> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/development/simulation/sim_gazebo_classic/gazebo_vehicles.md).

# Vehicles

This topic lists/displays the vehicles supported by the PX4 [Gazebo Classic](/px4-user-guide/development/simulation/sim_gazebo_classic.md) 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.

:::note The [Gazebo Classic](/px4-user-guide/development/simulation/sim_gazebo_classic.md) page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options. :::

## Multicopter

### Quadrotor (Default)

```sh
make px4_sitl gazebo-classic
```

### Quadrotor with Optical Flow

```sh
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:*

```sh
make px4_sitl gazebo-classic_iris_depth_camera
```

*Downward-facing depth camera:*

```sh
make px4_sitl gazebo-classic_iris_downward_depth_camera
```

### 3DR Solo (Quadrotor)

```sh
make px4_sitl gazebo-classic_solo
```

![3DR Solo in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-0462ef873cf31d467b3efd072ba2070336a3e060%2Fsolo.png?alt=media)

### Typhoon H480 (Hexrotor)

```sh
make px4_sitl gazebo-classic_typhoon_h480
```

![Typhoon H480 in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e04d5a854eaff53e6dac653496fdb4ebf45940f5%2Ftyphoon.jpg?alt=media)

:::note This target also supports [video streaming simulation](/px4-user-guide/development/simulation/sim_gazebo_classic.md#video-streaming). :::

## Plane/Fixed Wing

### Standard Plane

```sh
make px4_sitl gazebo-classic_plane
```

![Plane in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-affe2a96c68f814f847e53dd51546f9ae27e1810%2Fplane.png?alt=media)

#### Standard Plane with Catapult Launch

```sh
make px4_sitl gazebo-classic_plane_catapult
```

This model simulates hand/catapult launch, which can be used for [fixed wing takeoff](/px4-user-guide/flying/flight_modes/takeoff.md#fixed-wing-fw) in position mode, takeoff mode, or missions.

The plane will automatically be launched as soon as the vehicle is armed.

## VTOL

### Standard VTOL

```sh
make px4_sitl gazebo-classic_standard_vtol
```

![Standard VTOL in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5e47a2ffebd867d177c6ce0931812e4d9577df92%2Fstandard_vtol.png?alt=media)

### Tailsitter VTOL

```sh
make px4_sitl gazebo-classic_tailsitter
```

![Tailsitter VTOL in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e2fb7e300d864fd6c81af5e3217a03d9d003fe10%2Ftailsitter.png?alt=media)

## Unmmanned Ground Vehicle (UGV/Rover/Car)

### Ackermann UGV

```sh
make px4_sitl gazebo-classic_rover
```

![Rover in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-d3e187dfb28fb223440440cb7b03e9239932b305%2Frover.png?alt=media)

### Differential UGV

```sh
make px4_sitl gazebo-classic_r1_rover
```

![Rover in Gazebo Classic](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-586f65bb50d44ad2a23ea169c8e206770104c470%2Fr1_rover.png?alt=media)

## Unmanned Underwater Vehicle (UUV/Submarine)

### HippoCampus TUHH UUV

```sh
make px4_sitl gazebo-classic_uuv_hippocampus
```

![Submarine/UUV](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-fdf10e2f6ef935acfea4a173aa5d23d5e51d718b%2Fhippocampus.png?alt=media)

## Unmanned Surface Vehicle (USV/Boat)

### Boat

```sh
make px4_sitl gazebo-classic_boat
```

![Boat/USV](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-8c9edf0225794c4d5ae6d06614acaa167360010f%2Fboat.png?alt=media)

## Airship

### Cloudship

```sh
make px4_sitl gazebo-classic_cloudship
```

![Airship](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-27b2d33ed2c1789a951f5293806e58853312fdbf%2Fairship.png?alt=media)