MSFSAPBridge

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Bridge between Microsoft Flight Simulator 2020/2024 and ArduPilot SITL, supporting sensors, RC channels, HUD and joystick mapping

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# MSFS 202x – ArduPilot Bridge

MSFS–ArduPilot Bridge is a lightweight Windows utility that connects **Microsoft Flight Simulator (MSFS)** with **ArduPilot-based setups** (SITL, companion tools, or integration utilities).  
It uses **SimConnect** to read simulator state and exposes it via a **JSON-over-UDP** interface, specifically designed to feed the ArduPilot JSON backend.

The goal is to provide a simple bridge layer between a full-featured desktop simulator and the [ArduPilot](https://ardupilot.org/) ecosystem, allowing you to fly ArduPilot SITL vehicles within the MSFS visual environment.

---

## 🎬 Demo Video

[![MSFS–ArduPilot Bridge Demo](https://img.youtube.com/vi/I-elnhB47Do/0.jpg)](https://youtu.be/I-elnhB47Do)

---

## ✨ Features

- **Bidirectional Bridge**   Connects MSFS (SimConnect) to ArduPilot SITL (JSON frame).

- **Multiple Positioning Modes**
  - **MP SITL (Auto-Origin)** – Automatically sets the local origin to the aircraft's starting position (ideal for Mission Planner's internal SITL to avoid coordinate jumps).
  - **Position** – Uses a fixed origin defined in the configuration (sends local vector only).
  - **LLA** – Uses a fixed origin but sends full Latitude/Longitude/Altitude + local vector (ideal for WSL2/global SITL setups when supported).

- **Joystick Integration**   Reads DirectInput devices and forwards axes/buttons to ArduPilot as RC overrides (no need for MAVLink joystick forwarding).

- **Compact C++ Codebase**   Minimal dependencies, focused on performance and clarity.

- **Persistent Configuration**   All interface settings are saved to a configuration file and loaded automatically upon startup.

- **SITL Sensor Debug**   All sensors coming from MSFS via SimConnect can be monitored in a live view popup window.

- **Sensor Logging**
  If enabled, the software creates a CSV file containing all sensor data from SimConnect and other useful metrics for debugging or flight analysis.

---

## 🧩 Requirements

- Microsoft Flight Simulator **2020 or 2024**
- **SimConnect SDK** and `SimConnect.dll`
- Windows 10 or later
- **Visual Studio 2022** (Desktop development with C++ workload)
- An **ArduPilot SITL** environment (Mission Planner internal SITL, WSL2, or standalone)

> ### SimConnect note
> To run the bridge, `SimConnect.dll` must be present in the same folder as `msfs_ap_bridge.exe`.  
> This DLL is **not** included in the distribution for copyright reasons.  
> To install the MSFS 2020/2024 SDK:
> - Enable *Developer Mode* in MSFS.
> - Use the new menu bar entry to download the SDK.
> - Extract the downloaded ZIP and run the main installer.
> - SimConnect and related headers/libraries will be installed on your system.

---

## 📥 Download

Prebuilt Windows binaries are available in the
[Releases](../../releases) section of this repository.

Download the latest `.zip`, extract it, and make sure that
`SimConnect.dll` is in the same folder as `msfs_ap_bridge.exe`
(see the SimConnect note above for details).

---

## 🛠 Build with Visual Studio 2022

1. **Get the sources**  
   You can either clone the repository or download the ZIP archive.

**Clone with Git**
   ```bash
   git clone https://github.com/robustini/MSFSAPBridge.git
   ```

2. **Open in Visual Studio**
   - Start **Visual Studio 2022**.
   - `File → Open → Folder...`.
   - Select the folder containing `CMakeLists.txt`.

Visual Studio will automatically configure the CMake project via CMake.

3. **Build**
   - Select configuration: `Release` / `x64`.
   - Build the project (e.g. *Build → Build All*).

The executable `msfs_ap_bridge.exe` will be generated in the build output directory for the selected configuration.

---

## 🎮 Usage

### 1. Start Microsoft Flight Simulator

- Launch MSFS and spawn your aircraft at the desired location (airport, runway, etc.).  
- Optionally choose a joystick as your primary control device.  
- **Important:** remove or unbind control-surface and throttle assignments for that joystick inside MSFS.  
  These controls will instead be driven by **ArduPilot via the bridge**, avoiding overlapping or conflicting inputs.

### 2. Start the Bridge

- Run `msfs_ap_bridge.exe`.
- In the **SITL Connection and Status** section, leave the initial defaults:
  - IP: `127.0.0.1` (localhost)
  - Ports: TX = `9003`, RX = `9002`
  - Position mode: `MP SITL` (recommended for Mission Planner’s internal SITL)
- Select the joystick you want to use as ArduPilot's **RC input** from the joystick dropdown.

The status LEDs will indicate connectivity for Sim, TX, RX, and joystick.

### 3. Start ArduPilot SITL

The bridge expects **JSON frame** SITL output. Because the stock ArduPilot SITL bundled with Mission Planner cannot ingest external simulator coordinates directly, you must replace its executable with a custom JSON-enabled build.

#### Mission Planner (recommended for first-time users)

##### Launch SITL

1. Open **Mission Planner**.
2. Go to the **Simulation** tab.
3. In the **Options** dropdown, select **Skip Download** (so Mission Planner does not restore the original ArduPlane.exe).
4. In **Model**, choose `plane` (or the vehicle type you want to simulate).
5. In **Extra command line**, enter:
   ```text
   --model json
   ```
6. Click the plane icon at the bottom to start SITL.

Once SITL is running, the bridge should show green indicators for all SITL-related signals.

For this workflow, set the bridge **Position mode = LLA**.

#### Advanced users – WSL2 / standalone SITL

You can also run ArduPilot SITL from WSL2 or a native Linux environment using `sim_vehicle.py` with the JSON backend enabled.

Example:
```bash
sim_vehicle.py -v ArduPlane -f json --sim-address 172.26.16.1 --console --map
```

Where `172.26.16.1` is the Windows host IP as seen from WSL2.  
Enter the same IP in the bridge configuration so the bridge can send sensor data to SITL.

By default, ArduPilot's JSON backend cannot properly accept full geographic coordinates (Lat/Lon/Alt) from an external simulator.  
Because of this limitation, the classic **Position mode** of the bridge is not recommended: it works, but results in unreliable world-frame alignment and poor long-range accuracy.

To enable proper external-sim LLA input, you must compile ArduPilot with the following pull request applied:

> https://github.com/ArduPilot/ardupilot/pull/31543

When running a firmware built with that PR, you should always use **Position mode = LLA** in the bridge.  
In this configuration, MSFS sends full Lat/Lon/Alt + local vector to SITL, enabling correct georeferencing and stable alignment throughout the flight.

---

## ⚙️ Configuration

On first launch, the application automatically creates a configuration file
with the same name as the executable (by default `msfs_ap_bridge.ini`)
in the same folder.

Manual creation or editing of this file is usually unnecessary: settings can be
changed from the UI and are saved back to the `.ini` file.  
The example below is only for reference or advanced/manual tweaking.

```ini
[bridge]
# Target IP for ArduPilot SITL (usually localhost)
ip = 127.0.0.1

# Ports must match your SITL configuration
port_tx = 9003  ; Bridge sends sensor data to SITL on this port
port_rx = 9002  ; Bridge receives PWM/servo data from SITL on this port

# Simulation rate (Hz)
rate = 1000

# Positioning Mode (crucial for stability)
# 0 = MP SITL (Auto-origin for Mission Planner SITL)
# 1 = Position (fixed origin, sends local vector)
# 2 = LLA      (fixed origin, sends Lat/Lon/Alt + vector)
pos_mode = 0
```

Other options (not shown here) allow control of resampling, timing, and other advanced behaviors.

---

## 🎛 Joystick & ArduPilot Configuration

The most delicate part of the setup is making ArduPilot "accept" your joystick mapping through the bridge.

### In the bridge UI

- Map joystick axes and buttons to the desired RC channels.
- Use the **reverse** options in the bridge UI (not in ArduPilot) to correct directions as needed.
- Treat the bridge as your “virtual RC radio” for SITL.

### In ArduPilot

- Leave RC mapping and modes mostly at their defaults where possible.
- Perform a standard **Radio Calibration** (especially if using an actual RC transmitter forwarded into the system).
- Configure ArduPlane (or your chosen vehicle type) according to the official ArduPilot documentation.

The following parameters are particularly important for stable operation with MSFS via the bridge:

- `AHRS_EKF_TYPE = 10`
- `GPS1_TYPE     = 100`
- `INS_GYR_CAL   = 0`

Refer to the ArduPilot wiki for full context and tuning details.

---

## 🖼 UI Preview

<img
  src="https://github.com/robustini/MSFSAPBridge/blob/master/assets/ui_preview.png"
  alt="MSFS <--> Ardupilot SITL Bridge"
  title="MSFS <--> Ardupilot SITL Bridge"
  style="display: inline-block; margin: 0 auto; max-width: 200px">

---

## 🛡 License

This project is licensed under the **GNU General Public License v3.0 (GPLv3)**.

You are free to use, study, modify, and redistribute this software under the terms of the GPLv3.  
See the `LICENSE` file in the repository root for the full license text.

---

## 🤝 Contributing

Contributions are welcome!

1. Fork the repository  
2. Create a feature branch  
3. Commit your changes with clear messages  
4. Open a pull request describing the motivation and behavior of your changes

Bug reports and feature suggestions are also appreciated.

---

## ✈️ About

**MSFS–ArduPilot Bridge** is developed by **Marco Robustini (aka Marcopter)**.  
It is intended as a clean, focused utility that bridges the visual fidelity of MSFS with the advanced autopilot capabilities of ArduPilot SITL.

Follow the author:

- [LinkedIn](https://www.linkedin.com/in/robustini/)
- [YouTube](https://www.youtube.com/erarius)
- [Instagram](https://www.instagram.com/robustinimarco/)

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