Can blueos use SITL directly? Or do I need to configure something? When I install the ardusub firmware in the SITL board of the configuration interface, I will have the following error.
Hi @chang-M -
Before loading the SITL firmware, please select “Change Board” and select SITL. You should then be able to flash whatever version of ArduSub or ArduRover that you’d like.
Oh! I am so sorry for my carelessness 
! Thank you for your patience in guiding a fool like me 
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Hello,
I was just wondering if there is any documentation to follow this. I have changed the board to SITL and have updated the firmware for the Blue Boat, but am running into issues with what comes next. I am getting calibration errors and AP_logger: stuck thread errors in QGC. I am sure there are some basic steps I am overlooking, so any additional info would be appreciated.
Hi @SeanMorgan -
The AP_logger: stuck thread is a common error when running SITL - it’s just a nuisance, and should have no impact. You can likely eliminate it by adjusting SIM_SPEEDUP parameter, set it to 1.
In SITL, the vehicle shouldn’t require calibration. Does the vehicle appear on the map, and respond to commands as expected in the simulation environment? Please share any specific errors you’re seeing…
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Hello,
Thanks for replying so soon!
I thought it was weird that I am getting calibration errors for a simulator. I am getting a “3D Accel. Calibration needed” and “Compasses Inconsistent” errors. I am able to see the vehicle’s position on the map, but it will not respond to commands because the above errors cause it to fail the pre-arm check, so I cannot arm it.
I also noticed that in the BlueOS vehicle configuration, there are a set of default parameters for SITL, but those only appear if I install an older firmware. Even then if I try to load that default set, it fails saying that some of them do not exist.
Thanks again,
Sean
Hi @SeanMorgan -
Did you calibrate your vehicle when not in SITL?
You can disable the failsafe checks in SITL so that those calibrations aren’t required - search “Arming Check” under autopilot parameters and uncheck things as required…
The parameters that load when you have SITL loaded are indeed different than when you are running the normal firmware, the swap happens when you “change boards”…
Hello,
I have indeed calibrated it with the navigator selected as the board, and it was working reasonably well. Having disabled the arming checks that were throwing errors, I am now able to arm the simulation, so thank you! However, I am now seeing a different issue. The simulated vehicle moves on its own, both laterally and rotationally, even when mode is set to manual or loiter. When it is set to auto the vehicle points towards the first waypoint but continues to move in the opposite direction. When I manually try to control it with the joystick, it rotates but does not change course. Is there a gain setting that would have been overwritten when changing boards?
I should also point out that the compasses and EKF are not agreeing with each other very well (see pic)
Thanks again,
Sean