mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00

Move PX4 Guide source into /docs (#24490 )

* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>

2025-03-13 16:08:27 +11:00

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JSBSim Simulation

:::warning This simulator is community supported and maintained. It may or may not work with current versions of PX4.

See Toolchain Installation for information about the environments and tools supported by the core development team. :::

JSBSim is a open source flight simulator ("flight dynamics model (FDM)") that runs on Microsoft Windows, Apple Macintosh, Linux, IRIX, Cygwin (Unix on Windows), etc. Its features include: fully configurable aerodynamics and a propulsion system that can model complex flight dynamics of an aircraft. Rotational earth effects are also modeled into the dynamics.

Supported Vehicles: Plane, Quadrotor, Hexarotor

:::info See Simulation for general information about simulators, the simulation environment, and simulation configuration (e.g. supported vehicles). :::

Installation (Ubuntu Linux)

:::info These instructions were tested on Ubuntu 18.04 :::

Install the usual Development Environment on Ubuntu LTS / Debian Linux.

Install a JSBSim release from the release page:

dpkg -i JSBSim-devel_1.1.0.dev1-<release-number>.bionic.amd64.deb

(Optional) FlightGear may (optionally) be used for visualisation. To install FlightGear, refer to the FlightGear installation instructions).

Running the Simulation

JSBSim SITL simulation can be conveniently run through a make command as shown below:

cd /path/to/PX4-Autopilot
make px4_sitl jsbsim

This will run both the PX4 SITL instance and the FlightGear UI (for visualization). If you want to run without the FlightGear UI, you can add HEADLESS=1 to the front of the make command.

The supported vehicles and make commands are listed below (click on the links to see the vehicle images).

Vehicle	통신
표준 항공기	`make px4_sitl jsbsim_rascal`
Quadrotor	`make px4_sitl jsbsim_quadrotor_x`
Hexarotor	`make px4_sitl jsbsim_hexarotor_x`

The commands above launch a single vehicle with the full UI. QGroundControl should be able to automatically connect to the simulated vehicle.

Running JSBSim with ROS

To run JSBSim with ROS:

Clone the px4-jsbsim-bridge package into your catkin workspace:

cd <path_to_catkin_ws>/src
git clone https://github.com/Auterion/px4-jsbsim-bridge.git

Build the jsbsim_bridge catkin package:
```
catkin build jsbsim_bridge
```
::: info You must have already set MAVROS in your workspace (if not, follow the instructions in the MAVROS installation guide).

:::

So start JSBSim through ROS using the launch file as shown:
```
roslaunch jsbsim_bridge px4_jsbsim_bridge.launch
```

추가 정보

px4-jsbsim-bridge readme

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