Setup `SITL` (macOS)

SITL (Software in the loop) allows testing of the software without access to any hardware components. To do so we need to setup a linux working environment.

Create new VM

Install OrbStack

brew install orbstack

Create Ubuntu VM (Or re-use VM from mrxOS build)

Open OrbStack and create a new Ubuntu instance under "Linux > Machines"

Start VM

orb

Enter `mrx` Directory

cd <PATH_TO_MRX>

Install Dependencies

./Tools/environment_install/install-prereqs-ubuntu.sh
source ~/venv-ardupilot/bin/activate
python3 -m pip install empy==3.3.4

Compile and Run `SITL`

cd ./ArduSub
../Tools/autotest/sim_vehicle.py -w
../Tools/autotest/sim_vehicle.py --help # List of all configuration options

Further Refernces

https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html (opens in a new tab)

Setup Upload

Setup SITL (macOS)