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The paper presents an offline Windows desktop simulator designed for multirotor unmanned aerial vehicle (UAS) pilot training. Unlike generic hobby simulators or complex research tools that require Linux, ROS, or high-end GPUs, this application allows pilots to train using their exact aircraft configuration specifically loading the aircraft's own ArduPilot parameter file either via a built-in controller or via unmodified ArduCopter firmware running in Software-in-the-Loop (SITL).
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Mansoor Ahmed (2026) studied this question.
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