ArduPilot Software-In-The-Loop (SITL), MavLink, and AirSim
In this article, I would like to share my experience of setting up ArduPilot SITL running with AirSim using Cygwin on Windows. The result is shown in the picture below. I hope this post can be complementary to the original AirSim SITL tutorial Using SITL with AirSim . First of all, let's see the architecture of AirSim SITL: The red block represents SITL, which connects to physics simulator (blue block), which is AirSim, and a Ground Control System (GCS), which is MAVProxy in our case. So we will run three programs that communicates with each other through TCP/IP. Now we are ready to run the simulation. The major steps are listed below: Git clone ArduPilot and build it under Cygwin. You can follow ArduPilot tutorial ( link ) or see my summary at the section ( Run SITL using Cygwin ). Install Unreal and git clone AirSim and build it, OR download pre-built AirSim precompiled binaries ( link ) Edit “Documents\AirSim\settings.json”, note the default folder is you...