This installer automates the complete setup of an ArduPilot Software-In-The-Loop (SITL) environment on Linux. Here's what happens during installation:
-
Downloads the ArduPilot Codebase: Clones the official ArduPilot GitHub repository to your local disk (
~/ardupilot), including all necessary submodules for simulation. -
Sets Up the Build Environment: Runs ArduPilot's
install-prereqs-ubuntu.shscript (contained within the cloned repository) to automatically install all required dependencies, compilers, Python packages, and tools needed for building and running the simulator on Linux. -
Creates a Systemd Service: Optionally installs a background service (
drone_sim) that automatically starts on boot, giving you an always-on virtual drone that runs continuously as thedronepilotuser. -
Opens Network Ports for Remote Access: Configures the simulator to accept connections from any Ground Control Station (GCS) software anywhere in the world via:
- TCP Port 5678 & 6789: For reliable connections from most GCS applications (QGroundControl, Mission Planner, etc.). Multiple ports allow simultaneous connections.
- UDP Port 14550: For traditional MAVLink UDP connections
Once installed, your virtual drone is accessible remotely, making it perfect for cloud deployments, remote development, testing, and continuous integration pipelines.
- Installs MAVProxy, SITL, and ArduCopter
Build, run, and customize virtual drones yourself (ArduPilot SITL setup guide). - Creates a virtual drone in the cloud
Installs a background service to automatically run on boot, for an always-on virtual drone accessible from anywhere on the internet.
Automatic Mode (Recommended):
- After installation, the simulated drone runs as a service and can be connected to from any ground control station (GCS) software (e.g., Mission Planner, QGroundControl, MAVProxy).
- Connect using:
- TCP:
tcp://<SERVER_IP>:5678ortcp://<SERVER_IP>:6789 - UDP:
udp://<SERVER_IP>:14550 - Replace
<SERVER_IP>with your server's IP address. - Use TCP for most GCS software (e.g., QGroundControl, Mission Planner). Multiple TCP ports allow simultaneous connections from different GCS instances. Use UDP if your GCS or workflow prefers it.
- TCP:
Manual Mode:
- After installation, you can start the simulator manually as
dronepilot:(You may need to runcd ~/ardupilot/ArduCopter sim_vehicle.py --console --map --osd --out=udp:127.0.0.1:14550 --custom-location=33.64586111,-117.84275,25,0
. ~/.profilefirst)
- Linux (tested on Ubuntu 20.04/22.04/24.04 LTS)
- Root or sudo access to create the
dronepilotuser - Git installed on your system
First, as a user with sudo privileges (or root), create the dedicated dronepilot user:
sudo useradd -m -s /bin/bash dronepilot
sudo passwd dronepilot
sudo usermod -aG sudo dronepilotsu - dronepilotgit clone https://github.com/PeterJBurke/CreateSITLenv.git
cd CreateSITLenv
bash install.shThe installer will present a menu:
- Manual (Option 1): Installs dependencies, builds ArduPilot, sets up Python environment. You manually run SITL/MAVProxy as needed.
- Full Install (Option 2 - Recommended): Manual setup + systemd service (
drone_sim) that runs a virtual drone automatically on boot.
After installation, follow the Usage & Connection instructions above for connecting your GCS.
- "ERROR: This installer must be run as the 'dronepilot' user": Make sure you created the
dronepilotuser and switched to it (su - dronepilot) before running the installer - Missing dependencies: Rerun the installer
- Service fails to start: Check logs:
journalctl -u drone_sim - GCS can't connect: Ensure firewall allows UDP 14550/TCP 5678/TCP 6789
- Manual run errors: Ensure
. ~/.profileis sourced and you are in the correct directory
- Edit the systemd service template in
install_drone_service.shfor custom ports, locations, or vehicle types - See ArduPilot and MAVProxy docs for more advanced options
MIT
- v1.0: Initial release with combined installer and unified documentation