The multirotor UAV dynamics simulator.

⚠️ Attention please: This README needs work.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

This package provides a minimalistic dynamics simulator for multirotor UAVs.

• Header-only implementation of a single-UAV dynamics with feedback controllers. The header-only library can be using within your code for, e.g., reinforcement learning.
• Full rigid-body UAV dynamics stepped by an ODE solver.
• A cascade of feedback controllers that provide various references anywhere from individual actuator control up to desired 3D position + heading.
• A ROS wrapper for an individual UAV.
• A ROS simulator packed for multir-UAV simulation with mutual collisions and a ground plane.
• The barebone simulation work with hundreds of UAVs in real time.