Open-source alternatives to LibrePilot

Betaflight is open-source flight controller firmware designed to stabilize aircraft and manage sensor data through PID loops and motor control. It serves as a multirotor flight stack that integrates low-level drivers and control algorithms to manage electronic speed controllers, radio receivers, and telemetry hardware. The system focuses on real-time flight stabilization and telemetry routing. It includes a PID stabilization system to calculate motor outputs for aircraft stability and a flight telemetry manager to route real-time information to ground stations and on-screen displays. The fir

Flight Controller Firmware

Bullet3 is a professional physics simulation engine designed for calculating rigid body, soft body, and collision dynamics within 3D environments and robotics applications. It functions as a computational framework for determining complex geometric intersections and contact manifolds between objects in simulated space. The library distinguishes itself through a distributed rendering framework that scales heavy graphical workloads and scene generation tasks across large clusters of machines. This capability enables the production of massive datasets by distributing complex scene generation acr

Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.

dRonin is an autopilot/flight controller firmware for controllers in the OpenPilot/Tau Labs family. It's aimed at a variety of use cases: acro/racing, autonomous flight, and vehicle research.

Open source C++ physics engine library in 3D

Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

2 and 3-dimensional rigid body physics engine for Rust.

Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Multibody Dynamics Library designed for Free Floating Robots

Genesis is an embodied AI simulation platform and parallelized robotics simulator designed for training general-purpose robotic agents. It integrates a physics engine for robotics that calculates collisions and movements for rigid bodies, soft tissues, and fluids, alongside a photorealistic 3D rendering engine. The platform features a domain randomization framework to vary environment parameters across parallel simulations, aiding in sim-to-real transfer. It supports the integration of real-world captured light fields and Gaussian splatting to provide photorealistic backgrounds within simulat

Massively parallel rigidbody physics simulation on accelerator hardware.

MuJoCo is a physics simulation engine designed for the dynamics of multi-joint articulated structures. It provides a computational framework for calculating the forces, velocities, and physical interactions of complex models within a virtual environment, supporting research in robotics, biomechanics, and machine learning. The engine utilizes a constraint-based dynamics solver and recursive algorithms to manage the motion of articulated systems. It includes a native graphical interface for real-time visualization, allowing users to inspect physical behaviors and contact dynamics as they occur.

PositionBasedDynamics is a library for the physically-based simulation of rigid bodies, deformable solids and fluids.

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Julia implementation of various rigid body dynamics and kinematics algorithms

Kris' Locomotion and Manipulation Planning Toolkit

A template-based robot dynamics library

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

Newton Dynamics is an integrated solution for real time simulation of physics environments.

A multi-body simulation software

:zap: The Mobile Robot Programming Toolkit (MRPT)

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

32 bit fork of the MultiWii RC flight controller firmware

Trep: Mechanical Simulation and Optimal Control Software