Usage: sim_vehicle.py
Options:
-h, --help show this help message and exit
-v VEHICLE, --vehicle=VEHICLE
vehicle type (ArduCopter|Helicopter|Blimp|ArduPlane|Ro
ver|ArduSub|AntennaTracker|sitl_periph_gps)
-f FRAME, --frame=FRAME
set vehicle frame type
ArduCopter: +|Callisto|IrisRos|X|airsim-
copter|bfx|calibration|coaxcopter|cwx|deca|deca-
cwx|djix|dodeca-hexa|gazebo-iris|heli|heli-
blade360|heli-dual|hexa|hexa-cwx|hexa-
dji|octa|octa-cwx|octa-dji|octa-quad|octa-quad-
cwx|quad|scrimmage-copter|singlecopter|tri|y6
Helicopter: heli|heli-blade360|heli-dual
Blimp: Blimp
ArduPlane: CRRCSim|calibration|firefly|gazebo-
zephyr|jsbsim|last_letter|plane|plane-3d|plane-
dspoilers|plane-elevon|plane-ice|plane-jet|plane-
soaring|plane-tailsitter|plane-
vtail|quadplane|quadplane-cl84|quadplane-
copter_tailsitter|quadplane-ice|quadplane-
tilthvec|quadplane-tilttri|quadplane-
tilttrivec|quadplane-tri|scrimmage-plane
Rover: airsim-rover|balancebot|calibration|gazebo-
rover|motorboat|rover|rover-skid|rover-
vectored|sailboat|sailboat-motor
ArduSub: gazebo-bluerov2|vectored|vectored_6dof
AntennaTracker: tracker
sitl_periph_gps: gps
--vehicle-binary=VEHICLE_BINARY
vehicle binary path
-C, --sim_vehicle_sh_compatible
be compatible with the way sim_vehicle.sh works; make
this the first option
Build options:
-N, --no-rebuild don't rebuild before starting ardupilot
-D, --debug build with debugging
-c, --clean do a make clean before building
-j JOBS, --jobs=JOBS
number of processors to use during build (default for
waf : number of processor, for make : 1)
-b BUILD_TARGET, --build-target=BUILD_TARGET
override SITL build target
-s BUILD_SYSTEM, --build-system=BUILD_SYSTEM
build system to use
--enable-math-check-indexes
enable checking of math indexes
--sitl-32bit compile sitl using 32-bit
--configure-define=DEFINE
create a preprocessor define
--rebuild-on-failure
if build fails, do not clean and rebuild
--waf-configure-arg=WAF_CONFIGURE_ARGS
extra arguments to pass to waf in configure step
--waf-build-arg=WAF_BUILD_ARGS
extra arguments to pass to waf in its build step
--coverage use coverage build
--ubsan compile sitl with undefined behaviour sanitiser
--ubsan-abort compile sitl with undefined behaviour sanitiser and
abort on error
--num-aux-imus=NUM_AUX_IMUS
number of auxiliary IMUs to simulate
Simulation options:
-I INSTANCE, --instance=INSTANCE
instance of simulator
-n COUNT, --count=COUNT
vehicle count; if this is specified, -I is used as a
base-value
-i INSTANCES, --instances=INSTANCES
a space delimited list of instances to spawn; if
specified, overrides -I and -n.
-V, --valgrind enable valgrind for memory access checking (slow!)
--callgrind enable valgrind for performance analysis (slow!!)
-T, --tracker start an antenna tracker instance
--enable-onvif enable onvif camera control sim using AntennaTracker
--can-gps start a DroneCAN GPS instance (use
Tools/scripts/CAN/can_sitl_nodev.sh first)
-A SITL_INSTANCE_ARGS, --sitl-instance-args=SITL_INSTANCE_ARGS
pass arguments to SITL instance
-G, --gdb use gdb for debugging ardupilot
-g, --gdb-stopped use gdb for debugging ardupilot (no auto-start)
--lldb use lldb for debugging ardupilot
--lldb-stopped use ldb for debugging ardupilot (no auto-start)
-d DELAY_START, --delay-start=DELAY_START
delay start of mavproxy by this number of seconds
-B BREAKPOINT, --breakpoint=BREAKPOINT
add a breakpoint at given location in debugger
--disable-breakpoints
disable all breakpoints before starting
-M, --mavlink-gimbal
enable MAVLink gimbal
-L LOCATION, --location=LOCATION
use start location from Tools/autotest/locations.txt
-l CUSTOM_LOCATION, --custom-location=CUSTOM_LOCATION
set custom start location (lat,lon,alt,heading)
-S SPEEDUP, --speedup=SPEEDUP
set simulation speedup (1 for wall clock time)
-t TRACKER_LOCATION, --tracker-location=TRACKER_LOCATION
set antenna tracker start location
-w, --wipe-eeprom wipe EEPROM and reload parameters
-m MAVPROXY_ARGS, --mavproxy-args=MAVPROXY_ARGS
additional arguments to pass to mavproxy.py
--scrimmage-args=SCRIMMAGE_ARGS
arguments used to populate SCRIMMAGE mission (comma-
separated). Currently visual_model, motion_model, and
terrain are supported. Usage:
[instance=]argument=value...
--strace strace the ArduPilot binary
--model=MODEL Override simulation model to use
--use-dir=USE_DIR Store SITL state and output in named directory
--no-mavproxy Don't launch MAVProxy
--fresh-params Generate and use local parameter help XML
--mcast Use multicasting at default 239.255.145.50:14550
--udp Use UDP on 127.0.0.1:5760
--osd Enable SITL OSD
--osdmsp Enable SITL OSD using MSP
--tonealarm Enable SITL ToneAlarm
--rgbled Enable SITL RGBLed
--add-param-file=ADD_PARAM_FILE
Add a parameters file to use
--no-extra-ports Disable setup of UDP 14550 and 14551 output
-Z SWARM, --swarm=SWARM
Specify path of swarminit.txt for shifting spawn
location
--auto-offset-line=AUTO_OFFSET_LINE
Argument of form BEARING,DISTANCE. When running
multiple instances, form a line along bearing with an
interval of DISTANCE
--flash-storage use flash storage emulation
--fram-storage use fram storage emulation
--disable-ekf2 disable EKF2 in build
--disable-ekf3 disable EKF3 in build
--start-time=START_TIME
specify simulation start time in format YYYY-MM-DD-
HH:MM in your local time zone
--sysid=SYSID Set SYSID_THISMAV
--postype-single force single precision postype_t
--ekf-double use double precision in EKF
--ekf-single use single precision in EKF
--slave=SLAVE Set the number of JSON slave
--auto-sysid Set SYSID_THISMAV based upon instance number
--sim-address=SIM_ADDRESS
IP address of the simulator. Defaults to localhost
Compatibility MAVProxy options (consider using --mavproxy-args instead):
--out=OUT create an additional mavlink output
--map load map module on startup
--console load console module on startup
--aircraft=AIRCRAFT
store state and logs in named directory
--moddebug=MODDEBUG
mavproxy module debug
--no-rcin disable mavproxy rcin
Completion helpers:
--list-vehicle List the vehicles
--list-frame=LIST_FRAME
List the vehicle frames
eeprom.bin in the starting directory contains the parameters for your
simulated vehicle. Always start from the same directory. It is recommended
that you start in the main vehicle directory for the vehicle you are
simulating, for example, start in the ArduPlane directory to simulate
ArduPlane