Simulation and hardware emulation software » libmrsim

Multi-rotor simulator.

The library provides a pty emulating the tk3-mikrokopter communication protocol and implements all the tk3-mikrokopter features so that the hardware can be fully emulated.

The rotor dynamics are simulated using a realistic motor model and a simple thrust/drag propeller model. The same hardware velocity controller as implemented in the tk3-mikrokopter software controls the propellers velocities. Then, a simple free-flying 6D rigid body dynamics simulation can also be used, although it is not meant as a generic physics engine (e.g. no collision, no atmosphere, ...).