# VOXL ArduPilot SITL

Source: https://forum.modalai.com/topic/2228/voxl-ardupilot-sitl
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-06-06 08:05:33 UTC by voxlusername
Replies: 1 · Views: 657

## voxlusername · 2023-06-06 08:05:33 UTC

I wired TTL-cable from J12 to laptop USB port and start ArduPilot below command:

sim_vehicle.py -v ArduCopter -A "--serial2=uart:/dev/ttyUSB0:921600" 
(Also, 57600 and 115200).

Connection established with ArduCopter. But voxl-mavlink-server doesn't start. It gives 'PX4 DISCONNECTED FROM UART' error.

When I  connect J12 to autopilot TELEM2 port and run voxl, voxl-mavlink-server runnig correctly.

## Reply by Siddhanth · 2023-11-14 10:54:26 UTC

@voxlusername 
hi 
could u share any doc links or steps needed to set up the  SITL