# jMAVSim HIL and Arducopter

**URL:** <https://discuss.px4.io/t/jmavsim-hil-and-arducopter/3184>\
**Category:** PX4 Autopilot\
**Created:** [May 2, 2017, 10:39am UTC](https://discuss.px4.io/t/jmavsim-hil-and-arducopter/3184 "2017-05-02T10:39:20Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![oveCode](https://discuss.px4.io/letter_avatar_proxy/v4/letter/o/57b2e6/32.png) [@oveCode](https://discuss.px4.io/u/oveCode)\
**Post date:** [May 2, 2017, 10:39am UTC](https://discuss.px4.io/t/jmavsim-hil-and-arducopter/3184/1 "2017-05-02T10:39:20Z")

</div>

Hello, I am relatively new to Multicopters and I am trying to use HITL using jMAVSim. My question is if I can use the Arducopter Firmware for jMAVSim or if it is restricted to the PX4 Flight Stack.  
I followed the instructions on [https://dev.px4.io/en/simulation/hitl.html](https://dev.px4.io/en/simulation/hitl.html) but whenever I start qGroundControl I get an error after the automatic setup saying

> Parameters missing from firmware: 1:FRAME, 1:FRAME, 1:FRAME, -1:FRAME, -1:FRAME. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it.

I am using QGroundControl v3.1.3 and Arducopter 3.5.0-rc4.  
Is it just the wrong firmware I am using or am I doing something wrong?

I would appreciate any help. Thanks in advance.