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Gazebo Vehicles

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).

Supported vehicle types include: mutirotors, VTOL, VTOL Tailsitter, Plane, Rover, Submarine/UUV.

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.


Quadrotor (Default)

make px4_sitl gazebo

Quadrotor with Optical Flow

make px4_sitl gazebo_iris_opt_flow

3DR Solo (Quadrotor)

make px4_sitl gazebo_solo

3DR Solo in Gazebo

Typhoon H480 (Hexrotor)

make px4_sitl gazebo_typhoon_h480

Typhoon H480 in Gazebo

This target also supports video streaming simulation.

Plane/Fixed Wing

Standard Plane

make px4_sitl gazebo_plane

Plane in Gazebo

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.


Standard VTOL

make px4_sitl gazebo_standard_vtol

Standard VTOL in Gazebo

Tailsitter VTOL

make px4_sitl gazebo_tailsitter

Tailsitter VTOL in Gazebo

Unmmanned Ground Vehicle (UGV/Rover/Car)

Ackerman UGV

make px4_sitl gazebo_rover

Rover in Gazebo

Differential UGV

make px4_sitl gazebo_r1_rover

Rover in Gazebo

Unmanned Underwater Vehicle (UUV/Submarine)

HippoCampus TUHH UUV

make px4_sitl gazebo_uuv_hippocampus


Unmanned Surface Vehicle (USV/Boat)


make px4_sitl gazebo_boat




make px4_sitl gazebo_cloudship


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