diff --git a/assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png b/assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png new file mode 100644 index 000000000000..d41dada28c0f Binary files /dev/null and b/assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png differ diff --git a/assets/simulation/gazebo/vehicles/vtol_tiltrotor.png b/assets/simulation/gazebo/vehicles/vtol_tiltrotor.png new file mode 100644 index 000000000000..eeeaa6cf41e0 Binary files /dev/null and b/assets/simulation/gazebo/vehicles/vtol_tiltrotor.png differ diff --git a/en/releases/main.md b/en/releases/main.md index d6c6131c8ef5..f0043bce8389 100644 --- a/en/releases/main.md +++ b/en/releases/main.md @@ -69,6 +69,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide). - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)). - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)). - New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)). + - New vehicle model `quadtailsitter` — [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) ([PX4-Autopilot#23943](https://github.com/PX4/PX4-Autopilot/pull/23943) and [PX4-gazebo-models#65](https://github.com/PX4/PX4-gazebo-models/pull/65)). + - New vehicle model `tiltrotor` — [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) ([PX4-Autopilot#24028](https://github.com/PX4/PX4-Autopilot/pull/24028) and [PX4-gazebo-models#66](https://github.com/PX4/PX4-gazebo-models/pull/66)). ### Ethernet diff --git a/en/sim_gazebo_gz/index.md b/en/sim_gazebo_gz/index.md index 2b5113ab06f4..f4e8cd615bf5 100644 --- a/en/sim_gazebo_gz/index.md +++ b/en/sim_gazebo_gz/index.md @@ -50,7 +50,7 @@ Note that all gazebo make targets have the prefix `gz_`. | Vehicle | Command | `PX4_SYS_AUTOSTART` | | ----------------------------------------------------------------------------------------------------------------------------- | ----------------------------------- | ------------------- | -| [Quadrotor(x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 | +| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 | | [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 | | [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 | | [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 | @@ -62,13 +62,15 @@ Note that all gazebo make targets have the prefix `gz_`. | [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 | | [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 | | [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 | +| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 | +| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 | All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository. :::warning The Advanced Lift Drag Plugin that is required to run the Advanced Plane is not yet part of the Gazebo distribution, so the Advanced Plane will not yet fly: [PX4-Autopilot#22337](https://github.com/PX4/PX4-Autopilot/issues/22337). -As a workaround to enable Advanced Plane, you can compile the gz-sim library from [Gazebo source code](https://github.com/gazebosim/gz-sim), go into the `build/lib` directory, copy out the advanced lift drag plugin `.so` file (depending on the exact Gazebo Version this is called something along the lines of `libgz-sim7-advanced-lift-drag-system.so`), and paste this into the `~/.gz/sim/plugins` folder. +As a workaround to enable Advanced Plane, you can compile the `gz-sim` library from [Gazebo source code](https://github.com/gazebosim/gz-sim), go into the `build/lib` directory, copy out the advanced lift drag plugin `.so` file (depending on the exact Gazebo Version this is called something along the lines of `libgz-sim7-advanced-lift-drag-system.so`), and paste this into the `~/.gz/sim/plugins` folder. ::: The commands above launch a single vehicle with the full UI. diff --git a/en/sim_gazebo_gz/vehicles.md b/en/sim_gazebo_gz/vehicles.md index 100840d8154d..66154c87ae6a 100644 --- a/en/sim_gazebo_gz/vehicles.md +++ b/en/sim_gazebo_gz/vehicles.md @@ -158,6 +158,26 @@ make px4_sitl gz_standard_vtol ![Standard VTOL in Gazebo Classic](../../assets/simulation/gazebo/vehicles/standard_vtol.png) +### Quad Tailsitter VTOL + +A VTOL tailsitter model that uses differential thrust for pitch, roll, and yaw control. + +```sh +make px4_sitl gz_quadtailsitter +``` + +![VTOL quad tailsitter in Gazebo](../../assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png) + +### Tiltrotor VTOL + +A VTOL Plane, where during the transition the front two motors will tilt forward and be used for forward thrust. + +```sh +make px4_sitl gz_tiltrotor +``` + +![VTOL Tiltrotor in Gazebo](../../assets/simulation/gazebo/vehicles/vtol_tiltrotor.png) + ## Rover ### Differential Rover