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

:::note This target also supports video streaming simulation. :::
Plane/Fixed Wing
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.
VTOL
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)
Boat
make px4_sitl gazebo-classic_boat

Airship
Cloudship
make px4_sitl gazebo-classic_cloudship

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