SITL Parameters

ArduPilot SITL has many parameters with which one can simulate sensor failures, wind or wave influence, sensor imperfections, etc. The table below lists current ones and describes their function for the more commonly used parameters. This table will be expanded over time.

SITL Parameter

Default

Description

SIM_ACC2_BIAS_Z

0.000000

SIM_ACC2_RND

0.000000

SIM_ACCEL_FAIL

0.000000

Force IMU ACC failure (see mask below)

SIM_ACC_BIAS_X

0.000000

SIM_ACC_BIAS_Y

0.000000

SIM_ACC_BIAS_Z

0.000000

SIM_ACC_FAIL_MSK

0.000000

Bitmask determining which ACCs fail

SIM_ACC_RND

0.000000

SIM_ADSB_ALT

1000.000000

SIM_ADSB_COUNT

-1.000000

SIM_ADSB_RADIUS

10000.000000

SIM_ADSB_TX

0.000000

SIM_ARSPD2_FAIL

0.000000

Force sim’d failure of 2nd Aispeed sensor

SIM_ARSPD2_FAILP

0.000000

Failure static tube pressure value

SIM_ARSPD2_OFS

2013.000000

Simulated sensor offset

SIM_ARSPD2_PITOT

0.000000

Failure pressure tube pressure value

SIM_ARSPD2_RND

2.000000

Random pressure tube noise

SIM_ARSPD_FAIL

0.000000

Force sim’d failure of 2nd Aispeed sensor

SIM_ARSPD_FAILP

0.000000

Failure static tube pressure value

SIM_ARSPD_OFS

2013.000000

Simulated sensor offset

SIM_ARSPD_PITOT

0.000000

Failure pressure tube pressure value

SIM_ARSPD_RND

2.000000

Random pressure tube noise

SIM_ARSPD_SIGN

0.000000

Simulate pitot line swap

SIM_BARO2_DISABL

0.000000

Disable Baro2

SIM_BARO2_DRIFT

0.000000

Baro drift in m/s

SIM_BARO2_FREEZE

0.000000

Freeze Baro2 at last reported alt

SIM_BARO2_GLITCH

0.000000

Every 10ms add this to alt (m)

SIM_BARO2_RND

0.100000

Randomly adds up to this value to alt (m)

SIM_BARO_COUNT

1.000000

Number of sim baros to create (0/1/2)

SIM_BARO_DELAY

0.000000

Delay in ms of altitude measurement

SIM_BARO_DISABLE

0.000000

Disable Baro

SIM_BARO_DRIFT

0.000000

Baro drift in m/s

SIM_BARO_FREEZE

0.000000

Freeze Baro at last reported alt

SIM_BARO_GLITCH

0.000000

Every 10ms add this to alt (m)

SIM_BARO_RND

0.000000

Randomly adds up to this value to alt (m)

SIM_BATT_VOLTAGE

12.600000

Battery Voltage for Sim

SIM_BAUDLIMIT_EN

0.000000

SIM_BZ_ENABLE

0.000000

SIM_BZ_PIN

0.000000

SIM_DRIFT_SPEED

0.050000

SIM_DRIFT_TIME

5.000000

SIM_EFI_TYPE

0.000000

SIM_ENGINE_FAIL

0.000000

SIM_ENGINE_MUL

1.000000

SIM_FLOAT_EXCEPT

1.000000

SIM_FLOW_DELAY

0.000000

SIM_FLOW_ENABLE

0.000000

SIM_FLOW_POS_X

0.000000

SIM_FLOW_POS_Y

0.000000

SIM_FLOW_POS_Z

0.000000

SIM_FLOW_RATE

10.000000

SIM_FLOW_RND

0.050000

SIM_GND_BEHAV

-1.000000

SIM_GPS2_ACC

0.300000

SIM_GPS2_ALT_OFS

0.000000

SIM_GPS2_BYTELOS

0.000000

SIM_GPS2_DELAY

1.000000

SIM_GPS2_DISABLE

1.000000

Disable GPS2

SIM_GPS2_DRFTALT

0.000000

SIM_GPS2_GLTCH_X

0.000000

SIM_GPS2_GLTCH_Y

0.000000

SIM_GPS2_GLTCH_Z

0.000000

SIM_GPS2_HDG

0.000000

SIM_GPS2_HZ

5.000000

SIM_GPS2_LCKTIME

0.000000

SIM_GPS2_NOISE

0.000000

SIM_GPS2_NUMSATS

10.000000

SIM_GPS2_POS1_X

0.000000

SIM_GPS2_POS1_Y

0.000000

SIM_GPS2_POS1_Z

0.000000

SIM_GPS2_TYPE

1.000000

SIM_GPS2_VERR_X

0.000000

SIM_GPS2_VERR_Y

0.000000

SIM_GPS2_VERR_Z

0.000000

SIM_GPS_ACC

0.300000

SIM_GPS_ALT_OFS

0.000000

SIM_GPS_BYTELOSS

0.000000

SIM_GPS_DELAY

1.000000

SIM_GPS_DISABLE

0.000000

Disable GPS1

SIM_GPS_DRIFTALT

0.000000

SIM_GPS_GLITCH_X

0.000000

SIM_GPS_GLITCH_Y

0.000000

SIM_GPS_GLITCH_Z

0.000000

SIM_GPS_HDG

0.000000

SIM_GPS_HZ

5.000000

SIM_GPS_LOCKTIME

0.000000

SIM_GPS_NOISE

0.000000

SIM_GPS_NUMSATS

10.000000

SIM_GPS_POS1_X

0.000000

SIM_GPS_POS1_Y

0.000000

SIM_GPS_POS1_Z

0.000000

SIM_GPS_TYPE

1.000000

SIM_GPS_VERR_X

0.000000

SIM_GPS_VERR_Y

0.000000

SIM_GPS_VERR_Z

0.000000

SIM_GRPE_ENABLE

0.000000

SIM_GRPE_PIN

-1.000000

SIM_GRPS_ENABLE

0.000000

SIM_GRPS_GRAB

2000.000000

SIM_GRPS_PIN

-1.000000

SIM_GRPS_RELEASE

1000.000000

SIM_GRPS_REVERSE

0.000000

SIM_GYR_FAIL_MSK

0.000000

Bitmask for setting a Gyro 1,2,and/or 3 failure

SIM_GYR_RND

0.000000

SIM_GYR_SCALE_X

0.000000

SIM_GYR_SCALE_Y

0.000000

SIM_GYR_SCALE_Z

0.000000

SIM_IMU_COUNT

2.000000

SIM_IMU_POS_X

0.000000

SIM_IMU_POS_Y

0.000000

SIM_IMU_POS_Z

0.000000

SIM_INS_THR_MIN

0.100000

SIM_LED_LAYOUT

0.000000

SIM_LOOP_DELAY

0.000000

SIM_MAG1_DEVID

97539.000000

1st Compass (0 to remove)

SIM_MAG1_FAIL

0.000000

Force Compass1 failure

SIM_MAG1_SCALING

1.000000

SIM_MAG2_DEVID

131874.000000

2nd Compass

SIM_MAG2_DIA_X

0.000000

SIM_MAG2_DIA_Y

0.000000

SIM_MAG2_DIA_Z

0.000000

SIM_MAG2_FAIL

0.000000

Force Compass2 failure

SIM_MAG2_ODI_X

0.000000

SIM_MAG2_ODI_Y

0.000000

SIM_MAG2_ODI_Z

0.000000

SIM_MAG2_OFS_X

5.000000

SIM_MAG2_OFS_Y

13.000000

SIM_MAG2_OFS_Z

-18.000000

SIM_MAG2_ORIENT

0.000000

SIM_MAG2_SCALING

1.000000

SIM_MAG3_DEVID

263178.000000

3rd Compass

SIM_MAG3_DIA_X

0.000000

SIM_MAG3_DIA_Y

0.000000

SIM_MAG3_DIA_Z

0.000000

SIM_MAG3_FAIL

0.000000

Force Compass3 failure

SIM_MAG3_ODI_X

0.000000

SIM_MAG3_ODI_Y

0.000000

SIM_MAG3_ODI_Z

0.000000

SIM_MAG3_OFS_X

5.000000

SIM_MAG3_OFS_Y

13.000000

SIM_MAG3_OFS_Z

-18.000000

SIM_MAG3_ORIENT

0.000000

SIM_MAG3_SCALING

1.000000

SIM_MAG4_DEVID

97283.000000

4th Compass

SIM_MAG5_DEVID

97795.000000

5th Compass

SIM_MAG6_DEVID

98051.000000

6th Compass

SIM_MAG7_DEVID

0.000000

SIM_MAG8_DEVID

0.000000

SIM_MAG_ALY_HGT

1.000000

SIM_MAG_ALY_X

0.000000

SIM_MAG_ALY_Y

0.000000

SIM_MAG_ALY_Z

0.000000

SIM_MAG_DELAY

0.000000

SIM_MAG_DIA_X

0.000000

SIM_MAG_DIA_Y

0.000000

SIM_MAG_DIA_Z

0.000000

SIM_MAG_MOT_X

0.000000

SIM_MAG_MOT_Y

0.000000

SIM_MAG_MOT_Z

0.000000

SIM_MAG_ODI_X

0.000000

SIM_MAG_ODI_Y

0.000000

SIM_MAG_ODI_Z

0.000000

SIM_MAG_OFS_X

5.000000

SIM_MAG_OFS_Y

13.000000

SIM_MAG_OFS_Z

-18.000000

SIM_MAG_ORIENT

0.000000

SIM_MAG_RND

0.000000

SIM_ODOM_ENABLE

0.000000

SIM_OPOS_ALT

584.000000

SIM_OPOS_HDG

353.000000

SIM_OPOS_LAT

-35.363262

SIM_OPOS_LNG

149.165237

SIM_PARA_ENABLE

0.000000

SIM_PARA_PIN

-1.000000

SIM_PIN_MASK

0.000000

SIM_PLD_ALT_LMT

15.000000

SIM_PLD_DIST_LMT

10.000000

SIM_PLD_ENABLE

0.000000

SIM_PLD_HEIGHT

0.000000

SIM_PLD_LAT

0.000000

SIM_PLD_LON

0.000000

SIM_PLD_RATE

100.000000

SIM_PLD_TYPE

0.000000

SIM_PLD_YAW

0.000000

SIM_RATE_HZ

1200.000000

SIM_RC_CHANCOUNT

16.000000

SIM_RC_FAIL

0.000000

Force RC failure

SIM_RICH_CTRL

-1.000000

SIM_RICH_ENABLE

0.000000

SIM_SAFETY_STATE

0.000000

SIM_SERVO_SPEED

0.140000

SIM_SHIP_DSIZE

10.000000

SIM_SHIP_ENABLE

0.000000

SIM_SHIP_PSIZE

1000.000000

SIM_SHIP_SPEED

3.000000

SIM_SHIP_SYSID

17.000000

SIM_SHOVE_TIME

0.000000

SIM_SHOVE_X

0.000000

SIM_SHOVE_Y

0.000000

SIM_SHOVE_Z

0.000000

SIM_SONAR_GLITCH

0.000000

SIM_SONAR_POS_X

0.000000

SIM_SONAR_POS_Y

0.000000

SIM_SONAR_POS_Z

0.000000

SIM_SONAR_RND

0.000000

SIM_SONAR_SCALE

12.121200

SIM_SPEEDUP

1.000000

Allows running sim SPEEDUP times faster

SIM_SPR_ENABLE

0.000000

SIM_SPR_PUMP

-1.000000

SIM_SPR_SPIN

-1.000000

SIM_TA_ENABLE

1.000000

SIM_TEMP_BFACTOR

0.000000

SIM_TEMP_FLIGHT

35.000000

SIM_TEMP_START

25.000000

SIM_TEMP_TCONST

30.000000

SIM_TERRAIN

1.000000

SIM_THML_SCENARI

0.000000

SIM_TIDE_DIR

0.000000

SIM_TIDE_SPEED

0.000000

SIM_TWIST_TIME

0.000000

SIM_TWIST_X

0.000000

SIM_TWIST_Y

0.000000

SIM_TWIST_Z

0.000000

SIM_VIB_FREQ_X

0.000000

SIM_VIB_FREQ_Y

0.000000

SIM_VIB_FREQ_Z

0.000000

SIM_VIB_MOT_MAX

0.000000

SIM_VIB_MOT_MULT

1.000000

SIM_VICON_FAIL

0.000000

SIM_VICON_GLIT_X

0.000000

SIM_VICON_GLIT_Y

0.000000

SIM_VICON_GLIT_Z

0.000000

SIM_VICON_POS_X

0.000000

SIM_VICON_POS_Y

0.000000

SIM_VICON_POS_Z

0.000000

SIM_VICON_TMASK

3.000000

SIM_VICON_VGLI_X

0.000000

SIM_VICON_VGLI_Y

0.000000

SIM_VICON_VGLI_Z

0.000000

SIM_VICON_YAW

0.000000

SIM_VICON_YAWERR

0.000000

SIM_WAVE_AMP

0.500000

SIM_WAVE_DIR

0.000000

SIM_WAVE_ENABLE

0.000000

SIM_WAVE_LENGTH

10.000000

SIM_WAVE_SPEED

0.500000

SIM_WIND_DELAY

0.000000

SIM_WIND_DIR

180.000000

Wind Direction

SIM_WIND_DIR_Z

0.000000

Not implemented

SIM_WIND_SPD

0.000000

Wind speed

SIM_WIND_T

0.000000

Type of wind decay from wind alt to ground-0:sq law,2:linear coefficient,1:none

SIM_WIND_TURB

0.000000

Not implemented

SIM_WIND_T_ALT

60.000000

Altitude at which wind is full speed

SIM_WIND_T_COEF

0.010000

Linear coeff, wind is reduced by (Altitude-WIND_T_ALT) x this value

SIM_WOW_PIN

-1.000000