Startup Options¶
Run a build with --help to see the latest command-line options.
--serial#¶
This command line argument, with # replaced by a number, is used to connect the an ArduPilot serial port to a serial device or network protocol. May also use old-style(-A, -B, …).
For each ArduPilot serial port, specify either a device file or a short string to configured the network protocol below. The user account running ardupilot should be added to the dialout group to access serial ports.
- Serial Ports: /dev/deviceFile
--serial0 /dev/ttyAMA0
--serial1 /dev/ttyS0
- TCP networking: tcp:<IP address>:<PortNumber>
--serial2 tcp:11.0.0.2:5678
--serial3 tcp:192.168.2.15:1243:wait
--serial4 udp:11.0.0.2:14550
- UDP networking: udp:<IP address>:<PortNumber>
--serial5 udp:11.0.0.255:14550:bcast
--serial6 udpin:0.0.0.0:14550
- Additional UDP/TCP options:
wait: wait for connection(TCP)
bcast: use broadcast address(UDP)
--log-directory¶
Directory used for logging. May also use -l.
Default is the per-board HAL_BOARD_LOG_DIRECTORY.
--terrain-directory¶
Directory used for terrain. May also use -t.
Default is the per-board HAL_BOARD_TERRAIN_DIRECTORY.
--storage-directory¶
Directory used for storage. May also use -s.
Default is the per-board HAL_BOARD_STORAGE_DIRECTORY.
--module-directory¶
Directory used for modules. May also use -M.
Default is the per-board AP_MODULE_DEFAULT_DIRECTORY.
--cpu-affinity¶
CPUs to bind ArduPilot. May also use -c. May specify a single cpu(1), multiple cpus(1,3), or a range(1-3)