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 |