| name | sitl |
| description | Launch ArduPilot SITL simulator. Use when the user asks to start SITL, run the simulator, or test a vehicle interactively. |
Launch ArduPilot SITL Simulator
Start an interactive SITL simulation session.
Argument parsing
Parse $ARGUMENTS for vehicle type and options:
/sitl copter — start Copter SITL/sitl plane — start Plane SITL/sitl rover — start Rover SITL/sitl copter --debug — start with GDB attached/sitl copter -I 1 — second instance (different ports)
Vehicle name mapping
| Argument | sim_vehicle.py -v value |
|---|
copter | ArduCopter |
plane | ArduPlane |
rover | Rover |
sub | ArduSub |
tracker | AntennaTracker |
heli | ArduCopter (with --frame heli ) |
blimp | Blimp |
Launch command
python3 Tools/autotest/sim_vehicle.py -v <Vehicle> [options]
Common options
| Option | Purpose |
|---|
--debug | Build with debug symbols and launch under GDB |
-I <n> | Instance number (0-based, for multi-vehicle) |
--frame <frame> | Vehicle frame (e.g., hexa, octa, heli, quadplane) |
-L <location> | Start location (e.g., CMAC, AVC2013) |
--map | Show map window |
--console | Show console window |
--no-mavproxy | Don't start MAVProxy (just the simulator) |
--speedup <n> | Simulation speed multiplier |
-A "<args>" | Extra arguments passed to the SITL binary |
--add-param-file <file> | Load additional parameter file |
Examples
python3 Tools/autotest/sim_vehicle.py -v ArduCopter --map --console
python3 Tools/autotest/sim_vehicle.py -v ArduPlane --frame quadplane
python3 Tools/autotest/sim_vehicle.py -v ArduCopter --frame hexa -L CMAC
python3 Tools/autotest/sim_vehicle.py -v ArduCopter -I 0 &
python3 Tools/autotest/sim_vehicle.py -v ArduCopter -I 1 &
Notes
- SITL requires
sitl board to be configured (./waf configure --board sitl)
- sim_vehicle.py handles configure and build automatically if needed
- MAVProxy connects on port 14550 (instance 0) or 14560+ (higher instances)
- SITL runs interactively — it will keep running until stopped
- Use Ctrl+C to stop, or
quit in the MAVProxy console
