default`	v1.13.2	CubePilot modular design with detachable carrier board, industrial-grade quality
Cube Orange+	`cubepilot_cubeorangeplus_default`	v1.13.2	Upgraded version of Cube Orange with enhanced performance
ZYRacer	`droneyee_zyfc-h7_default`	v1.12.3	ZYRacer, self-developed flight controller by ZY Intelligent, integrated power module, professional racing-grade controller
Other Flight Controllers	—	—	Summary and download of 19 PX4-compatible flight controller firmwares

Flight Controller Selection Guide¶

Application Scenario	Recommended Flight Controller	Description
Beginner Learning	Pixhawk 2.4.8	Low cost, abundant resources, ideal for beginners
Teaching Experiments	Pixhawk 6C	High cost-performance ratio, compact size, comprehensive features
Scientific Research & Development	Pixhawk 6X	High performance, triple-redundant IMU, Ethernet support
Industrial Applications	Cube Orange	Industrial-grade quality, modular design, high reliability
Racing Competitions	ZYRacer	Professional racing design, fast response, high integration
Swarm Applications	Pixhawk 6X mini	Compact size, suitable for swarm deployment
Compact Design	V5 Nano / V5+	High performance, compact layout, ideal for space-constrained applications

Firmware Compilation and Flashing¶

Environment Setup¶

# Install PX4 development environment (refer to WinWSL documentation)
# Clone the PX4 firmware repository
git clone https://github.com/PX4/PX4-Autopilot.git
cd PX4-Autopilot
git checkout v1.13.2  # Switch to the recommended version

Firmware Compilation¶

# Example for Pixhawk 6X
make px4_fmu-v6x_default

# After compilation, the firmware is located at:
# build/px4_fmu-v6x_default/px4_fmu-v6x_default.px4

Firmware Flashing¶

# Connect the flight controller via USB; it will be automatically detected and flashed
make px4_fmu-v6x_default upload

# Alternatively, use QGroundControl’s GUI for flashing

HIL Simulation Configuration¶

1. Flight Controller Connection¶

USB cable connects flight controller ↔ computer

2. Launch RflySim¶

# Run the RflySim auto-launch script
RunRflySim.bat

# Or manually launch components:
CopterSim.exe  # Launch simulation core
RflySim3D.exe  # Launch 3D visualization

3. Configure HIL¶

In CopterSim, select:

Flight controller type (e.g., Pixhawk 6X)
Vehicle model (e.g., quadcopter)
Simulation mode (HIL)

4. Start Simulation¶

Click "Start Simulation" to begin HIL simulation.

Troubleshooting¶

Issue	Possible Cause	Solution
Flight controller not recognized	USB drivers not installed	Install USB drivers
Firmware flashing failure	Baud rate mismatch	Check baud rate settings
HIL fails to start	Serial port in use	Close other serial port tools
Simulation desynchronization	Simulation time step too large	Reduce simulation time step

Note: This document serves as an index page for compatible flight controllers. For detailed information on each flight controller, please refer to its respective documentation page.