PX4 & Ardupilot SIL
for Simulink

This software simulates an aircraft using the PX4 or Ardupilot flight code, a Simulink-based physics plant, sensor, and environmental model. The primary goal is to provide a clear example of how to connect PX4 or Ardupilot to a Simulink plant model.

The flight controller used is a modified PX4 autopilot (V1.14.0). The latest Ardupilot may also be used. The SIL model VehicleSilSimulation.slx and plant model VehiclePlant.slx are both in the root directory. The default plant model is based on an F-16 aircraft derived from Aircraft Control and Simulation (Stevens, Lewis, Johnson, 3rd Ed.). A 300 lb hexarotor model is also included. Users can add custom plants by following the Adding Custom Vehicle Configuration section of the repository. All models were created using MATLAB 2024a Update 6.

• Runs PX4 and Ardupilot (contact us for information) software in the loop
• Includes F-16 and hexarotor models; add your own
• Failure injections
• Physics model unit testing for enhanced reliability
• Connection with QGroundControl or Mission Planner for ground station control
• Graphics connection with FlightGear and Unreal Engine for 3D visualization

Source code and documentation are available on GitHub: github.com/optimAero/optimAeroPX4SIL