PX4 Simulation

Main article: https://dev.px4.io/en/simulation/

PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems jMavSim and the Gazebo.

jMavSim is a lightweight environment intended only for testing multi-rotor aircraft systems; Gazebo is a versatile environment for all types of robots.

Launching PX4 SITL

  1. Clone repository from PX4.
git clone https://github.com/PX4/Firmware.git
cd Firmware

jMavSim

Main article: https://dev.px4.io/en/simulation/jmavsim.html

For simulation using the jMavSim lightweight environment, use the following command:

make posix_sitl_default jmavsim

To use the LPE position calculation module instead of EKF2, use:

make posix_sitl_lpe jmavsim

Gazebo

Main article: https://dev.px4.io/en/simulation/gazebo.html

To get started, install Gazebo 7. On a Mac:

brew install gazebo7

On Linux (Debian):

sudo apt-get install gazebo7 libgazebo7-dev

Start simulation from the Firmware folder:

make posix_sitl_default gazebo

You can run a simulation in headless mode (without a window client). To do this, use the following command:

HEADLESS=1 make posix_sitl_default gazebo

Connection

QGroundControl will automatically connect to the running simulation on startup. The operation will be the same as, as in the case of a real flight controller.

To connect MAVROS to the simulation, use the UDP Protocol, a local IP address, and port 14557, for example:

roslaunch mavros px4.launch fcu_url:=udp://@127.0.0.1:14557

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