# 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

![](/files/-MbMkSqpE8PbdnEdEvmB)

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

![](/files/-MbMmmB_P3ZPP8ghQ1Fq)

{% 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

![](/files/-MbMo69YD0grBECXXXfn)

{% 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>" %}


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.xbstation.com/xblink-basic/xblink/advanced-configuration/sitl-simulator.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.