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The UAV HITL simulator is designed to be modular. It supports:
- a few protocols: Cyphal, DroneCAN and MAVLink SITL,
- a few dynamics: Zilant General VTOL and Flight Goggles multicopter,
- a few vehicles: Quadcopter, Octorotor Coaxial, VTOL quadplane and VTOL Octoplane coaxial.
Here is a table with links to detailed instructions how to run the simulator of the primary supported modes:
| Mode | 3D-model | PX4 Airframe |
|---|---|---|
|
Cyphal PX4 Quadrotor X ./docker.sh cq --force |
 |
 |
|
Cyphal Octorotor Coaxial ./docker.sh co --force |
not supported yet |  |
| Octorotor X (not yet) |
 
|
 |
| PX4-VTOL-Quadplane 1. Cyphal ./docker.sh csv --force 2. Dronecan ./docker.sh dv --force |
 |
 |
|
Cyphal PX4 VTOL Octoplane Coaxial ./docker.sh cv8 --force |
 |
 |