1-First of all try to install CoppeliaSim (V-REP) Software:
The free version is the Educational one. DownLoad from this link and install.
2-Open vrep_test_scene.ttt for quadcopter using installed software.
3- Try to change these features in the CoppeliaSim environmant:
- Change the Simulation Time Step (dt) to 10ms
- Change the Dynamics Engine to
Newtonian - Change the Dynamics Setting to
very accurate
4- Run Main.py
In this file, your Python IDE will be connected to CoppeliSim if not
- Try to connect Python and CoppeliaSim by finding your server IP (usually 19999 if not 19997)
- see this link
5- PID gains have been tuned. If you are not satisfied with the results, try to change the gains in your way.
6- Enjoy!
Reference: link