# HITL for Ardupilot?

Source: https://forum.modalai.com/topic/5403/hitl-for-ardupilot
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2026-09-01 18:30:08 UTC by isagmz
Replies: 1 · Views: 142

## isagmz · 2026-09-01 18:30:08 UTC

My team works with ArduPilot, so we mainly have been using the SITL + Gazebo to do our testing in simulation. But we want to move toward the HITL so we can have a more similar environment while testing before flying. 

Is there anyway that we could either set up the HITL to use Ardupilot or faithfully translate PX4 commands to Ardupilot so that we can use the HITL? Has anyone done this before?

Would it be worth our time to try it, or would it be better to stick to the SITL? 

Any opinions?

Thanks

## Reply by Eric Katzfey (ModalAI staff) · 2026-09-02 18:56:13 UTC

As far as I know no one has ever tried this. I don't think HITL is supported by ardupilot (was in the past) but there may be some sort of Simulation on Hardware (SoH) that you could try to get running on VOXL2. I'm guessing it wouldn't be easy.