Running a uav simulation with ardupilot

Ardupilot

Follow the guide in http://dev.ardupilot.com/wiki/setting-up-sitl-on-linux/.

DUNE

After the simulation is running without issues, start DUNE. To connect to the Ardupilot SITL interface you can use any configuration that includes uav/ardupilot.ini, just set the IP address accordingly (127.0.0.1 if you are running ArduPilot on the same machine) and the port to 5762:

[Control.UAV.Ardupilot/AP-SIL]
Enabled                                    = AP-SIL
Entity Label                               = Autopilot
TCP - Address                              = 127.0.0.1
TCP - Port                                 = 5762

For example:

$ ./dune -c sedona -p AP-SIL

You can now send plans to the vehicle through Neptus.

You have to arm the throttle and set the ArduPilot mode to Auto in the MAVproxy console in order for it to take-off.