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Drone racing training software includes simulators like the DRL SIM (best for FPV racing) and Liftoff: FPV Drone Racing(realistic controls) for practicing piloting skills. Other options include general training simulators like Zephyr.

Drone Simulator, which focuses on real-world physics and industrial applications. Some programs, such as those from Rocket Drones and DroneBlocks, also provide comprehensive racing kits that combine hardware and software for educational purposes.

This video explains how to use the DRL Simulator to improve your flying skills:

FPV racing simulator

DRL SIM: The official simulator of the Drone Racing League, it offers various modes like solo races, freestyle, and multiplayer, along with a workbench for building and customizing drones.

Liftoff: FPV Drone Racing: Known for realistic controls and highly customizable quads, it's suitable for both
beginners and experienced pilots.

VelociDrone: This simulator offers multiplayer and offline modes with a large number of user-created maps and
compatibility with various controllers.

Uncrashed: Another realistic simulator with extensive drone settings, multiplayer mode, and a large map selection.

General and industrial training simulators:

Zephyr Drone Simulator: A comprehensive simulator with accurate flight physics, a wide range of training modules,and various drone platforms for professional and academic training.

DJI Try Virtual Flight: A good free option for DJI pilots to learn the basics of flight.
DJI Flight Simulator: A more advanced, paid option for serious DJI pilots.

Educational kits

Rocket Drones: Offers drone racing kit programs for schools to teach students about drone technology, physics, and engineering through hands-on experience and competition.

DroneBlocks: Provides programs and software that combine hardware kits with a simulator for teaching FPV drone racing and programming skills.

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