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