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The SITL (software in the loop) simulator allows you to run Plane,Copter or Rover without any hardware. It is a build of the autopilotcode using an ordinary C++ compiler, giving you a native executable thatallows you to test the behaviour of the code without hardware.

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This article provides an overview of SITL’s benefits and architecture.

Overview¶

SITL allows you to run ArduPilot on your PC directly, without anyspecial hardware. It takes advantage of the fact that ArduPilot is aportable autopilot that can run on a very wide variety of platforms.Your PC is just another platform that ArduPilot can be built and run on.

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When running in SITL the sensor data comes from a flight dynamics modelin a flight simulator. ArduPilot has a wide range of vehicle simulatorsbuilt in, and can interface to several external simulators. This allowsArduPilot to be tested on a very wide variety of vehicle types. Forexample, SITL can simulate:

• multi-rotor aircraft
• fixed wing aircraft
• ground vehicles
• underwater vehicles
• camera gimbals
• antenna trackers
• a wide variety of optional sensors, such as Lidars and optical flowsensors

Adding new simulated vehicle types or sensor types is straightforward.

A big advantage of ArduPilot on SITL is it gives you access to the fullrange of development tools available to desktop C++ development, such asinteractive debuggers, static analyzers and dynamic analysis tools. Thismakes developing and testing new features in ArduPilot much simpler.

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Running SITL¶

The ArduPilot SITL environment has been developed to run natively on bothLinux and Windows. For setup instructions see Setting Up SITLfor more information. Using SITL is explained in Using SITL. For examples of starting and using SITL for a particular vehicle see Examples of using SITL by Vehicle .

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SITL Architecture¶

Vehicle Simulator Roblox How To Set Up Drone Camera

Note in the image below the port numbers are indicative only and canvary. For instance the ports between ArduPilot and the simulatoron the image are 5501/5502 but they can vary to be 5504/5505 or otherport numbers depending on your environment.

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