Devdocs custom1/3/2024 ![]() RealFlight a commercial flight simulator with a rich 3D interface and ability to design custom vehicles.XPlane-10 a commercial flight simulator with a rich 3D interface.Gazebo is the official DARPA virtual robotics simulator. ![]() Mission Planner can be used in Windows to simulate with Mission Planner as GCS.It is used by the autotester and other simulators below are actually built on top of SITL It is a simple simulator that is built within all SITL builds of ArduPilot. SITL (Software In The Loop) is the simulator most commonly used by developers. ![]() We recommend starting with ArduPilot’s native Software In The Loop (SITL) because the setup is easiest, it does not require a flight controller, and all vehicle types are supported. In addition, the ArduPilot firmware simulator element can also be interfaced to other FDM/Graphics programs that are normally used as stand-alone flight/vehicle simulators in order to get more realistic physics models and/or high definition vehicle graphics, such as RealFlight or X-Plane. ArduPilot’s firmware simulator and FDM can also be used by Mission Planner for SITL simulations. Pilot control is implemented either by joystick, dedicated simulation controller box(like Interlink), or by MAVLink commands from a Ground Control Station program (GCS), like MAVProxy or Mission Planner.ĪrduPilot provides a native firmware simulator + FDM program (all launched by sim_vehicle.py), often simply referred to as SITL, which is usually used with its developer GCS, MAVProxy. Just as sensors would in the real world case. that result from those inputs back to the firmware simulation. It receives inputs from a SITL (Software in the Loop) program running the ArduPilot firmware (which are the firmware’s servo/motor outputs) and outputs vehicle status,position, velocities, etc. Simulation is implemented by using a Flight Dynamics Model (FDM) of the vehicle to simulate the physics involved with vehicle movement.
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