# Gazebo Classic Vehicles
This topic lists/displays the vehicles supported by the PX4 Gazebo Classic simulation and the
make commands required to run them (the commands are run from a terminal in the PX4-Autopilot directory).
Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV.
The Gazebo Classic page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options.
# Quadrotor (Default)
make px4_sitl gazebo-classic
# Quadrotor with Optical Flow
make px4_sitl gazebo-classic_iris_opt_flow
# Quadrotor with Depth Camera
These models have a depth camera attached, modelled on the Intel® RealSense™ D455.
Forward-facing depth camera:
make px4_sitl gazebo-classic_iris_depth_camera
Downward-facing depth camera:
make px4_sitl gazebo-classic_iris_downward_depth_camera
# 3DR Solo (Quadrotor)
make px4_sitl gazebo-classic_solo
# Typhoon H480 (Hexrotor)
make px4_sitl gazebo-classic_typhoon_h480
This target also supports video streaming simulation.
# Standard Plane
make px4_sitl gazebo-classic_plane
# Standard Plane with Catapult Launch
make px4_sitl gazebo-classic_plane_catapult
This model simulates hand/catapult launch, which can be used for fixed-wing takeoff in position mode, takeoff mode, or missions.
The plane will automatically be launched as soon as the vehicle is armed.
# Standard VTOL
make px4_sitl gazebo-classic_standard_vtol
# Tailsitter VTOL
make px4_sitl gazebo-classic_tailsitter
# Unmmanned Ground Vehicle (UGV/Rover/Car)
# Ackermann UGV
make px4_sitl gazebo-classic_rover
# Differential UGV
make px4_sitl gazebo-classic_r1_rover
# Unmanned Underwater Vehicle (UUV/Submarine)
# HippoCampus TUHH UUV
make px4_sitl gazebo-classic_uuv_hippocampus
# Unmanned Surface Vehicle (USV/Boat)
make px4_sitl gazebo-classic_boat
make px4_sitl gazebo-classic_cloudship