# Gazebo 机型

This topic lists/displays the vehicles supported by the PX4 Gazebo simulation and the make commands required to run them (the commands are run from a terminal in the PX4-Autopilot directory).

支持的机型种类包括:多旋翼、VTOL、尾座式 VTOL、固定翼、无人车、潜艇/无人水下航行器。


For the full list of build targets run make px4_sitl list_vmd_make_targets (and filter on those that start with gazebo_).


The Gazebo page shows how to install Gazebo, how to enable video and load custom maps, and many other configuration options.

# 多旋翼

# 四旋翼(默认)

make px4_sitl gazebo

# 带光流的四旋翼

make px4_sitl gazebo_iris_opt_flow

# 3DR Solo(四旋翼)

make px4_sitl gazebo_solo

固定翼的 Gazebo 仿真

# Typhoon H480(六旋翼)

make px4_sitl gazebo_typhoon_h480

Typhoon H480 in Gazebo


This target also supports video streaming simulation.

# Plane/Fixed Wing

# 标准构型的固定翼飞机

make px4_sitl gazebo_plane

标准构型的 VTOL

# Standard Plane with Catapult Launch

make px4_sitl gazebo_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.

# 垂直起降

# 标准垂起

make px4_sitl gazebo_standard_vtol


# 尾座式垂起

make px4_sitl gazebo_tailsitter

潜艇 /UUV

# Unmmanned Ground Vehicle (UGV/Rover/Car)

# Ackermann UGV

make px4_sitl gazebo_rover


# Differential UGV

make px4_sitl gazebo_r1_rover


# Unmanned Underwater Vehicle (UUV/Submarine)

# HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus


# Unmanned Surface Vehicle (USV/Boat)

# 船舶

make px4_sitl gazebo_boat


# 旋翼机

# Cloudship

make px4_sitl gazebo_cloudship