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posted Apr 30, 2016, 11:48 PM by Javad Taghia


SITL Simulator (Software in the Loop)

The SITL (software in the loop) simulator allows you to run Plane, Copter or Rover without any hardware. It is a build of the autopilot code using an ordinary C++ compiler, giving you a native executable that allows you to test the behaviour of the code without hardware.

This article provides an overview of SITL’s benefits and architecture.


SITL allows you to run ArduPilot on your PC directly, without any special hardware. It takes advantage of the fact that ArduPilot is a portable autopilot that can run on a very wide variety of platforms. Your PC is just another platform that ArduPilot can be built and run on.

When running in SITL the sensor data comes from a flight dynamics model in a flight simulator. ArduPilot has a wide range of vehicle simulators built in, and can interface to several external simulators. This allows ArduPilot to be tested on a very wide variety of vehicle types. For example, SITL can simulate:

  • multi-rotor aircraft
  • fixed wing aircraft
  • ground vehicles
  • camera gimbals
  • antenna trackers
  • a wide variety of optional sensors, such as Lidars and optical flow sensors

Adding new simulated vehicle types or sensor types is straightforward.

A big advantage of ArduPilot on SITL is it gives you access to the full range of development tools available to desktop C++ development, such as interactive debuggers, static analyzers and dynamic analysis tools. This makes developing and testing new features in ArduPilot much simpler.

Running SITL

The APM SITL environment has been developed to run natively on on both Linux and Windows. For instructions see Setting up SITL on Linux and Setting up SITL on Windows for more information.


posted Apr 30, 2016, 8:32 PM by Javad Taghia

  • Mavlink common message set
  • Mavlink home
  • APM Planner2 (Windows/Linux/)
  • Mission Planner (Windows)
Building mission planner windows

Using python scripts
  • Building Code links:


posted Apr 30, 2016, 8:22 PM by Javad Taghia

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QGroundControl Ground Control Station http://qgroundcontrol.org
Branch: master 
New pull request
androidWrapping up iOS10 days ago
debianubuntu packagea year ago
deployfix AppImage icon25 days ago
docREADME was added to doc directory with inforamtion on how to run doxy…4 years ago
flightgearremove corrections in non src directory3 months ago
iosFixing transparent "Q" in all icons.14 days ago
libsUpdate MAVLink version11 days ago
resourcesFixing transparent "Q" in all icons.14 days ago
srcMerge pull request #3299 from dogmaphobic/supportForNewESPFirmware5 hours ago
testCorrectly handle large numbers of waypoints3 months ago
toolsFix GStreamer relocation for Mac OS release (installer) builds.19 days ago
.ackrcadd .ackrc to ignore doc directory19 days ago
.appveyor.yml- Use NSIS installer + script from AppVeyor tracker / closer to CI bu…17 days ago
.gitignoretravis-ci generate doxygen documentation6 months ago
.gitmodulesgps: add gps drivers submodule12 days ago
.travis.ymlTravis: Always work with latest PX4 param meta4 days ago
.vagrantconfig.ymlAdd a Vagrantfile3 months ago
.ycm_extra_conf.pyVim YouCompleteMe configa year ago
CONTRIBUTING.mdAdd contributing file with instructions for contributors.3 months ago
CodingStyle.ccAdd Qml Coding Style6 months ago
CodingStyle.hAdd Qml Coding Style6 months ago
CodingStyle.qmlToken change to force new build.6 months ago
Custom-Info.plistCorrect version info for all OSX/iOS builds2 months ago
QGCCommon.priallow linux clang builds7 days ago
QGCExternalLibs.priRemove 3D Mouse Support2 months ago
QGCInstaller.priSkip "non compliant" Qt libraries (for Mac OS App Store)19 days ago
QGCSetup.priCorrect version info for all OSX/iOS builds2 months ago
README.mdupdate README: Fedora now uses dnf instead of yum19 days ago
VagrantfileAdd a Vagrantfile3 months ago
android_environment.shDone for now6 months ago
demo-log.txtMajor stability improvements6 years ago
installheader.bmpUpdate NSIS installer to modern UI3 months ago
license.txtAdded Windows icon and NSIS script from Hendrik6 years ago
qgcresources.qrcUpdated UI and added separate set of SSID/PWD for STA Mode.6 hours ago
qgroundcontrol.desktopqgroundcontrol.desktop: remove executable bit19 days ago
qgroundcontrol.proFirst take on CameraComponent3 days ago
qgroundcontrol.qrcMerge remote-tracking branch 'Mavlink/master' into cameraComponent3 days ago



Open Source Micro Air Vehicle Ground Control Station

Travis Build Status Appveyor Build Status


Obtaining source code

Source code for QGroundControl is kept on GitHub: https://github.com/mavlink/qgroundcontrol.

git clone --recursive https://github.com/mavlink/qgroundcontrol.git

Each time you pull new source to your repository you should run git submodule update to get the latest submodules as well. Since QGroundControl uses submodules, using the zip file for source download will not work. You must use git.

Supported Builds

Native Builds

QGroundControl builds are supported for OSX, Linux, Windows and Android. QGroundControl uses Qt as it's cross-platform support library and usesQtCreator as it's default build environment.

  • OSX: OSX 10.7 or higher, 64 bit, clang compiler
  • Ubuntu: 64 bit, gcc compiler
  • Windows: Vista or higher, 32 bit, Visual Studio 2013 compiler
  • Android: Jelly Bean (4.1) and higher
  • Qt version: 5.5.1 (or higher)
Install QT

You need to install Qt like this instead of using packages from say a Linux distribution because QGroundControl needs access to private Qt headers.

  • Download the Qt installer
    • Ubuntu: Set the downloaded file to executable using:chmod +x. Install to default location for use with ./qgroundcontrol-start.sh. If you install Qt to a non-default location you will need to modify qgroundcontrol-start.sh in order to run downloaded builds.
    • Windows: Default installer not quite correct, use this instead
Install additional packages:
  • Ubuntu: sudo apt-get install espeak libespeak-dev libudev-dev libsdl1.2-dev
  • Fedora: sudo dnf install espeak espeak-devel SDL-devel SDL-static systemd-devel
  • Arch Linux: pacman -Sy espeak
  • Windows: USB Driver to connect to Pixhawk/PX4Flow/3DR Radio
  • Android: Qt Android Setup
Building using Qt Creator
  • Launch Qt Creator and open the qgroundcontrol.pro project.
  • Select the appropriate kit for your needs:
    • OSX: Desktop Qt 5.5.1 clang 64 bit
    • Ubuntu: Desktop Qt 5.5.1 GCC bit
    • Windows: Desktop Qt 5.5.1 MSVC2013 32bit
    • Android: Android for armeabi-v7a (GCC 4.9, Qt 5.5.1)


A Vagrantfile is provided to build QGroundControl using the Vagrant system. This will produce a native Linux build which can be run in the Vagrant Virtual Machine or on the host machine if it is compatible.

  • Download Vagrant
  • Install Vagrant
  • From the root directory of the QGroundControl repository run "vagrant up"

Additional build notes for all supported OS

  • Warnings as Errors: Specifying CONFIG+=WarningsAsErrorsOn will turn all warnings into errors which break the build. If you are working on a pull request you plan to submit to github for consideration, you should always run with this settings turned on, since it is required for all pull requests. NOTE: Putting this line into a file called "user_config.pri" in the top-level directory will set this flag on all builds without interfering with the GIT history.
  • Parallel builds: You can use the '-j#' option to run parellel builds.
  • Location of built files: Individual build file results can be found in the build_debug or build_release directories. The built executable can be found in the debug or release directory.
  • If you get this error when running qgroundcontrol: /usr/lib/x86_64-linux-gnu/libstdc++.so.6: version 'GLIBCXX_3.4.20' not found. You need to either update to the latest gcc, or install the latest libstdc++.6 using: sudo apt-get install libstdc++6.

Additional functionality

QGroundcontrol has functionality that is dependent on the operating system and libraries installed by the user. The following sections describe these features, their dependencies, and how to disable/alter them during the build process. These features can be forcibly enabled/disabled by specifying additional values to qmake.

Opal-RT's RT-LAB simulator

Integration with Opal-RT's RT-LAB simulator can be enabled on Windows by installing RT-LAB 7.2.4. This allows vehicles to be simulated in RT-LAB and communicate directly with QGC on the same computer as if the UAS was actually deployed. This support is enabled by default once the requisite RT-LAB software is installed. Disabling this can be done by adding DEFINES+=DISABLE_RTLAB to qmake.

XBee support

QGroundControl can talk to XBee wireless devices using their proprietary protocol directly on Windows and Linux platforms. This support is not necessary if you're not using XBee devices or aren't using their proprietary protocol. On Windows, the necessary dependencies are included in this repository and no additional steps are required. For Linux, change to the libs/thirdParty/libxbee folder and run make;sudo make install to install libxbee on your system (uninstalling can be done with a sudo make uninstall). qmake will automatically detect the library on Linux, so no other work is necessary.

To disable XBee support you may add DEFINES+=DISABLE_XBEE to qmake.

Install APM Planner Ubuntu

posted Apr 30, 2016, 8:21 PM by Javad Taghia

Building on Linux (tested on Ubuntu 14.04 LTS): (Needs update to use Qt5.4.2, 5.2.1 doesn't work anymore)
It's important to have QT5.4.2
For installation of QT5.4 you need to follow the link:

1) Install the required packages:

Be sure to run apt-get update first

sudo apt-get update
sudo apt-get install qt5-qmake qt5-default \
  qtscript5-dev libqt5webkit5-dev libqt5serialport5-dev \
  libqt5svg5-dev qtdeclarative5-qtquick2-plugin
sudo apt-get install git libsdl1.2-dev  libsndfile-dev \
  flite1-dev libssl-dev libudev-dev libsdl2-dev
1. you need QT installer, for that go to http://www.qt.io/download-open-source/ and download QT installer.
2. Install QT5.4
-  sudo apt-get install build-essential
- sudo apt-get install libgl1-mesa-dev-lts-utopic
- go to download file
- chmod a+x qt-opensource.linux.x64-1.6.0.-online.run
- ./qt-opensource.linux.x64-1.6.0.-online.run
- follow instruction in QT settup
3. After that, you need to follow steps below

2) Clone the repository in your workspace:

cd ~/workspace
git clone https://github.com/diydrones/apm_planner

3) Open QTCreator, open the project qgroundcontrol.pro.

In the side menu, go to Projects, change the build to be Desktop QT 5.4.2 GCC 64 bit if it's different. Then Build/Rebuild All

It will take a while.

Alternatively, you need to try below, 

Then you need to go toBuild APM Planner:

cd ~/workspace/apm_planner
qmake qgroundcontrol.pro

4) Run APM Planner:


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