开源无人机模拟器 SkySim：C++20 气动仿真，支持 ArduPilot/PX4/Betaflight 固件在环

A cross-platform drone simulator with real aerodynamics computed in C++20, and the ability to hand the vehicle to actual flight-controller firmware — ArduPilot (JSON SITL), PX4 (MAVLink HIL), and Betaflight (MSP).

Physics runs in a Godot 4 GDExtension via _integrate_forces — zero GDScript in the hot path. Runs on Windows, Linux, and macOS (Intel + Apple Silicon).

Status

SkySim now spans the full stack from a fly-it-yourself sim to a browser tier and a benchmark suite. What's tested end-to-end: the Python agent interface, perception, data pipeline, benchmarks, and determinism harness; the Godot agent server, perception, and domain randomization (validated against Godot 4.3); and the web physics core (decoupled from Godot, validated natively).

What still needs the compiled C++ extension + hardware: real-flight aerodynamics, RGB rendering, cross-machine determinism numbers, and — the one thing no code can produce — a sim-to-real transfer result (see docs/sim_to_real.md).

The pitch, honestly stated: every simulator that lets you test drone algorithms needs Linux, ROS, or a game engine and a GPU. SkySim's goal is to make it a URL. See ROADMAP.md for phase-by-phase progress.

Get it running — pick your level

0. Fly it in your browser — nothing to install (Phase 4, preview)

The physics core compiles to WebAssembly and runs entirely client-side. Open the hosted page and fly with the keyboard, or drop in a JavaScript control function. See web/ to build and host it (web/build_wasm.sh, then serve web/). Heavy ML and firmware SITL use the native agent server; the browser tier is for interactive flight and classical/light control.

1. Just want to try it? Download and run. No install.

Grab a standalone build from the Releases page:

No Godot, no compiler, no dependencies. Everything is bundled.

2. Want to open it in the Godot editor (to modify scenes/scripts)?

1. Install Godot 4.3+ — one portable download, no admin rights, no installer needed.
2. From Releases, download SkySim-godot-project.zip and unzip it. Prebuilt extension binaries for every OS are already inside — you don't compile anything.
3. Open Godot → Import → select the unzipped folder → Play.

3. Developer / modder — build the C++ extension from source

You only need this if you're changing the C++ physics. It's one command and godot-cpp is fetched automatically — no git submodules.

# Linux / macOS
./scripts/build.sh

# Windows
scripts\build.bat

Prefer raw CMake?

cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --parallel
# Output: gdextension/bin/(lib)drone_sim.<platform>.release.<arch>.(dll|so|dylib)

Requirements: CMake ≥ 3.22, a C++20 compiler (MSVC 2022 / GCC 12+ / Clang 15+), Python 3.8+. Match godot-cpp to your editor with -DGODOTCPP_GIT_TAG=godot-4.3-stable.

Portability note: binaries are built without -march=native on purpose, so they run on any CPU of the same architecture. Turn on -DDRONE_SIM_NATIVE=ON only for a private single-machine build — it bakes in your CPU's instruction set and will crash elsewhere.

How the cross-platform binaries are made: you don't make them. Pushing a v* tag triggers GitHub Actions (.github/workflows/), which compiles the extension on Windows, Linux, and macOS (x86_64 + arm64), exports the standalone apps, and attaches everything to a Release automatically.

Architecture

DroneBody (RigidBody3D subclass)
├── RotorArray → BladeElementSolver × N   ← BET thrust/torque per rotor
├── Atmosphere        ← ISA density/pressure + Dryden turbulence (MIL-HDBK-1797)
├── AeroEffectsBundle ← Cheeseman-Bennett ground effect + Leishman VRS
├── FlightController  ← PX4-style cascade PID (attitude + rate)
├── MixerMatrix       ← wrench → per-rotor throttle allocation
├── SensorSuite       ← IMU / barometer / GPS with noise + bias
└── SITLManager       ← ArduPilot / PX4 / Betaflight bridges

Control priority each physics tick: SITL firmware (fresh actuator frame < 0.5 s) → set_rotor_throttles() → internal PID → motors off.

Aerodynamics

• Blade Element Theory — 24 radial annuli per rotor; induced velocity via 3 Newton iterations of Rankine-Froude momentum theory; 1st-order ESC lag (esc_tau = 15 ms) and gyroscopic precession.
• Ground effect — Cheeseman-Bennett T_IGE/T_OGE = 1/(1 − (R/4h)²), blended out above h/R = 3.
• Vortex Ring State — Leishman onset envelope with hysteresis (0.5 s build-up, 1.2 s recovery), up to 30% thrust loss with ~2.3 Hz buffeting.
• ISA atmosphere — standard troposphere, Sutherland's-law viscosity.
• Dryden turbulence — per-axis 1st-order shaping filter, runtime-tunable.

Using SkySim in your own Godot project

1. Copy the gdextension/ folder into your project root (Godot 4 auto-detects it — no plugin to enable).
2. Add a DroneBody node (appears under RigidBody3D) with a CollisionShape3D and a visual MeshInstance3D child.
3. For firmware-in-the-loop, add a SITLManager as a child of DroneBody.
4. Set Project Settings → Physics → Physics Ticks per Second = 250–400 (400 for ArduCopter). This project already ships at 400.

Flying with real flight-controller firmware (SITL)

# ArduPilot
cd ardupilot && sim_vehicle.py -v ArduCopter -f JSON:127.0.0.1 --console --map

# PX4
cd PX4-Autopilot && make px4_sitl none_iris

# Betaflight
cd betaflight && make TARGET=SITL && ./obj/main/betaflight_SITL.elf

Run the SkySim scene first, then start the firmware. Arming, modes, and missions come from your GCS (Mission Planner / QGroundControl). Frames are aerospace-standard (NED world / FRD body, see include/core/frames.hpp); rotor order follows the ArduPilot/PX4 quad-X convention.

tools/ap_json_probe.py and tools/px4_probe.py let you exercise the bridges without a full firmware checkout.

Telemetry

drone.get_telemetry() returns every physics tick: altitude, ground_speed, vertical_speed, roll/pitch/yaw_deg, roll/pitch/yaw_rate, total_thrust, power_draw, vrs_active, vrs_severity, ground_effect_factor, air_density, wind, sitl_active, sitl_source. Live PID tuning:

drone.set_rate_roll_pid(0.15, 0.05, 0.003)
drone.set_rate_pitch_pid(0.15, 0.05, 0.003)
drone.set_rate_yaw_pid(0.20, 0.10, 0.0)

Benchmarks & reproducibility

A small, stable suite of seeded tasks (hover, waypoint, gps_denied_nav) lets algorithms be compared and cited:

python examples/run_benchmark.py --port 5557 --out scorecard.json
python examples/check_determinism.py --port 5557

For reference-quality reproducible numbers, build the extension with -DDRONE_SIM_DETERMINISTIC=ON (strict floating point). Details and how to submit results: docs/benchmarks.md.

Contributing

Issues and PRs welcome. CI builds every PR on all three platforms, so if it compiles in the workflow it works for everyone. Physics stays in C++ (src/, include/); scene logic and dynamic-world helpers stay in GDScript (demo/).

License

MIT — see LICENSE.