Ardupilot Logo
Ardupilot Logo

Setting up ArduPilot SITL, or Software In The Loop, is a process that allows enthusiasts and developers to simulate drone flights without the risk of actual hardware. SITL acts like a virtual drone, running the same ArduPilot flight code that would operate on a real drone. This simulation is beneficial as it enables testing and development in a controlled environment, where you can experiment with settings and code changes safely.

The setup involves choosing an appropriate platform, which may include Linux, Windows, or macOS, and then following specific installation procedures. The process may vary slightly depending on the operating system, but generally, users will have to install several software dependencies, acquire the ArduPilot source code, and compile it to run the simulator. Understanding how to interact with the SITL environment is crucial once it is running, as this will allow you to simulate flights, test maneuvers, and develop new functionalities without physical constraints.

Key Takeaways

  • SITL enables safe, virtual testing of drone flights with ArduPilot flight code.
  • Installation steps vary by operating system, with specific instructions for each.
  • Mastery of the simulation environment is key to successful flight simulations.

Setting Up ArduPilot SITL

The setup process for ArduPilot’s Software-In-The-Loop (SITL) is crucial for a successful simulation. This section guides you through the steps required for a smooth and reliable operation.


Before starting the installation of SITL, verify that your computer runs either Linux or Windows. Linux users should have Ubuntu or a compatible distribution, whereas Windows users may need a virtual machine (VM) to emulate a Linux environment. Ensure Git is installed on your system to clone the necessary repositories from GitHub.


To begin installing ArduPilot SITL on a Linux machine, you must clone the ArduPilot repository using Git with the command git clone Next, navigate to the ardupilot directory and run Tools/environment_install/ to install all the required packages. After restarting the terminal, continue to configure your system by initializing the ArduPilot environment with . ~/.profile.

For Windows, the process involves setting up a suitable VM to run Linux. Once this is accomplished, follow the Linux installation steps within the virtual environment.

Configuration and Testing

With the packages installed, it’s time to set up the environment for your specific vehicle, such as Copter, Plane, Rover, or Sub. Load the right simulation parameters by running followed by the -v VEHICLE flag within the vehicle’s directory. Watch as the simulation initializes, which confirms that the SITL environment is active. Use a ground control station (GCS) like Mission Planner, connect via UDP, and start testing by observing the SITL’s reactions to different actions.

Mission Planning and Execution

Plan your missions using the GCS by loading a home location and plotting waypoints. Experiment by switching to guided mode and testing various simulation scenarios. During the mission execution, manage the vehicle, explore the behavior, and refine the mission plan as needed to gain confidence in the simulated environment.

Advanced Topics and Troubleshooting

Troubleshooting is a vital part of working with SITL. If you run into issues, carefully read the error messages and explore the documentation available on the ArduPilot website. The solutions to most problems can often be found in the docs or by asking for feedback from the community. Topics like customizing simulations, MAVLink protocol understanding, or advanced configuration settings are covered in the ArduPilot developer documentation and should be consulted for more complex scenarios.

Remember, when you encounter obstacles, take a step-by-step approach. Break down the problem, focus on the evidence, and try different solutions. Working systematically often leads to resolving issues quickly and effectively.

Interacting with the SITL Environment

Software in the Loop (SITL) allows developers to simulate drone flights in a safe and controlled virtual environment. This section shows how to interact with the SITL environment, focusing on the use of a Ground Control Station, executing simulated missions, and how to contribute to the development of the ArduPilot project.

Using the Ground Control Station

The Ground Control Station (GCS) serves as the user interface for managing and monitoring drone simulations. Mission Planner, a popular GCS for ArduPilot, connects to SITL through the MAVLink protocol using UDP. To start interacting with SITL:

  1. Open Mission Planner.
  2. Connect to SITL by selecting UDP and clicking Connect.
  3. Once connected, you can load a mission, change modes, and observe the vehicle’s behavior in real-time.

Simulating Missions

Simulating missions involves planning a flight path and observing how the software reacts. Steps include:

  • Plan your route: Define waypoints and flight plans within the GCS.
  • Execute the simulation: Use the ‘Fly a Mission’ mode in Mission Planner to start the simulated flight.
  • Load the home position by selecting ‘Set Home Here’ under the Flight Plan tab to begin the simulation at your desired starting point.

Developing and Contributing

For those interested in contributing to ArduPilot’s development:

  • Use Git to fork the repository from GitHub.
  • With SITL, explore and code new features or debug existing ones in a controlled setting.
  • After making changes, you can test them using SITL to ensure they work correctly.
  • Provide feedback or submit your contributions via pull requests to the ArduPilot’s GitHub page.

Interacting with the SITL environment involves learning to navigate the intricacies of drone development and simulation. By mastering these tools and processes, you can effectively simulate, test, and contribute to the world of autonomous flight with confidence and precision.

Similar Posts