MAVLinkMobilityBase

Description

Parameters

Name	Type	Unit	Default value	Description
systemId	int		235	System ID of this GCS. You do not need to change this unless you are trying to connect to the SITL instance with another GCS software that uses this ID
componentId	int		235	Component ID of this GCS. You do not need to change this unless you are trying to connect to the SITL instance with another GCS software that uses this ID
targetSystem	int		-1	systemId of this vehicle instance. This is a unique identifier of the simulated vehicle instance. You should take care not to repeat this ID if your simulation contains more than on MAVLinkMobility vehicle. By default will use -1, which sets the targetSystem to a unique ID. Be careful as this might conflict with other module's custom targetSystems.
targetComponent	int		1	componentId of this vehicle instance. Generally can be left as is.
vehicleType	int		1	MAVLink type of vehicle that this class represents COPTER=1 PLANE=2 ROVER=4
paramPath	string			Path for the parameters for this vehicle. Default parameters can be found for your vehicle type here. Be aware that incorrect parameters can prevent this vehicle from working.
basePort	int		5505	Base port for the SITL simulators. The actual PORT the simulators will be run is basePort + (targetSystem * 10) where targetSystem is the ID of the vehicle being simulated. If you don't want port comflicts set the same value for ALL MAVLink mobility modules and use different targetSystem for each of them. Or don't set basePort or targetSystem at all, the modules will automatically figura out ports that don't cause conflict.
copterSimulatorPath	string			Path to the ArduCopter binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/CopterStable/ (WINDOWS) https://firmware.ardupilot.org/Copter/stable/SITL_x86_64_linux_gnu/ (LINUX)
planeSimulatorPath	string			Path to the ArduPlane binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/PlaneStable/ (WINDOWS) https://firmware.ardupilot.org/Plane/stable/SITL_x86_64_linux_gnu/ (LINUX)
roverSimulatorPath	string			// Path to the ArduRover binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/RoverStable/ (WINDOWS) https://firmware.ardupilot.org/Rover/stable/SITL_x86_64_linux_gnu/ (LINUX) Path to the Rover binary. Used to run simulator instances for this vehicle
initialLatitude	double	deg	-35.36326015deg	Latitude of the initial position of the drone. The default value is the default home of the SITL simulator
initialLongitude	double	deg	149.16523839deg	Longitude of the initial position of the drone. The default value is the default home of the SITL simulator
initialAltitude	double	m	0m	Altitude of the initial position of the drone.
waitUntilReady	bool		false	Waits until the SITL vehicle is ready to arm before the simulation is able to start. Warning: If this option is set to true it may look like the simulation has crashed on startup. This is because, to my knowledge, the only way of preventing the simulation from starting before the vehicle is ready to arm is to intetionally freeze the module's initialization. Warning: This freeze may last for several minutes, depending on how many vehicles are being initiated and your machine's hardware.