There are two major components: the flight computer software, which lives in the rocket and runs under linux, and the ground station software, which lives in my laptop running XP.
The ground station software has joystick input, real time graphing and inspection of telemetry frames, and a 3D display of the vehicle orientation. It can be used to remote pilot the flight computer, simply monitor telemetry from the flight computer, or run a local simulator that acts like it was talking to a remote flight computer.
The actual flight control logic is compiled into both the flight computer and ground station executables. The exact same .C and .H files are in both projects. It has a clean interface to the two very different systems -- it takes a "sensors" structure, updates various state (3D orientation, sensor smoothing histories, etc), and sets an "actuators" structure. On the flight computer, the sensors and actuators talk to hardware, while on the ground station they talk to a simulator written in C++.
This is a Very Very useful arrangement of code, and you need to write 90% of it for normal vehicle operations anyway. Doing a simulation in matlab or any other external product will not give the same benefits.
John Carmack
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