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September 2026

ArduPilot SITL: UDS support

TCP port collisions vs one Unix Domain Socket per SITL directory

ArduPilot simulation is simple and complex at the same time, since we support a lot of features. We obviously allow testing all the vehicle types we support, but what is less known is that we can simulate different sensors, such as GNSS, compass or eAHRS, with their real protocol AND their physical bus: SPI, I2C, UART, CAN. That's right, we have a virtual CAN bus, but also I2C and SPI simulation! That is quite convenient for developers, but less useful for most users. Running one SITL is easy. Running dozens of SITLs is where TCP ports start becoming annoying, as we need to manage the ports numbering, collisions and we start seeing congestion and TCP/UDP limits !

Recently, we integrated support for a new way to communicate with the simulation instance: UDS (Unix Domain Socket) !

  • in Various
  • 7 min read

My Online Privacy Is Worth 20 ms

AdGuard Stats

As a European citizen, online privacy matters to me. For years, I relied on US-based DNS providers such as Cloudflare and Google for my home network. Recently, I decided it was time to move away from them.

What started as a simple DNS change quickly turned into a much larger project involving AdGuard Home, Tailscale, UniFi firewall rules, DNS-over-HTTPS, DNS-over-TLS, and a surprising number of devices trying to bypass my local resolver.

Here are some lessons learned along the way and it isn't about setting ads filtering on AdGuard.

One piece of advice before we begin: never experiment with DNS remotely while your spouse is working from home.

  • in Various
  • 2 min read

TinyGS: Getting Back to Listening

TinyGS PolaBase

Back in 2020, I bought a few cheap ESP32 boards to experiment with Drone Remote ID Open Source French Drone Identification. It turns out these boards also include an SX1278 LoRa module at 433 MHz.

Here is the board: TTGO T-BEAM

At the time, Meshtastic wasn't really a thing yet. LoRa at 433 MHz doesn't have particularly long-range, and I didn't have a clear use case anyway…

But then I discovered something much more interesting: TinyGS.

TinyGS is an open network of ground stations distributed around the world, designed to receive telemetry from LoRa satellites, weather probes, and other flying objects using cheap and versatile hardware. And of course, the project is FOSS, so I had to give it a try !

I even opened a PR back then: Github PR100 (still open, unfortunately…)

At that time, I was living in the middle of a large city, and I never managed to receive anything, not with the default antenna, nor with a cheap "5 dBi" advertised one.