UAV Simulator

A lightweight quadrotor and hexacopter fully-actuated (non-tiltable) dynamic simulator in Python.

Folder Structure

• uav/ - Core simulation modules

  • quadrotor.py - Quadrotor (4-rotor) dynamics model
  • hexacopter_fa.py - Hexacopter (6-rotor) fully-actuated dynamics model
  • utils.py - Quaternion, rotation, and integration utilities
  • lib.py - NumPy and matplotlib imports
  • plotting.py - Visualization functions

• tests/ - Test scripts and simulations

  • test_quad.py - Quadrotor test scenarios
  • test_hexa_fa.py - Hexacopter test scenarios
  • test_body.py - Rotor configuration visualization

• plots/ - Simulation output (generated)

Setup

bash setup.sh

Or install manually:

pip install -r requirements.txt

Usage

Run a simulation:

python3 -m tests.test_quad
python3 -m tests.test_hexa_fa

Models

Both models use:

• State: position, quaternion, velocity, angular velocity
• Input: rotor thrust commands (per rotor)
• Dynamics: RK4 integration with quaternion propagation
• Rotor config: stores position, direction, and drag torque coefficient

The hexacopter has 6 rotors in a symmetric configuration, enabling fully-actuated control (6 DOF wrench authority).