# ArduSub code testing

**URL:** <https://discuss.bluerobotics.com/t/ardusub-code-testing/7717>\
**Category:** Blue Robotics Software\
**Tags:** sitl, simulate\
**Created:** [July 6, 2020, 1:09pm UTC](https://discuss.bluerobotics.com/t/ardusub-code-testing/7717 "2020-07-06T13:09:02Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![YuryArnaut](https://avatars.discourse-cdn.com/v4/letter/y/67e7ee/32.png) [@YuryArnaut](https://discuss.bluerobotics.com/u/YuryArnaut)\
**Post date:** [July 6, 2020, 1:09pm UTC](https://discuss.bluerobotics.com/t/ardusub-code-testing/7717/1 "2020-07-06T13:09:02Z")

</div>

Hello Blue robotics community! My company bought your devices BlueRov2, also underwater GNSS system. I want to ask! Is it some documentation as for arducopter for detailed code describing. Also I need some sitl for EKF testing for ardusub, can I found someone. I saw only arducopter matlab model for it.