Adding descriptions of tiltrotor and quadtailsitter (#3469)

* Add vehicle descriptions of tilitrotor and quadtailsitter --------- Co-authored-by: Claudio Chies <[email protected]> Co-authored-by: Hamish Willee <[email protected]>
PX4 · Jan 7, 2025 · 450cf0f · 450cf0f
1 parent 763f9db
commit 450cf0f
Show file tree

Hide file tree

Showing 5 changed files with 26 additions and 2 deletions.
diff --git a/assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png b/assets/simulation/gazebo/vehicles/vtol_quad_tailsitter.png
diff --git a/assets/simulation/gazebo/vehicles/vtol_tiltrotor.png b/assets/simulation/gazebo/vehicles/vtol_tiltrotor.png
diff --git 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
@@ -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
@@ -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