> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/app-development/simulation/simulation-in-hardware.md).

# Physical Skynode

{% hint style="info" %}
**This section is geared towards software and app developers**

For hardware integrators there is a previous section that goes into detail on how to setup Skynode bench-testing. This is useful when integrating Skynode with other hardware. Please refer to the section on [hardware bench testing](/hardware-integration/hardware-integration/bench-test.md) for more information.
{% endhint %}

Simulation in Hardware (SIH) allows you to simulate a multicopter vehicle on Skynode to experiment with or test your application, payload integration and workflow with Skynode using real hardware and peripherals.

{% embed url="<https://www.youtube.com/watch?v=nA6Ed1HROMg>" %}

## Configuration

{% hint style="info" %}
Simulation in Hardware (SIH) was introduced in AuterionOS version 2.3
{% endhint %}

<div data-full-width="true"><figure><img src="/files/di8a5q83p8eZYlMp4Lws" alt=""><figcaption><p>AMC parameter page</p></figcaption></figure></div>

1. Power up Skynode, open [Auterion Mission Control (AMC)](/vehicle-operation/auterion-mission-control.md) on your ground station and connect to the vehicle. If you have not paired and connected the vehicle yet, check our pairing guide.
2. Enable the [Advanced Mode in AMC](/hardware-integration/flight-controller-customization/amcs-advanced-mode.md)
3. Access the parameter page in AMC by going to **Menu > Vehicle Setup > Parameters**.
4. Set the following parameters. You can search for these parameters by entering "SYS\_A" into the search field at the top.
   1. **SYS\_AUTOCONFIG** to "**Reset parameters to airframe defaults**"
   2. **SYS\_AUTOSTART** to "**1100**".
5. Next, reboot the flight controller by clicking **Tools >** **Reboot Vehicle**. If you used the parameter search function, you have to **Clear** the filter first.
6. After rebooting Skynode you are connected to the simulated vehicle located at Baylands Park and AMC will warn you that Simulation in Hardware (SIH) is enabled. The setup is complete and you can go ahead with your first flight in simulation.\
   ![](/files/knA02qjKBra7dEYfokKE)

## Sensor Calibration in Simulation in Hardware

{% hint style="info" %}
It is not necessary to calibrate the sensors in SIH. You can take off anyway.
{% endhint %}

AMC might indicate a warning and show that the vehicle is not ready to fly or requires calibration. In SIH mode certain pre-flight checks are disabled and you can takeoff and fly despite the warning.

The pre-flight checks are triggered because the SIH vehicle does not override the existing sensor calibrations.

## Further Information about PX4 Simulation

For more details on the simulation model, parameters and implementation please check the documentation in the [PX4 User Guide](https://docs.px4.io/main/en/sim_sih/).


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