ArduPilot Development and SITL Toolkit
Open components for developing against ArduPilot with software-in-the-loop simulation.
Last reviewed 8/7/2026. Data checked within the review cycle.
Review cycles are documented on the Methodology page.
4 indexed resources · Reviewed 8/7/2026
Problem statement
How do I assemble an open development loop for ArduPilot firmware work, including simulation and ground control?
Audience and prerequisites
ArduPilot developers and UAV integrators
Layered technology path
Flight firmware
The ArduPilot autopilot stack.
Required
Selection: Official ArduPilot repository
Ground control
Ground station for SITL connection, parameter inspection and telemetry.
Required
Selection: Reference ground station documented for ArduPilot SITL
Telemetry protocol
Protocol layer between the autopilot and ground tools.
Required
Selection: Protocol reference repository
Simulator
Simulation target for software-in-the-loop testing.
Optional
Selection: Official simulation documentation
Validation sequence
- Build or download the ArduPilot SITL target from the official repository.
- Start the simulator and connect the ground station.
- Confirm telemetry and parameter access before hardware work.
Known boundaries
- SITL behavior differs from real flight and sensor hardware.
- Vehicle-type specifics must be checked against the official ArduPilot docs.