Wang, Shuai (Beihang University), Dai, Xunhua (Central South University), Ke, Chenxu (Beihang University), Quan, Quan (Beihang University)

RflySim: A Rapid Multicopter Development Platform for Education and Research Based on Pixhawk and MATLAB

Scheduled for presentation during the Regular Session "Airspace Control and Management" (FrD4), Friday, June 18, 2021, 16:40−17:00,

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

In this paper, we propose and open a rapid development platform--RflySim based on Pixhawk/PX4 and MATLAB/Simulink for UAV education and research. This platform adopts model-based development ideas and uses software-in-the-loop simulation and hardware-in-the-loop simulation to accelerate physical deployment. With that, beginners and developers can directly use MATLAB/Simulink to design low-level controllers (such as attitude control, position control) and high-level applications (such as decision-making, autonomous flight), and then deploy them into a multicopter autopilot system with no need to access the C/C++ underlying code. Three demonstrations are presented to verify the ease of use and the high efficiency of the proposed platform.