FastDyn with Rumoca

Run ArduPilot firmware in FastDyn’s patched QEMU with a Modelica vehicle compiled by Rumoca. The firmware uses FastDyn’s emulated sensor and actuator drivers; the FMI 3.0 plant advances with QEMU’s virtual clock. See FMI 3 and FastDyn for the FMU format, Model Exchange versus Co-Simulation, and the current firmware-to-plant interface.

Start with a working Copter mission, select a model in TOML, then edit its Modelica equations and compare the resulting flight. The resizing example uses the original 5-inch Lumenier QAV-R, with a 220 mm motor diagonal. Rover provides another runnable vehicle; Plane provides a historical mission to inspect.

The environment pins Rumoca 0.10.0 and the array-based modelica_models library. The same compiler runs the first mission, QAV-R tuning, load experiments, and payload study. ArduPilot firmware is 4.6.2. Exact source revisions are recorded in flake.lock, the Git submodules, and each result’s provenance file.

Available now: Copter, QAV-R, and Rover. Plane is pending compiler support for the template’s landing-gear contact events. Its Modelica source and an earlier recorded mission are included for inspection; the current three-wheel model is not presented as a runnable flight example.

Follow the one-hour walkthrough for the learning path and environment setup for the prerequisites. You can also preview this book locally.