From c2a11e7daa120e7c0da7c6f2ad1a13f6976fb374 Mon Sep 17 00:00:00 2001 From: ES-Alexander Date: Sat, 16 May 2026 05:31:17 +0800 Subject: [PATCH] content: usage: advanced: mention SITL location and bluesim --- content/usage/advanced/index.md | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/content/usage/advanced/index.md b/content/usage/advanced/index.md index cf80ee5..b090b7a 100644 --- a/content/usage/advanced/index.md +++ b/content/usage/advanced/index.md @@ -259,8 +259,7 @@ Pages are sorted alphabetically. The Autopilot Firmware page provides basic information about the active autopilot, along with options to: {% pirate() %} -- Change board (select a connected board, or run an -[SITL](https://www.ardusub.com/developers/sitl.html) simulation) +- Change board (select a connected board, or run a [SITL simulation](#sitl-simulation)) - Start the autopilot - Stop the autopilot {% end %} @@ -309,8 +308,14 @@ simulation builds. It comes pre-configured to run the latest stable [ArduSub](ht but can be re-flashed with other ArduPilot firmware versions or variants like a normal flight controller board. The default setup is for a 6-thruster vectored ROV (like the [BlueROV2](https://bluerobotics.com/store/rov/bluerov2/)), -but if you want to simulate a different frame (especially if you have just flashed on a different firmware variant) you can click or copy -[this link](http://blueos-avahi.local:8000/v2.0/docs#/index_v1/set_sitl_frame_sitl_frame_post)[^1], then click +and is "located" in a lake in Brazil, where the BlueOS core development team is based. The vehicle will show up on the map in +control station software, and can be controlled with a joystick, but the simulation is only for telemetry - there's no video +output! If you'd like to try driving around a simulated full ROV in a swimming pool (fish included!) you can instead +[run our hosted version](https://blueos.cloud/bluesim/) of [BlueSim](https://github.com/bluerobotics/bluesim), and open +[Cockpit](https://bluerobotics.com/cockpit) from the sidebar. + +If you want to simulate a different vehicle frame in SITL (especially if you have just flashed on a different firmware variant) you +can click or copy [this link](http://blueos-avahi.local:8000/v2.0/docs#/index_v1/set_sitl_frame_sitl_frame_post)[^1], then click "Try it out" in the `POST: /sitl_frame` endpoint, select the frame you want in the dropdown, and "Execute". {% end %}