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## Testing And Debugging
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**Testing under SITL**
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A wide range of DroneCAN peripherals are supported in the SITL
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simulation system. The simplest way of starting a DroneCAN enabled
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simulated vehicle is to use sim_vehicle.py.
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For a quadplane use: sim_vehicle.py with the option -f quadplane-can
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For a quadcopter use: sim_vehicle.py with the option -f quad-can
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