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Welcome

Use ArduCopter SIM to preview all of the features of Arducopter including Acro, Autopilot, RTL and failsafe, and Auto-Land. To get the best performance, set-up and repeat scenarios, then try various settings. Plot any variable in real-time to get a feel for what’s really happening and prevent crashes or poor performance in the field.

Download a Windows version to run as a standalone app.

Background

I’ve spent countless hours on Arducopter and I hope this simulation helps you find the best settings for your multicopter. I am continuing development of new features for the SIM and Arducopter such as full 3D, waypoint editor, and more...

Using the SIM

Use SimCopter to preview all Arducopter features including: Acro, Autopilot, RTL and failsafe, and Auto-Land. To get the best performance, set-up and repeat scenarios while trying various settings. Plot any variable in real-time to get a feel for what’s really happening. SimCopter will let you try any manuever or setting safely without endangering your actual quad.

Choose the initial position, speed and rotation of the copter, then press START SIM. The Roll and next Waypoint Distance are plotted by default. Restarting Sim Copter will reset the copter to its original position.

The target waypoint is shown as a red copter and the GPS' best guess of the copter location is shown as a ghosted copter.

Keyboard Commands:

sStart or stop the simulaton
fTrigger radio failsafe
lPeform automatic loop
hSet throttle to hover point
F7Record a waypoint
SpaceToggle Settings
Shift+NumSwitch Flight Modes
Shift+ArrowsAdjust XY scaling of the Plot

More details...

Drag Co-Efficient, Air Density, Cross Section:

Adjust the cross section parameter until the quad flies at the same speed in real life as your quad when holding a constant angle.

Mass:

The wieght in grams of your copter.

Moment of inertia:

A higher number will slow changes in rotation speed.

Motor Kv:

The speed of the motor based on an 11.1v pack.

Motor Delay:

The delay between ESC output and the actual thrust output. Flashing your ESCs with custom firmware will allow this to be smaller. Big heavy props may require this to be larger.

Fast Plot:

Checking this option will cause the plot view to output at 100hz, rather than 10hz.

Fast Plot:

Checking this option will cause the plot view to output at 100hz, rather than 10hz.

Wind:

Choose the speed range in cm/s and set the period of oscillation in seconds

Baro Noise

Simulates the random walk noise of the APM 1 barometer.

Enable Sonar

Simulates the fast repsonse of the sonar at low altitudes and uses the AC's internal sonar/baro mixing.

Start Distance and Altitude:

Sets the initial position of the quad when pressing START SIM.

Start Angle:

Sets the initial roll of the quad when pressing START SIM.

Target Distance and Altitude:

Sets the next waypoint for Loiter or Alt hold.