# How to use ArduSub stable version with SITL simulator

**URL:** <https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012>\
**Category:** ArduSub\
**Tags:** sitl, simulate\
**Created:** [July 18, 2018, 1:57pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012 "2018-07-18T13:57:53Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![ShehabAldeen](https://avatars.discourse-cdn.com/v4/letter/s/bc8723/32.png) [@ShehabAldeen](https://discuss.bluerobotics.com/u/ShehabAldeen)\
**Post date:** [July 18, 2018, 1:57pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012/1 "2018-07-18T13:57:53Z")

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Hello,

I have installed the SITL using the following [instructions](http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html) and found that when cloning into the following [repository](https://github.com/ArduPilot/ardupilot) I am getting the latest ArduSub version which is ArduSub 3.6

and due to that 3.6 version in the development stage, I can not control it with MAVROS

I want to use the stable version of the ArduSub with the SITL which is the version 3.5 how that could be done if it is possible

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**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\
**Post date:** [July 18, 2018, 3:24pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012/2 "2018-07-18T15:24:25Z")

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```auto
cd ardupilot
git fetch --tags
git checkout ArduSub-stable
git submodule update --init --recursive

```

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<div class="post-metadata">

**Author:** ![ShehabAldeen](https://avatars.discourse-cdn.com/v4/letter/s/bc8723/32.png) [@ShehabAldeen](https://discuss.bluerobotics.com/u/ShehabAldeen)\
**Post date:** [July 18, 2018, 5:17pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012/3 "2018-07-18T17:17:25Z")

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I got the following error trying to run :

`sim_vehicle.py -L RATBeach --out=udp:0.0.0.0:14550 --map --console`

```
    SIM_VEHICLE: Start
    SIM_VEHICLE: Killing tasks
    Failed to find location (RATBeach)
    SIM_VEHICLE: Killing tasks

```

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<div class="post-metadata">

**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\
**Post date:** [July 18, 2018, 5:20pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012/4 "2018-07-18T17:20:28Z")

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Hi,

RATBeach was added in the last versions, you can run SITL without the `-L RATBeach` parameter. If you want, it’s possible to use `-l CUSTOM_LOCATION` or `--custom-location=CUSTOM_LOCATION `

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<div class="post-metadata">

**Author:** ![ShehabAldeen](https://avatars.discourse-cdn.com/v4/letter/s/bc8723/32.png) [@ShehabAldeen](https://discuss.bluerobotics.com/u/ShehabAldeen)\
**Post date:** [July 18, 2018, 5:41pm UTC](https://discuss.bluerobotics.com/t/how-to-use-ardusub-stable-version-with-sitl-simulator/3012/5 "2018-07-18T17:41:17Z")

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Thank you for your help