SIM001 › Reference
Command-line options
Use this page when you start the programs from a terminal. The launcher (The launcher) sets these for you.
The sim (cargo run --release -- …)
| Option | What it does |
|---|---|
--aircraft t1s-vtol | The T1-S VTOL with its own ArduPilot. This is the default. |
--aircraft t1s-ranger | The plain T1-S Ranger, with no flight controller |
--raytrace | Ray-traced shadows, global illumination and reflections |
--map NAME | A real place: cypress or berkeley |
--fullscreen | Start in borderless full screen |
--ardupilot | Use the sim as the physics of an ArduPlane SITL that you start yourself |
--direct | With ArduPilot: your sticks fly the plane through the sim's own modes |
--flight-computer PORT | Read the radio from the flight computer on a serial port. The sim ignores the USB controller. |
--feed [PORT], --feed-size WxH | Stream the sensor camera over TCP (default port 5600) |
--window-rect x,y,w,h, --title-bar N | Place the window |
--exit-with-parent | Quit when the program that started the sim quits |
--calibrate | Open the radio wizard at the start |
--debug-input | Print every stick and button change |
--selftest | Print the flight-model numbers, with no window |
The station (cd domains/teleoperation/console && cargo run --release -- …)
| Option | What it does |
|---|---|
--station | Start everything: the sim, ArduPilot SITL, the sensor feed and the console |
--map NAME | A real place |
--direct | Start in Direct control |
--raytrace | Run the sim with ray tracing |
--layout single | Tile all windows on the main display |
--no-build | Do not build the sim first |
--no-radio | Connect to ArduPilot directly, with no radio stand-in |
--flight-computer | Use the simulated TX15 on the serial line |
--sensor | Open the sensor feed alone |
Environment
| Variable | What it does |
|---|---|
SIM001_TREE_FRAC | The share of the forest to draw, for example 0.5 |
SIM001_HOME, SIM001_BIN, SIM001_DATA | Where the maps, the programs and your settings are. The app bundle sets them. |
Files
| File | What it holds |
|---|---|
controls.cfg | Your radio and gamepad mapping. See Controls. |
ardupilot/t1s.parm | The ArduPilot parameters of the T1-S |
logs/sitl/ | The flight logs of ArduPilot (.BIN) |