> For the complete documentation index, see [llms.txt](https://docs.xbstation.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.xbstation.com/xblink-basic-discontinued/xblink/advanced-configuration/sitl-simulator.md).

# Ardupilot SITL Simulator

> The **SITL** (software in the loop) simulator is a software on XBLink allows you to run Plane, Copter or Rover in your specific location without any hardware.

> This allows ArduPilot to be tested on a very wide variety of vehicle types:
>
> * Multi-rotor aircraft
> * Fixed wing aircraft
> * Ground vehicles
> * Underwater vehicles
> * Antenna trackers

![](https://752643261-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1Ot9F_Ob2Aboz1SKNK%2F-MbMYP2pBTxb2h1KUuyN%2F-MbMkSqpE8PbdnEdEvmB%2Fz2533418607873_df34101bef6051089bac79bf8abbed34%20\(1\).jpg?alt=media\&token=134e5422-9c2e-44b2-a2bc-116c1f3d2d41)

You can simulate a flight in XBLink by following these steps

## Configure SITL software

* In XBLinkApp, go to **Dashboard** tab -> **Simulator**
* Configure your vehicle type and choose the location
* Click **Start Simulator** button

![](https://752643261-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1Ot9F_Ob2Aboz1SKNK%2F-MbMYP2pBTxb2h1KUuyN%2F-MbMmmB_P3ZPP8ghQ1Fq%2Fz2533435406049_2a3a0d0826c552aaee893ccae221708f.jpg?alt=media\&token=7b4a6d1c-d5cd-45e3-bc23-a944f602b901)

{% hint style="info" %}
The simulator will auto run in your XBLink, you should turn it off if you don't use it anymore by clicking button **Stop Simulator**
{% endhint %}

## Change XBFirm telemetry input to Simulate Mode

By default, XBFirm is in **Serial port** telemetry input mode(The telemetry data will be received from the real flight controller), you should change it to **Simulate** mode

* In XBLinkApp, go to **Dashboard** tab -> **Telemetry Input -> Choose Simulate**
* Stop XBFirm, then Start it again

![](https://752643261-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1Ot9F_Ob2Aboz1SKNK%2F-MbMYP2pBTxb2h1KUuyN%2F-MbMo69YD0grBECXXXfn%2Fz2533445312393_e83b307cccd1691ca8074ab7261db67a.jpg?alt=media\&token=9fb5afc0-763b-4c65-ba5d-1869ad37588b)

{% hint style="info" %}
You should change the telemetry input mode to **Serial port** if you don't use simulate mode anymore
{% endhint %}

{% embed url="<https://www.youtube.com/watch?v=jIbFjtX0LBU&t>" %}