SITL for Traditional Helicopters

Hi everyone!

Is there any way to run SITL for trad helicopters? I already have custom simulator with trad-heli physical model and some code for socket data exchange between sim and desktop APM. But i don’t understand how to change SITL frame type from quad to trad heli. Is this possible at all?

I swear i read a posting about trad-heli-testing possibility from developer some time ago, but i cannot find it :slight_smile:


just build arducopter for heli frame:

remember that rebuild arducopter by default so you need to run it with -N parameter.


When do we have to write this code? I mean, after runing the SITL? Because when we are running it, we have only the options of runing the copter, the plane and the rover. Thanks