Setting up your simulator

Setting up a Vagrant simulator

Prerequisites

1. Git
   Leave line endings untouched git config --global core.autocrlf false
2. Install VirtualBox for your OS
3. Install Vagrant for your OS
4. Clone the autopilot repository git clone https://github.com/ArduPilot/ardupilot.git

Configure Vagrant

1. Within the ardupilot directory add the following lines to your vagrantfile before the final "end"

   config.vm.network "forwarded_port", guest: 5760, host: 5760, protocol: "tcp"
   config.vm.network "forwarded_port", guest: 5761, host: 5761, protocol: "tcp"
   config.vm.network "forwarded_port", guest: 5762, host: 5762, protocol: "tcp"
   config.vm.network "forwarded_port", guest: 5763, host: 5763, protocol: "tcp"

2. Launch vagrant vagrant up
3. Initialize submodules
   vagrant ssh
cd /vagrant
git submodule update --init --recursive
exit

Launching VTOL simulator

1. vagrant ssh
2. cd into ArduPlane
3. sim_vehicle.py -l 35.328423,-120.752505,580,0 -j4 -f quadplane --console --map

Setting up a Dronekit-SITL simulator

Prerequisites

1. Install dronekit-sitl pip3 install dronekit-sitl
2. Clone the ardupilot repository

Compiling the binary

0. Within you copy of ardupilot
1. Set vehicle to SITL ./waf configure --board sitl
2. Compile desired vehicle ./waf copter

Start you sim

./build/sitl/bin/arducopter -M QuadCopter connect to your sim over tcp port 5760
disable preflight checks using QGroundControl Vehicle Setup => safety (You may need to set you airframe as well)