open-fpv-sim

The Python client of Open FPV Sim, an open-source FPV drone simulator that runs real Betaflight (SITL) against physics, electrical, sensor, radio and video models.

pip install open-fpv-sim[log,rerun]

The package is the client (import ofs). It drives an ofs-sim server, which you build from the repository (cargo build -p ofs-sim) and point at with OFS_SIM_BIN; flying real Betaflight also needs the SITL build described in the repository's docs/dev-setup.md. Build the server from the tag that matches this package version (git checkout v<version>, the version pip show open-fpv-sim prints): a client and a server of different releases speak different protocols and are refused at the handshake.

import ofs

sim = ofs.launch(headless=True)
sim.load("quads/opendrone-5f-freestyle.toml", world="flat", seed=42, mode="lockstep")
sim.inject(ofs.faults.MotorFailure(motor=2, at=3.0))
sim.play_inputs("flips.csv")
sim.run(seconds=10)
df = sim.log.to_dataframe(["imu.gyro_frd_radps", "motor.*.omega_radps", "battery.voltage_v"])

If a session fails (a Betaflight crash, a non-finite value), the server writes a repro bundle, and the sim_error event names it. ofs.repro.find_bundles(sim.logs_dir) lists the bundles and ofs.repro.replay_bundle(path) runs one again and says whether the failure came back (docs/repro-bundle.md in the repository).

A world with [[gates]] has a race: sim.get_world().gates lists them, sim.run(...).race is the lap clock (present, running, next_gate, laps, current_lap_s, last_lap_s, best_lap_s) and the gate_passed and lap_completed events carry the splits and lap times (docs/race-timing.md in the repository).

To fly a path from a script without Betaflight, load with open_loop_fc=True, stabilize=True: a minimal angle-mode stabilizer (a test stand-in, not Betaflight) so the sticks set the lean and the turn rate. python/examples/circuit.py flies a lap through four gates this way, and on Betaflight SITL too (docs/scripted-flight.md in the repository).

Extras: log reads the session recordings (mcap, pandas; Parquet export also needs pyarrow), rerun adds the live view (ofs.rerun.view(sim)).