Hardware-in-the-Loop (HITL) Simulation for Crazyflie 2.1 Brushless

[SEOSUK]

Hello,

I am currently conducting research on aerial physical interaction using the Crazyflie 2.1 Brushless platform.

As part of my research, I am implementing several functionalities directly in the Crazyflie firmware, including force control and adaptation laws. Since multiple algorithms need to run simultaneously under limited computational resources, I sometimes encounter computational bottlenecks and real-time performance issues.

To systematically investigate and debug these issues, I am considering setting up a Hardware-in-the-Loop (HITL) environment that includes the actual Crazyflie hardware.

I would like to ask whether HITL simulation with the Crazyflie 2.1 Brushless is currently officially supported, or whether there are any existing implementations or similar examples that I could refer to.

If possible, I would greatly appreciate any relevant documentation, GitHub repositories, discussions, or example implementations that could help me set up such an environment.

Thank you!

[ArisMorgens]

Hello @SEOSUK!

Unfortunately, we don't currently maintain any simulator ourselves. You can find a list of existing Crazyflie simulators here, but, as far as I know, none of them supports HITL out of the box.