see: https://github.com/maciek01/dronegprs/blob/master/README.md
aditional notes
Use https://github.com/ArduPilot/ardupilot/blob/master/Tools/autotest/sim_vehicle.py for simmulation and testing. Follow build instructions first.
launch simmulator: sim_vehicle.py -L --console --map