🛸 Lightweight ArduPilot SITL Docker Image

This repository provides a highly optimized ArduPilot SITL (Copter 4.5.7) Docker image. Using multi-stage builds and binary stripping, the image size has been reduced to 613MB, making it ideal for CI/CD pipelines and fast local testing.

🚀 Key Features

• Ultra-Lightweight: Minimal runtime dependencies (Python 3.11-slim).
• Console Dashboard: The included takeoff.py script provides a real-time telemetry dashboard.
• Ready to Fly: Pre-configured with MAVProxy and essential flight parameters.
• Fast Startup: Optimized EKF alignment for immediate testing.

---

🛠️ Getting Started

1. Spin up the Simulator

Launch the environment using Docker Compose:

docker-compose up -d

2. Run the Takeoff Mission

The takeoff.py script manages the arming sequence and monitors critical flight data (EKF, GPS, Altitude) in a terminal dashboard.

# Setup environment
python -m venv venv
source venv/bin/activate  # venv\Scripts\activate on Windows
pip install -r scripts/requirements.txt

# Run mission
python scripts/takeoff.py

📊 Telemetry Dashboard Logic

The control script performs low-level checks before execution:

• EKF Health: Monitors EKF_STATUS_REPORT (Flags 0x01, 0x02, 0x04) to ensure navigation safety.
• GPS Integrity: Validates GLOBAL_POSITION_INT scaling (degrees * 1e7).
• Heartbeat Sync: Real-time mode verification (GUIDED) and system status.

⚙️ Configuration

Override default simulation parameters via environment variables

• LAT, LON, ALT: Initial origin coordinates.
• SPEEDUP: Simulation clock multiplier (e.g., 5 for rapid testing).
• OUT_ADDR: UDP telemetry target (default: host.docker.internal:14550).

Note: This image is intended for console-based automated testing and telemetry prototyping.