Install from Github:
pip2 install git+https://github.com/3drobotics/dronekit-sitl-runner
List of available commands:
dronekit-sitl --list
dronekit-sitl --reset
dronekit-sitl <copter(-version)> [parameters]
dronekit-sitl <plane(-version)> [parameters]
The --list commmand is used to display the available build versions (e.g. copter-3.4-dev).
The -h parameter can be passed in the command above to list all the parameters to the build
(these are reproduced below).
| Option | Description |
|---|---|
| --h | Help (display help for the build - i.e. these parameters) |
| --home HOME | Set home location (lat,lng,alt,yaw) |
| --model MODEL | Set simulation model |
| --wipe | Wipe eeprom and dataflash |
| --rate RATE | Set SITL framerate |
| --console | Use console instead of TCP ports |
| --instance N | Set instance of SITL (adds 10*instance to all port numbers) |
| --speedup SPEEDUP | Set simulation speedup |
| --gimbal | Enable simulated MAVLink gimbal |
| --autotest-dir | DIR set directory for additional files |
The following command might be used to start SITL for build of copter-3.3-rc5:
dronekit-sitl copter-3.3-rc5 -I0 -S --model quad --home=-35.363261,149.165230,584,353
SITL starts and waits for TCP connections on 127.0.0.1:5760. In a second terminal you can spawn an instance of MAVProxy to
forward messages to UDP ports 127.0.0.1:14550 and 127.0.0.1:14551 (in the same way as sim_vehicle.sh):
mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
We are providing hosting for some pre-compiled Ardupilot Copter and Plane binaries
| Platform | List |
|---|---|
| Copter | http://dronekit-sitl-binaries.s3-website-us-east-1.amazonaws.com/copter/ |
| Plane | http://dronekit-sitl-binaries.s3-website-us-east-1.amazonaws.com/plane/ |
SITL exposes a Python API for managing a SITL instance.
from dronekit.sitl import SITL
sitl = SITL(system, version) # launch system (e.g. "copter") and version (e.g. "3.3")
sitl.download(target, verbose=False) # explicitly download version
sitl.launch(args, verbose=False, auto_download=True, await_ready=False, restart=False)
sitl.block_until_ready(verbose=False) # explicitly wait until receiving commands
code = sitl.complete(verbose=False) # wait until exit
sitl.poll() # returns None or return code
sitl.stop() # terminates SITL
dronekit-sitl-runner is licensed as MIT/ASL2