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>
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)