> 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/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

![](/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>" %}