MAVLink Drone Simulator

Platform agnostic wrapper for MAVLink drone simulators.

Link: https://github.com/Xierumeng/mavlink-drone-simulator

This program downloads and runs the ArduPilot Copter simulator:

• https://ardupilot.org/dev/docs/pre-built-binaries.html
• https://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html

Usage

1. Open the command line
2. Change directory: cd mavlink_drone_simulator/
3. Run the program:
   • Windows: ./mavlink_drone_simulator.exe
   • MacOS and Linux: ./mavlink_drone_simulator
4. Change firewall settings as required
5. Done!

You can modify the simulator arguments in config_simulator_arguments.txt . More information on the arguments: https://ardupilot.org/planner/docs/mission-planner-simulation.html#extra-command-line

You can connect directly to the simulator. Refer to the architecture diagram for port numbers: https://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html#sitl-architecture

MAVProxy

Alternatively, instead of connecting directly, you can use MAVProxy as an intermediary: https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html

• In a separate command line window: mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550

Other programs (e.g. Mission Planner, your own code) can then connect to the --out address.

flowchart LR

arducopter[ArduPilot Copter]
mavproxy[MAVProxy]
other[Other program]

subgraph mavlink_drone_simulator[MAVLink Drone Simulator]
    arducopter
end

arducopter <--TCP 5760--> mavproxy
mavproxy --TCP 5501--> arducopter

mavproxy <--UDP 14550--> other

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Development

Follow the instructions.