7.1. Usage of this chapter

RflySim adopts the idea of Model-Based Design (MBD) and can be used for control and safety testing of unmanned systems. Through the following five stages: modeling stage, controller design stage, Software In the Loop simulation stage (SIL), Hardware In the Loop simulation stage (hardware-in-the-loop (HIL)) and real flight test stage. With MATLAB/Simulink's automatic code generation technology, the controller can be easily and automatically downloaded into the hardware for HIL simulation and real-world flight testing.

RflySim fault injection architecture is composed of physical module, simulation module and evaluation module. The physical module is composed of flight control hardware, which is responsible for connecting with the simulation computer, receiving control instructions from the outside and making attitude response, forming a semi-physical simulation closed loop, which can carry out real-time fault injection of hardware in the loop through flight control. The simulation module is composed of CopterSim, RFlySim3D and QGC, which is responsible for sending fault message and 3D fault injection of the whole machine, and carrying out real-time fault simulation. The evaluation module is responsible for the output of the safety condition after the fault injection.

In this lecture Core，Function introduction (Intro) file

The address of the introduction document for this lecture is: 🔗[Installation Directory]\RflySimAPIs\7.RflySimPHM\Intro.pdf🔗

In this lecture, API files

In this lecture, the address of the development-related API interface platform is：🔗[Installation Directory]\RflySimAPIs\7.RflySimPHM\API.pdf🔗

In this lecture, PPT files

The platform address of the PPT document for this lecture is：🔗[Installation Directory]\RflySimAPIs\7.RflySimPHM\PPT.pdf🔗

All routine files in this lecture

For all routines in this lecture, please see the Readme documentation, which is located at：🔗[Installation Directory]\RflySimAPIs\7.RflySimPHM\Readme.pdf🔗