ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer.

翻译：ROSflight是一个轻量级、开源的无人机（UAV）自驾仪生态系统。它由研究人员设计，服务于研究人员，旨在通过维护一个轻量（非全功能）、文档完善且模块化的代码库，降低无人机研究的入门门槛，并加速从仿真到硬件实验的过渡。本文基于先前的研究，描述了在架构上的重大新增内容，这些内容提升了ROSflight的模块化程度与可用性，包括从ROS 1到ROS 2的过渡、支持的硬件、底层执行器混控以及仿真环境。我们相信这些改进提升了ROSflight的可用性，并使其能够加速先进空中机动等领域的研究。文中提供了硬件实验结果，表明ROSflight能够通过串行连接以400 Hz的频率控制多旋翼飞行器，同时在配套计算机上完成所有控制回路的闭环。