During the past few months, I've been developing a full 3D simulator, visualizer, and replayer for Drones, based in C++23. It features a full in-house built flight stack, native graphics using OpenGL (No engine used), immediate mode UI (DearImGUI), alongside various visualization tools such as plots, telemetry, 3D labels and trails, and more.

As for the simulation, it features a full flight stack - containing various GNC components such as sensor modelling, control laws, trajectory generation, as well as actuators, flight manager, and operation on different vehicle multicopter modes. All this is easily tunable and editable by the user, which is able to quickly create and edit new missions.

One of the highlights is having a replayer mode: each run is saved and can be loaded back with a pleasant GUI Experience and authentic detail.

This simulator also features experimental external interfaces with MAVLink (UDP) and ROS2, enabling external flight controllers to receive sensor data and yield their own control, estimation and guidance algorithms to provide final actuator commands.

This simulator is a proof of concept, and may be extended to various other features. The Simulation module may also be open-sourced in the future.

You can visit the showcase website and download a demo if you'd like. It's available for Linux and Windows.

Please feel free to give feedback, or reach out to me if you'd like more info.

This sounds as a great opportunity to use this as an RL env to train drones for defense purposes.