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## Overall structure
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The following graphic shows all the elements that can interact in **Simulation-Autopilot communication**.
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Communication can happen through any of the paths (top-down) depicted here.
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![Communications paths between simulation and autopilots](/img/dev-docs/simulation_autopilot_communication.svg)
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## Examples
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The following examples show what communication paths are used for different scenario-autopilot-simulation combinations.
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![Java Autopilot, Local HardwareEmulator in Direct and Emulator mode](/img/dev-docs/simulation_autopilot_communication_local.svg)
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![Remote Autopilot and Remote Hardware-emulator](/img/dev-docs/simulation_autopilot_communication_remote.svg) |