Gemstone ArduPilot

What is it?

This repository contains the version of the open-source autopilot called ArduPilot that runs on T3 Gemstone development boards.

All details related to the project can be found at docs.t3gemstone.org/en/projects/ardupilot. Below, only a summary of how to perform the building is provided.

Build

Run all commands in the host PC. ArduPilot is cross-compiled for T3 Gemstone boards using T3 Gemstone Toolchains. You can select which vehicle you want to compile by changing the VEHICLE variable defined inside Taskfile.yml.

1. Clone the project

git clone https://github.com/t3gemstone/ardupilot
cd ardupilot
git submodule update --init --recursive

2. Install Taskfile

sh -c "$(curl --location https://taskfile.dev/install.sh)" -- -d -b /usr/local/bin

3. Compile the project

VEHICLE=plane task build

Board Setup

Run following command in the host PC. Board setup is automated via SSH connections.

VEHICLE=plane task build board-setup

You need to reboot the board for overlay changes to take effect. After the reboot, ArduPilot should start automatically and on-board green LED located to the right of the HDMI port should be blinking. Check ArduPilot docs to learn more about LEDs meaning.

Firmware Upload

If you have done Board Setup once and only want to upload new firmware then run the following commands in the host PC:

VEHICLE=plane task build board-upload

Software-in-the-Loop (SITL)

This repository includes a complete SITL environment for ArduPilot development and testing, orchestrated through Docker Compose. The setup integrates ArduPilot SITL with QGroundControl and Gazebo simulation for realistic vehicle testing.

Architecture

The SITL environment consists of three containerized services:

• ArduPilot SITL: Flight controller simulation running your vehicle firmware
• QGroundControl: Ground control station for mission planning and monitoring
• Gazebo: 3D physics simulation environment for realistic vehicle dynamics

Quick Start

Start the SITL environment:

task sitl-start

Stop the SITL environment:

task sitl-stop

Connecting to SITL

QGroundControl automatically connects to 14550 UDP port.

Configuration

SITL parameters are configured in the Taskfile:

SITL_LOCATION: ARDUCOPTER_AUTOTEST
SITL_VEHICLE: ArduPlane
SITL_FRAME: gazebo-skywalker-x8-quad
SITL_WORLD: skywalker_x8_quad_runway.sdf

SITL_LOCATION: Starting location for the simulated vehicle

• Find available locations in ArduPilot locations.txt
• Examples: ARDUCOPTER_AUTOTEST, KSFO, CMAC

SITL_VEHICLE: Vehicle type to simulate

• Examples: ArduPlane, ArduCopter, ArduSub, Rover

SITL_FRAME: Frame type for vehicle configuration

• Examples: gazebo-skywalker-x8-quad, gazebo-iris, gazebo-zephyr

SITL_WORLD: Gazebo world file for simulation environment

• Examples: skywalker_x8_quad_runway.sdf, iris_runway.sdf, zephyr_runway.sdf

After modifying any SITL variables in the Taskfile, restart the environment:

task sitl-start

The Docker Compose configuration will automatically pick up the new environment variables and restart the services with the updated settings.

Available Models

Model	Image	SITL_VEHICLE	SITL_FRAME	SITL_WORLD
BiCopter		ArduCopter	gazebo-bicopter	bicopter_runway.sdf
Hexapod Copter		ArduCopter	gazebo-hexapod-copter	hexapod_copter_runway.sdf
Iris Copter		ArduCopter	gazebo-iris	iris_runway.sdf
Alti Transition QuadPlane		ArduPlane	gazebo-alti-transition-quad	alti_transition_runway.sdf
SkyCat TVBS QuadPlane		ArduPlane	gazebo-skycat-tvbs	skycat_runway.sdf
Skywalker X8 Plane		ArduPlane	gazebo-skywalker-x8	skywalker_x8_runway.sdf
Skywalker X8 QuadPlane		ArduPlane	gazebo-skywalker-x8-quad	skywalker_x8_quad_runway.sdf
Swan-K1 Tailsitter Quadplane		ArduPlane	gazebo-swan-k1-hwing	swan_k1_hwing_runway.sdf
Weight-Shift Plane		ArduPlane	gazebo-wsc-aircraft	wsc_aircraft_runway.sdf
X-UAV Mini Talon V-Tail		ArduPlane	gazebo-mini-talon-vtail	vtail_runway.sdf
Zephyr Plane		ArduPlane	gazebo-zephyr	zephyr_runway.sdf
AION R1 Skid-steer Rover		Rover	gazebo-r1-rover	r1_rover_runway.sdf
Blue Robotics BlueBoat		Rover	gazebo-blueboat	waves.sdf
Catamaran		Rover	gazebo-catamaran	catamaran_waves.sdf
DAF XF 450 Tractor		Rover	gazebo-daf-xf-450-tractor	daf_truck_runway.sdf
Omni3 Mecanum Rover		Rover	gazebo-omni3rover	omnirover_playpen.sdf
Omni4 Mecanum Rover		Rover	gazebo-omni4rover	omnirover_playpen.sdf
Quadruped Rover		Rover	gazebo-quadruped	quadruped_runway.sdf
Sawppy Rover		Rover	gazebo-sawppy	sawppy_playpen.sdf
Wild Thumper 6WD Skid-steer Rover		Rover	gazebo-wild-thumper	wildthumper_runway.sdf

Checkout SITL_Models documentation for more information about Gazebo models.