fix：新增例程

基础使用/e13.RflySim硬件在环仿真实验/code/HILPara.params

@@ -0,0 +1,789 @@
+# Onboard parameters for Vehicle 1
+#
+# Stack: PX4 Pro
+# Vehicle: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+# Version: 1.12.3 dev
+# Git Revision: 2e8918da66000000
+#
+# Vehicle-Id Component-Id Name Value Type
+1	1	ASPD_SCALE	1.000000000000000000	9
+1	1	BAT_A_PER_V	-1.000000000000000000	9
+1	1	BAT_CRIT_THR	0.070000000298023224	9
+1	1	BAT_EMERGEN_THR	0.050000000745058060	9
+1	1	BAT_LOW_THR	0.150000005960464478	9
+1	1	BAT_N_CELLS	0	6
+1	1	BAT_V_CHARGED	4.050000190734863281	9
+1	1	BAT_V_DIV	-1.000000000000000000	9
+1	1	BAT_V_EMPTY	3.500000000000000000	9
+1	1	CAL_ACC0_ID	4259850	6
+1	1	CAL_ACC0_PRIO	50	6
+1	1	CAL_ACC0_ROT	-1	6
+1	1	CAL_ACC0_XOFF	-0.011515792459249496	9
+1	1	CAL_ACC0_XSCALE	1.000000000000000000	9
+1	1	CAL_ACC0_YOFF	0.039468310773372650	9
+1	1	CAL_ACC0_YSCALE	1.000000000000000000	9
+1	1	CAL_ACC0_ZOFF	-0.005633188411593437	9
+1	1	CAL_ACC0_ZSCALE	1.000000000000000000	9
+1	1	CAL_ACC1_ID	2490378	6
+1	1	CAL_ACC1_PRIO	50	6
+1	1	CAL_ACC1_ROT	-1	6
+1	1	CAL_ACC1_XOFF	-0.012552641332149506	9
+1	1	CAL_ACC1_XSCALE	1.000000000000000000	9
+1	1	CAL_ACC1_YOFF	-0.025704959407448769	9
+1	1	CAL_ACC1_YSCALE	1.000000000000000000	9
+1	1	CAL_ACC1_ZOFF	-0.121460497379302979	9
+1	1	CAL_ACC1_ZSCALE	1.000000000000000000	9
+1	1	CAL_ACC2_ID	0	6
+1	1	CAL_ACC3_ID	0	6
+1	1	CAL_AIR_CMODEL	0	6
+1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
+1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
+1	1	CAL_GYRO0_ID	4325386	6
+1	1	CAL_GYRO0_PRIO	50	6
+1	1	CAL_GYRO0_ROT	-1	6
+1	1	CAL_GYRO0_XOFF	-0.010011848062276840	9
+1	1	CAL_GYRO0_YOFF	0.001396219944581389	9
+1	1	CAL_GYRO0_ZOFF	-0.000651682668831199	9
+1	1	CAL_GYRO1_ID	2490378	6
+1	1	CAL_GYRO1_PRIO	50	6
+1	1	CAL_GYRO1_ROT	-1	6
+1	1	CAL_GYRO1_XOFF	0.009957027621567249	9
+1	1	CAL_GYRO1_YOFF	0.001460103201679885	9
+1	1	CAL_GYRO1_ZOFF	0.000878122576978058	9
+1	1	CAL_GYRO2_ID	6684698	6
+1	1	CAL_GYRO2_PRIO	50	6
+1	1	CAL_GYRO2_ROT	-1	6
+1	1	CAL_GYRO2_XOFF	0.000000000000000000	9
+1	1	CAL_GYRO2_YOFF	0.000000000000000000	9
+1	1	CAL_GYRO2_ZOFF	0.000000000000000000	9
+1	1	CAL_GYRO3_ID	2490386	6
+1	1	CAL_GYRO3_PRIO	50	6
+1	1	CAL_GYRO3_ROT	-1	6
+1	1	CAL_GYRO3_XOFF	-0.000234461389482021	9
+1	1	CAL_GYRO3_YOFF	-0.000017866723283078	9
+1	1	CAL_GYRO3_ZOFF	-0.000000132981753609	9
+1	1	CAL_MAG0_ID	0	6
+1	1	CAL_MAG0_PRIO	50	6
+1	1	CAL_MAG0_ROT	-1	6
+1	1	CAL_MAG0_XCOMP	0.000000000000000000	9
+1	1	CAL_MAG0_XODIAG	0.000000000000000000	9
+1	1	CAL_MAG0_XOFF	0.000000000000000000	9
+1	1	CAL_MAG0_XSCALE	1.000000000000000000	9
+1	1	CAL_MAG0_YCOMP	0.000000000000000000	9
+1	1	CAL_MAG0_YODIAG	0.000000000000000000	9
+1	1	CAL_MAG0_YOFF	0.000000000000000000	9
+1	1	CAL_MAG0_YSCALE	1.000000000000000000	9
+1	1	CAL_MAG0_ZCOMP	0.000000000000000000	9
+1	1	CAL_MAG0_ZODIAG	0.000000000000000000	9
+1	1	CAL_MAG0_ZOFF	0.000000000000000000	9
+1	1	CAL_MAG0_ZSCALE	1.000000000000000000	9
+1	1	CAL_MAG1_ID	0	6
+1	1	CAL_MAG1_ROT	-1	6
+1	1	CAL_MAG2_ID	0	6
+1	1	CAL_MAG2_ROT	-1	6
+1	1	CAL_MAG3_ID	0	6
+1	1	CAL_MAG3_ROT	-1	6
+1	1	CAL_MAG_COMP_TYP	0	6
+1	1	CAL_MAG_ROT_AUTO	1	6
+1	1	CAL_MAG_SIDES	63	6
+1	1	CAM_CAP_FBACK	0	6
+1	1	CBRK_AIRSPD_CHK	0	6
+1	1	CBRK_BUZZER	0	6
+1	1	CBRK_ENGINEFAIL	284953	6
+1	1	CBRK_FLIGHTTERM	121212	6
+1	1	CBRK_IO_SAFETY	22027	6
+1	1	CBRK_RATE_CTRL	0	6
+1	1	CBRK_SUPPLY_CHK	894281	6
+1	1	CBRK_USB_CHK	197848	6
+1	1	CBRK_VELPOSERR	0	6
+1	1	CBRK_VTOLARMING	0	6
+1	1	COM_ARM_AUTH_ID	10	6
+1	1	COM_ARM_AUTH_MET	0	6
+1	1	COM_ARM_AUTH_REQ	0	6
+1	1	COM_ARM_AUTH_TO	1.000000000000000000	9
+1	1	COM_ARM_CHK_ESCS	0	6
+1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
+1	1	COM_ARM_EKF_POS	0.500000000000000000	9
+1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
+1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
+1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
+1	1	COM_ARM_IMU_GYR	0.250000000000000000	9
+1	1	COM_ARM_MAG_ANG	45	6
+1	1	COM_ARM_MAG_STR	1	6
+1	1	COM_ARM_MIS_REQ	0	6
+1	1	COM_ARM_SDCARD	1	6
+1	1	COM_ARM_SWISBTN	0	6
+1	1	COM_ARM_WO_GPS	1	6
+1	1	COM_CPU_MAX	90.000000000000000000	9
+1	1	COM_DISARM_LAND	2.000000000000000000	9
+1	1	COM_DISARM_PRFLT	10.000000000000000000	9
+1	1	COM_DL_LOSS_T	10	6
+1	1	COM_EF_C2T	5.000000000000000000	9
+1	1	COM_EF_THROT	0.500000000000000000	9
+1	1	COM_EF_TIME	10.000000000000000000	9
+1	1	COM_FLIGHT_UUID	46	6
+1	1	COM_FLTMODE1	8	6
+1	1	COM_FLTMODE2	-1	6
+1	1	COM_FLTMODE3	-1	6
+1	1	COM_FLTMODE4	1	6
+1	1	COM_FLTMODE5	-1	6
+1	1	COM_FLTMODE6	2	6
+1	1	COM_FLT_PROFILE	0	6
+1	1	COM_HLDL_LOSS_T	120	6
+1	1	COM_HLDL_REG_T	0	6
+1	1	COM_HOME_H_T	5.000000000000000000	9
+1	1	COM_HOME_IN_AIR	0	6
+1	1	COM_HOME_V_T	10.000000000000000000	9
+1	1	COM_KILL_DISARM	5.000000000000000000	9
+1	1	COM_LKDOWN_TKO	3.000000000000000000	9
+1	1	COM_LOW_BAT_ACT	0	6
+1	1	COM_MOT_TEST_EN	1	6
+1	1	COM_OBC_LOSS_T	5.000000000000000000	9
+1	1	COM_OBL_ACT	0	6
+1	1	COM_OBL_RC_ACT	0	6
+1	1	COM_OBS_AVOID	0	6
+1	1	COM_OF_LOSS_T	1.000000000000000000	9
+1	1	COM_POSCTL_NAVL	0	6
+1	1	COM_POS_FS_DELAY	1	6
+1	1	COM_POS_FS_EPH	5.000000000000000000	9
+1	1	COM_POS_FS_EPV	10.000000000000000000	9
+1	1	COM_POS_FS_GAIN	10	6
+1	1	COM_POS_FS_PROB	30	6
+1	1	COM_PREARM_MODE	0	6
+1	1	COM_RCL_ACT_T	15.000000000000000000	9
+1	1	COM_RCL_EXCEPT	4	6
+1	1	COM_RC_ARM_HYST	1000	6
+1	1	COM_RC_IN_MODE	0	6
+1	1	COM_RC_LOSS_T	0.500000000000000000	9
+1	1	COM_RC_OVERRIDE	1	6
+1	1	COM_RC_STICK_OV	30.000000000000000000	9
+1	1	COM_REARM_GRACE	1	6
+1	1	COM_TAKEOFF_ACT	0	6
+1	1	COM_VEL_FS_EVH	1.000000000000000000	9
+1	1	CP_DELAY	0.400000005960464478	9
+1	1	CP_DIST	-1.000000000000000000	9
+1	1	CP_GO_NO_DATA	0	6
+1	1	CP_GUIDE_ANG	30.000000000000000000	9
+1	1	DSHOT_TEL_CFG	0	6
+1	1	EKF2_ABIAS_INIT	0.200000002980232239	9
+1	1	EKF2_ABL_ACCLIM	25.000000000000000000	9
+1	1	EKF2_ABL_GYRLIM	3.000000000000000000	9
+1	1	EKF2_ABL_LIM	0.400000005960464478	9
+1	1	EKF2_ABL_TAU	0.500000000000000000	9
+1	1	EKF2_ACC_B_NOISE	0.003000000026077032	9
+1	1	EKF2_ACC_NOISE	0.349999994039535522	9
+1	1	EKF2_AID_MASK	1	6
+1	1	EKF2_ANGERR_INIT	0.100000001490116119	9
+1	1	EKF2_ARSP_THR	0.000000000000000000	9
+1	1	EKF2_ASPD_MAX	20.000000000000000000	9
+1	1	EKF2_ASP_DELAY	100.000000000000000000	9
+1	1	EKF2_AVEL_DELAY	5.000000000000000000	9
+1	1	EKF2_BARO_DELAY	0.000000000000000000	9
+1	1	EKF2_BARO_GATE	5.000000000000000000	9
+1	1	EKF2_BARO_NOISE	3.500000000000000000	9
+1	1	EKF2_BCOEF_X	25.000000000000000000	9
+1	1	EKF2_BCOEF_Y	25.000000000000000000	9
+1	1	EKF2_BETA_GATE	5.000000000000000000	9
+1	1	EKF2_BETA_NOISE	0.300000011920928955	9
+1	1	EKF2_DECL_TYPE	7	6
+1	1	EKF2_DRAG_NOISE	2.500000000000000000	9
+1	1	EKF2_EAS_NOISE	1.399999976158142090	9
+1	1	EKF2_EVA_NOISE	0.050000000745058060	9
+1	1	EKF2_EVP_GATE	5.000000000000000000	9
+1	1	EKF2_EVP_NOISE	0.100000001490116119	9
+1	1	EKF2_EVV_GATE	3.000000000000000000	9
+1	1	EKF2_EVV_NOISE	0.100000001490116119	9
+1	1	EKF2_EV_DELAY	175.000000000000000000	9
+1	1	EKF2_EV_NOISE_MD	0	6
+1	1	EKF2_EV_POS_X	0.000000000000000000	9
+1	1	EKF2_EV_POS_Y	0.000000000000000000	9
+1	1	EKF2_EV_POS_Z	0.000000000000000000	9
+1	1	EKF2_FUSE_BETA	0	6
+1	1	EKF2_GBIAS_INIT	0.100000001490116119	9
+1	1	EKF2_GND_EFF_DZ	4.000000000000000000	9
+1	1	EKF2_GND_MAX_HGT	0.500000000000000000	9
+1	1	EKF2_GPS_CHECK	245	6
+1	1	EKF2_GPS_DELAY	110.000000000000000000	9
+1	1	EKF2_GPS_POS_X	0.000000000000000000	9
+1	1	EKF2_GPS_POS_Y	0.000000000000000000	9
+1	1	EKF2_GPS_POS_Z	0.000000000000000000	9
+1	1	EKF2_GPS_P_GATE	5.000000000000000000	9
+1	1	EKF2_GPS_P_NOISE	0.500000000000000000	9
+1	1	EKF2_GPS_V_GATE	5.000000000000000000	9
+1	1	EKF2_GPS_V_NOISE	0.300000011920928955	9
+1	1	EKF2_GSF_TAS	15.000000000000000000	9
+1	1	EKF2_GYR_B_NOISE	0.001000000047497451	9
+1	1	EKF2_GYR_NOISE	0.014999999664723873	9
+1	1	EKF2_HDG_GATE	2.599999904632568359	9
+1	1	EKF2_HEAD_NOISE	0.300000011920928955	9
+1	1	EKF2_HGT_MODE	0	6
+1	1	EKF2_IMU_POS_X	0.000000000000000000	9
+1	1	EKF2_IMU_POS_Y	0.000000000000000000	9
+1	1	EKF2_IMU_POS_Z	0.000000000000000000	9
+1	1	EKF2_MAG_ACCLIM	0.500000000000000000	9
+1	1	EKF2_MAG_B_NOISE	0.000099999997473788	9
+1	1	EKF2_MAG_CHECK	0	6
+1	1	EKF2_MAG_DECL	-7.289262771606445313	9
+1	1	EKF2_MAG_DELAY	0.000000000000000000	9
+1	1	EKF2_MAG_E_NOISE	0.001000000047497451	9
+1	1	EKF2_MAG_GATE	3.000000000000000000	9
+1	1	EKF2_MAG_NOISE	0.050000000745058060	9
+1	1	EKF2_MAG_TYPE	0	6
+1	1	EKF2_MAG_YAWLIM	0.250000000000000000	9
+1	1	EKF2_MIN_OBS_DT	20	6
+1	1	EKF2_MIN_RNG	0.100000001490116119	9
+1	1	EKF2_MOVE_TEST	1.000000000000000000	9
+1	1	EKF2_MULTI_IMU	3	6
+1	1	EKF2_MULTI_MAG	3	6
+1	1	EKF2_NOAID_NOISE	10.000000000000000000	9
+1	1	EKF2_NOAID_TOUT	5000000	6
+1	1	EKF2_OF_DELAY	20.000000000000000000	9
+1	1	EKF2_OF_GATE	3.000000000000000000	9
+1	1	EKF2_OF_N_MAX	0.500000000000000000	9
+1	1	EKF2_OF_N_MIN	0.150000005960464478	9
+1	1	EKF2_OF_POS_X	0.000000000000000000	9
+1	1	EKF2_OF_POS_Y	0.000000000000000000	9
+1	1	EKF2_OF_POS_Z	0.000000000000000000	9
+1	1	EKF2_OF_QMIN	1	6
+1	1	EKF2_PCOEF_XN	0.000000000000000000	9
+1	1	EKF2_PCOEF_XP	0.000000000000000000	9
+1	1	EKF2_PCOEF_YN	0.000000000000000000	9
+1	1	EKF2_PCOEF_YP	0.000000000000000000	9
+1	1	EKF2_PCOEF_Z	0.000000000000000000	9
+1	1	EKF2_REQ_EPH	3.000000000000000000	9
+1	1	EKF2_REQ_EPV	5.000000000000000000	9
+1	1	EKF2_REQ_GPS_H	10.000000000000000000	9
+1	1	EKF2_REQ_HDRIFT	0.100000001490116119	9
+1	1	EKF2_REQ_NSATS	6	6
+1	1	EKF2_REQ_PDOP	2.500000000000000000	9
+1	1	EKF2_REQ_SACC	0.500000000000000000	9
+1	1	EKF2_REQ_VDRIFT	0.200000002980232239	9
+1	1	EKF2_RNG_AID	1	6
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+1	1	EKF2_RNG_NOISE	0.100000001490116119	9
+1	1	EKF2_RNG_PITCH	0.000000000000000000	9
+1	1	EKF2_RNG_POS_X	0.000000000000000000	9
+1	1	EKF2_RNG_POS_Y	0.000000000000000000	9
+1	1	EKF2_RNG_POS_Z	0.000000000000000000	9
+1	1	EKF2_RNG_QLTY_T	1.000000000000000000	9
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+1	1	EKF2_SEL_ERR_RED	0.200000002980232239	9
+1	1	EKF2_SEL_IMU_ACC	1.000000000000000000	9
+1	1	EKF2_SEL_IMU_ANG	15.000000000000000000	9
+1	1	EKF2_SEL_IMU_RAT	7.000000000000000000	9
+1	1	EKF2_SEL_IMU_VEL	2.000000000000000000	9
+1	1	EKF2_SYNT_MAG_Z	0	6
+1	1	EKF2_TAS_GATE	3.000000000000000000	9
+1	1	EKF2_TAU_POS	0.250000000000000000	9
+1	1	EKF2_TAU_VEL	0.250000000000000000	9
+1	1	EKF2_TERR_GRAD	0.500000000000000000	9
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+1	1	EKF2_WIND_NOISE	0.100000001490116119	9
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+1	1	EV_TSK_STAT_DIS	0	6
+1	1	FD_ESCS_EN	1	6
+1	1	FD_EXT_ATS_EN	0	6
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+1	1	GF_SOURCE	0	6
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+1	1	MAV_0_MODE	0	6
+1	1	MAV_0_RADIO_CTL	1	6
+1	1	MAV_0_RATE	1200	6
+1	1	MAV_1_CONFIG	0	6
+1	1	MAV_2_CONFIG	0	6
+1	1	MAV_COMP_ID	1	6
+1	1	MAV_FWDEXTSP	1	6
+1	1	MAV_HASH_CHK_EN	1	6
+1	1	MAV_HB_FORW_EN	1	6
+1	1	MAV_ODOM_LP	0	6
+1	1	MAV_PROTO_VER	0	6
+1	1	MAV_RADIO_TOUT	5	6
+1	1	MAV_SIK_RADIO_ID	0	6
+1	1	MAV_SYS_ID	1	6
+1	1	MAV_TYPE	2	6
+1	1	MAV_USEHILGPS	0	6
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+1	1	MC_ACRO_R_MAX	720.000000000000000000	9
+1	1	MC_ACRO_SUPEXPO	0.699999988079071045	9
+1	1	MC_ACRO_SUPEXPOY	0.699999988079071045	9
+1	1	MC_ACRO_Y_MAX	540.000000000000000000	9
+1	1	MC_AIRMODE	0	6
+1	1	MC_BAT_SCALE_EN	0	6
+1	1	MC_MAN_TILT_TAU	0.000000000000000000	9
+1	1	MC_PITCHRATE_D	0.003000000026077032	9
+1	1	MC_PITCHRATE_FF	0.000000000000000000	9
+1	1	MC_PITCHRATE_I	0.200000002980232239	9
+1	1	MC_PITCHRATE_K	1.000000000000000000	9
+1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
+1	1	MC_PITCHRATE_P	0.150000005960464478	9
+1	1	MC_PITCH_P	6.500000000000000000	9
+1	1	MC_PR_INT_LIM	0.300000011920928955	9
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+1	1	TEL_HOTT_CONFIG	0	6
+1	1	THR_MDL_FAC	0.000000000000000000	9
+1	1	TRIG_MODE	0	6
+1	1	TRIM_PITCH	0.000000000000000000	9
+1	1	TRIM_ROLL	0.000000000000000000	9
+1	1	TRIM_YAW	0.000000000000000000	9
+1	1	UAVCAN_ENABLE	0	6
+1	1	VT_B_DEC_MSS	2.000000000000000000	9
+1	1	VT_B_REV_DEL	0.000000000000000000	9
+1	1	WV_EN	0	6

基础使用/e4.RflySim3D地图场景切换实验/code/PythonCMDDemo.py

@@ -0,0 +1,9 @@
+import UE4CtrlAPI as UE4CtrlAPI
+
+#Create a new MAVLink communication instance, UDP sending port (CopterSim’s receving port) is 20100
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+# sendUE4Cmd: RflySim3D API to modify scene display style
+# Format: ue.sendUE4Cmd(cmd,windowID=-1), where cmd is a command string, windowID is the received window number (assuming multiple RflySim3D windows are opened at the same time), windowID =-1 means sent to all windows
+# Augument: RflyChangeMapbyName command means to switch the map (scene), the following string is the map name, here will switch all open windows to the grass map
+ue.sendUE4Cmd('RflyChangeMapbyName Grasslands')    

基础使用/e5.RflySim3D载具样式切换实验/code/Grasslands.txt

@@ -0,0 +1,6 @@
+2022.09.14-19.44.54, Unit:m or rad, Frame: NED, MapName:3DDisplay
+CMD:CreateVehicle|Rfly***, copterID, vehicleType, PosE[0], PosE[1], PosE[2], AngEuler[0], AngEuler[1], AngEuler[2] 
+CreateVehicle, 1000, 3, 0.66, -0.11, -8.15, 0.00, 0.00, -0.09 
+CreateVehicle, 1001, 30, 1.88, -0.60, -8.23, 0.00, 0.00, -0.24 
+CreateVehicle, 1002, 50, 3.56, 1.65, -8.12, 0.00, 0.00, 0.10 
+RflyMoveVehiclePosAng 1000 1 0.00 2.00 0.00 0.00 0.00

基础使用/e5.RflySim3D载具样式切换实验/code/LoadModelsByTxt.bat

@@ -0,0 +1,21 @@
+@ECHO OFF
+
+REM Run script as administrator
+REM %1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c %~s0 ::","","runas",1)(window.close)&&exit
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\Rflysim3D\RflySim3D.exe
+
+if not defined PSP_PATH (
+    SET PSP_PATH=D:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/d/PX4PSP
+)
+cd /d %PSP_PATH%
+cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put your python scripts 'XXX.py' into the folder '%PSP_PATH%\RflySimAPIs\Python38Scripts' && echo Use the command: 'python XXX.py' to run the script with Python && echo For example, try entering 'python ImgCVShow.py' below to use OpenCV to read and show a image && echo You can also use pyulog (see https://github.com/PX4/pyulog) to convert PX4 log file && echo For example, try entering 'ulog2csv log.ulg' to convert ulg file to excel files for MATLAB && cd /d %PSP_PATH%\RflySimAPIs\Python38Scripts && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%PATH%"

基础使用/e5.RflySim3D载具样式切换实验/code/LoadModelsByTxt.py

@@ -0,0 +1,21 @@
+import time
+import math
+import sys
+import os
+import UE4CtrlAPI as UE4CtrlAPI
+#Create a new MAVLink communication instance, UDP sending port (CopterSim’s receving port) is 20100
+ue = UE4CtrlAPI.UE4CtrlAPI()
+# sendUE4Cmd: RflySim3D API to modify scene display style
+# Format: ue.sendUE4Cmd(cmd,windowID=-1), where cmd is a command string, windowID is the received window number (assuming multiple RflySim3D windows are opened at the same time), windowID =-1 means sent to all windows
+# Augument: RflyChangeMapbyName command means to switch the map (scene), the following string is the map name, here will switch all open windows to the grass map
+ue.sendUE4Cmd('RflyChangeMapbyName Grasslands') 
+
+   
+time.sleep(2)  
+imPath = os.path.join(sys.path[0],'Grasslands.txt')
+# 此处使用RflyLoad3DFile命令来加载txt格式场景创建文件
+str = 'RflyLoad3DFile ' + imPath 
+print(str)
+ue.sendUE4Cmd(str.encode())
+print(str.encode())
+

基础使用/e9.QGroundControl参数修改实验/code/Init_control.m

@@ -0,0 +1,6 @@
+%Pixhawk_CSC.Parameter( CELL_ARRAY )
+%Where CELL_ARRAY is a MATLAB cell array composed of a value (int32 or single) and a string of the parameter. For instance:
+%CAL_GYRO0_XSCALE = Pixhawk_CSC.Parameter( {single(1), 'CAL_GYRO0_XSCALE'}  )
+%Parameters can either be int32 or single/floating precision. Please ensure you select the correct data type and the the string name matches.
+SL_RFLY_FLT = Pixhawk_CSC.Parameter({single(100.0), 'SL_RFLY_FLT'});
+SL_RFLY_INT = Pixhawk_CSC.Parameter({int32(50), 'SL_RFLY_INT'});

基础使用/e9.QGroundControl参数修改实验/code/px4_simulink_app_params.c

@@ -0,0 +1,24 @@
+/**                                              
+ * RflySim QGC Tune Param RFLY_FLT                         
+ *                                               
+ * <longer description, can be multi-line>       
+ *                                                                                
+ * @min 1                                        
+ * @max 1000                                      
+ * @decimal 2                                    
+ * @increment 1
+ * @group simulink                               
+ */                                              
+PARAM_DEFINE_FLOAT(SL_RFLY_FLT, 100.0); 
+/**                                              
+ * RflySim QGC Tune Param RFLY_INT
+ *                                               
+ * <longer description, can be multi-line>       
+ *                                                                                
+ * @min 1                                        
+ * @max 1000                                      
+ * @decimal 2                                    
+ * @increment 1
+ * @group simulink                               
+ */ 
+PARAM_DEFINE_INT32(SL_RFLY_INT, 50);