Setting up a Simulated Vehicle (SITL)¶

DroneKit-SITL¶

DroneKit-SITL is the simplest, fastest and easiest way to run SITL on Windows, Linux (x86 architecture only), or Mac OS X. It is installed from Python’s pip tool on all platforms, and works by downloading and running pre-built vehicle binaries that are appropriate for the host operating system.

This section provides an overview of how to install and use DroneKit-SITL. For more information, see the project on Github.

pip install dronekit-sitl -UI

dronekit-sitl copter

dronekit-sitl plane-3.3.0 --home=-35.363261,149.165230,584,353

dronekit-sitl -h            #List all parameters to dronekit-sitl.
dronekit-sitl copter -h     #List additional parameters for the specified vehicle (in this case "copter").
dronekit-sitl --list        #List all available vehicles.
dronekit-sitl --reset       #Delete all downloaded vehicle binaries.
dronekit-sitl ./path [args...]  #Start SITL instance at target file location.

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)

Building SITL from source¶

You can natively build SITL from source on Linux, Windows and Mac OS X, or from within a Vagrant Linux virtual environment.

Building from source is useful if you want to need to test the latest changes (or any use a version for which DroneKit-SITL does not have pre-built binaries). It can also be useful if you have problems getting DroneKit-SITL to work.

SITL built from source has a few differences from DroneKit-SITL:

• MAVProxy is included and started by default. You can use MAVProxy terminal to control the autopilot.
• You connect to SITL via UDP on 127.0.0.1:14550. You can use MAVProxy’s output add command to add additional ports if needed.
• You may need to disable arming checks and load autotest parameters to run examples.
• It is easier to add a virtual rangefinder and add a virtual gimbal for testing.

The following topics from the ArduPilot wiki explain how to set up Native SITL builds:

• Setting up SITL on Linux
• Setting up SITL on Windows
• Setting up SITL using Vagrant

Connecting an additional Ground Station¶

You can connect a ground station to an unused port to which messages are being forwarded.

The most reliable way to add new ports is to use MAVProxy:

• If you’re using SITL built from source you will already have MAVProxy running. You can add new ports in the MAVProxy console using output add:

  output add 127.0.0.1:14552
  

• If you’re using Dronekit-SITL you can:

  • Install MAVProxy for your system.

  • In a second terminal spawn an instance of MAVProxy to forward messages from TCP 127.0.0.1:5760 to other UDP ports like 127.0.0.1:14550 and 127.0.0.1:14551:

    mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
    

Once you have available ports you can connect to a ground station using one UDP address, and DroneKit-Python using the other.

For example, first connect the script:

vehicle = connect('127.0.0.1:14550', wait_ready=True)

Then connect Mission Planner to the second UDP port:

• Download and install Mission Planner

• Ensure the selection list at the top right of the Mission Planner screen says UDP and then select the Connect button next to it. When prompted, enter the port number (in this case 14552).

  

  Mission Planner: Listen Port Dialog

After connecting, vehicle parameters will be loaded into Mission Planner and the vehicle is displayed on the map.