Quadcopter simulator

Implementation of quadcopter flight dynamics & control.
Experimentation using rapier physics engine, kiss3D 3D renderer as well as egui for metrics visualization.

https://user-images.githubusercontent.com/6841652/232230643-e0e1acb0-3838-47b2-9875-82704c61d059.mp4

What it does

The main idea was to connect several things in order to create a toy drone 3D simulator :

• Reading throttle, roll, pitch and yaw inputs from a real RF radiocontroller (tested with Radiomaster Zorro in joystick usb mode).
• Simulate physics of a quadcopter (drone with 4 rotors) from individual control of each rotor angular velocity.
• Implement a P(ID soon) controller for angular velocity error correction.
• Use rapier physics engine in order to model the drone as a rigid body on which derived accelerations and torques are applied.
• Use kiss3D rendering engine to visualize a simple FPV scene used for real time piloting.
• Integrate a graphical interface (with egui) for real time plotting of key metrics from the simulation.

How to run

Clone the repository.

gh clone alelouis/quadcopter

Then run main binary using cargo, preferably in release mode.

cargo run --release

You can also launch the second app for viewing radio commands in realtime.

cargo run --bin logs --release