ArduPilot SITL setup in Drone Programming - Step-by-Step Execution

Concept Flow - ArduPilot SITL setup

Install Dependencies

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Download ArduPilot SITL

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Build SITL Software

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Configure SITL Parameters

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Start SITL Simulation

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Connect Ground Control Station

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Run and Test Drone Simulation

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END

This flow shows the main steps to set up ArduPilot SITL: install tools, get code, build, configure, run simulation, connect GCS, and test.

Execution Sample

Drone Programming

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive
./waf configure --board sitl
./waf build
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map

This code clones ArduPilot, configures SITL build, builds it, and starts a copter simulation with console and map.

Execution Table

Step	Action	Command/Process	Result/Output
1	Clone ArduPilot repo	git clone https://github.com/ArduPilot/ardupilot.git	ArduPilot source code downloaded
2	Change directory and init submodules	cd ardupilot git submodule update --init --recursive	Inside ardupilot folder with submodules initialized
3	Configure SITL build	./waf configure --board sitl	Build system configured for SITL
4	Build SITL software	./waf build	SITL binaries compiled
5	Start SITL simulation	sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map	Simulation starts with console and map windows
6	Connect GCS	Open Mission Planner or QGroundControl	GCS connects to SITL drone
7	Run and test	Use console and map to control drone	Drone simulation runs, responds to commands
8	Exit	Ctrl+C or close windows	Simulation stops

💡 Simulation ends when user stops it manually or closes windows

Variable Tracker

Variable	Start	After Step 1	After Step 3	After Step 4	After Step 5	Final
SITL Code	None	Downloaded	Configured	Built	Running	Stopped
Simulation State	None	None	None	None	Active	Stopped
GCS Connection	Disconnected	Disconnected	Disconnected	Disconnected	Connected	Disconnected

Key Moments - 3 Insights

Why do we run './waf configure --board sitl' before building?

This step sets up the build system specifically for the SITL environment, so the build knows what to compile. See execution_table row 3.

What happens if you start sim_vehicle.py without building first?

sim_vehicle.py will automatically build the SITL binaries if they don't exist, so it may succeed. However, explicitly building first lets you check for build errors separately. See execution_table rows 4 and 5.

How does the Ground Control Station connect to SITL?

The GCS connects via network ports opened by the running SITL simulation. This happens after simulation starts. See execution_table row 6.

Visual Quiz - 3 Questions

Look at the execution_table, what is the result after running './waf build'?

A SITL binaries compiled

B Simulation starts

C ArduPilot source code downloaded

D Build system configured

💡 Hint

Check execution_table row 4 under Result/Output

At which step does the simulation become active?

A Step 2

B Step 3

C Step 5

D Step 7

💡 Hint

Look at execution_table row 5 and variable_tracker Simulation State

If you skip cloning the repo, what will happen at step 3?

A Simulation will start without errors

B Configure will fail because source code is missing

C Build will succeed anyway

D GCS will connect automatically

💡 Hint

Refer to execution_table row 1 and 3 dependencies

Concept Snapshot

ArduPilot SITL Setup Steps:
1. Clone repo: get source code
2. Configure build for SITL
3. Build SITL binaries
4. Start simulation with sim_vehicle.py
5. Connect Ground Control Station
6. Control and test drone in simulation
Remember: build before running simulation.

Full Transcript

To set up ArduPilot SITL, first install required tools. Then clone the ArduPilot repository using git. Change into the ardupilot directory. Run './waf configure --board sitl' to prepare the build system for SITL. Next, build the SITL binaries with './waf build'. After building, start the simulation using sim_vehicle.py with desired vehicle and options. Open a Ground Control Station like Mission Planner or QGroundControl to connect to the running simulation. Use the console and map windows to control and test the simulated drone. Stop the simulation by closing windows or pressing Ctrl+C. Each step depends on the previous, so follow the order carefully.