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FlytSim offers a 3D SITL(Software In The Loop) simulation environment for testing user apps without the drone hardware. It is a ROS-Gazebo based environment where the drone and its world are simulated, programmatically generating the state variables, while the control algorithms applied are same as onboard the drone (PX4). The FlytAPIs are also available in FlytSim and thus the user apps built with these APIs can be tested on a computer supporting a native Linux environment using FlytSim. FlytSim is based on Pixhawk SITL customised to work with FlytAPIs. Please follow the Installation Guide to install FlytSim package, and to start testing your app and see it in action.