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並前往https://www.mathworks.com/matlabcentral/fileexchange/114315-ardupilot-software-in-the-loop-sil-connector-for-simulink?s_tid=FX_rc2_behav

ArduPilot software-in-the-loop (SIL) connector for Simulink

ArduPilot SIL Connector for Simulink · Open MissionPlanner, select the "Simulation" tab and click on the "Plane" icon to download the ArduPlane SIL simulator.

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