SITL Erle Robotics: MAV Tools

The SITL (Software In The Loop) simulator allows you to run APM without any hardware. It is a build of the autopilot code using an ordinary C++ compiler and gives you a native executable to test the behaviour of the code without hardware.

Installation (Ubuntu)

• Refer to the APM wiki for installation instructions: http://dev.ardupilot.com/wiki/setting-up-sitl-on-linux/

Launch the simulator

Launch SITL

Run:

Launch SITL

sim_vehicle.sh -w
```json



This launches the SITL simulator with the default settings.


Installation (Mac OS)

### 1. Install command-line tools and Python modules

Install the command-line tools (including GCC) for macOS, then install Python modules:

**Install pip and Python dependencies**

```bash
sudo easy_install pip
sudo pip install pexpect
sudo pip install pyserial
```python




### 2. Install MAVLink and MAVProxy (recommended)

Install via pip:

**Install MAVLink and MAVProxy**

```bash
sudo pip install pymavlink MAVProxy
```python




### 3. Alternative: install MAVLink and MAVProxy from source

Clone the repositories and run the setup in each:

**Clone and install from source**

```bash
git clone https://github.com/tridge/MAVProxy
git clone https://github.com/tridge/mavlink

## In each cloned directory:
sudo python setup.py build install
```json




### 4. Get the APM branch that compiles on macOS and build SITL

The erlerobot ardupilot macOS branch contains relevant changes:

**Clone ardupilot and build SITL on macOS**

```bash
git clone https://github.com/erlerobot/ardupilot
cd ardupilot
git checkout macos
cd ArduCopter
make configure
make sitl
```php



A relevant commit: https://github.com/erlerobot/ardupilot/commit/337bd7bf1f6d285934e887ddb06563960d0aa157


> **Note**
>
> Refer to the APM wiki for additional setup details: http://dev.ardupilot.com/wiki/setting-up-sitl-on-linux/


Source:

- https://groups.google.com/forum/#!searchin/drones-discuss/SITL$20mac$20os/drones-discuss/kLx9kJAT9As/5UnGEn-mSQsJ
- https://github.com/erlerobot/ardupilot/commit/337bd7bf1f6d285934e887ddb06563960d0aa157

Last updated 3 years ago