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154 lines
4.0 KiB
Markdown
154 lines
4.0 KiB
Markdown
# Рухомі засоби Gazebo Classic
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This topic lists/displays the vehicles supported by the PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation and the `make` commands required to run them (the commands are run from a terminal in the **PX4-Autopilot** directory).
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Типи рухомих засобів що підтримуються включають: мультиротори, ВЗІП, ВЗІП з хвоста, літак, ровер, підводний човен/підводний дрон.
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:::info
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The [Gazebo Classic](../sim_gazebo_classic/index.md) page shows how to install Gazebo Classic, how to enable video and load custom maps, and many other configuration options.
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:::
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## Мультикоптер
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### Квадрокоптер (за замовчуванням)
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```sh
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make px4_sitl gazebo-classic
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```
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### Квадрокоптер з оптичним потоком
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```sh
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make px4_sitl gazebo-classic_iris_opt_flow
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```
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### Квадрокоптер з камерою глибини
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Ці моделі мають додану камеру глибини, змодельовану за зразком Intel® RealSense™ D455.
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_Forward-facing depth camera:_
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```sh
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make px4_sitl gazebo-classic_iris_depth_camera
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```
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_Downward-facing depth camera:_
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```sh
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make px4_sitl gazebo-classic_iris_downward_depth_camera
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```
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### 3DR Solo (Квадрокоптер)
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```sh
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make px4_sitl gazebo-classic_solo
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```
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### Typhoon H480 (Гексакоптер)
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```sh
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make px4_sitl gazebo-classic_typhoon_h480
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```
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:::info
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This target also supports [video streaming simulation](../sim_gazebo_classic/index.md#video-streaming).
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:::
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<a id="fixed_wing"></a>
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## Літак/Фіксоване крило
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### Стандартний літак
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```sh
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make px4_sitl gazebo-classic_plane
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```
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#### Стандартний літак із запуском з катапульти
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```sh
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make px4_sitl gazebo-classic_plane_catapult
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```
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This model simulates hand/catapult launch, which can be used for [fixed-wing takeoff](../flight_modes_fw/takeoff.md) in position mode, takeoff mode, or missions.
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Літак буде автоматично запущено як тільки засіб буде в стані готовності.
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## VTOL
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### Standard VTOL
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```sh
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make px4_sitl gazebo-classic_standard_vtol
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```
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### Тейлсіттер
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```sh
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make px4_sitl gazebo-classic_tailsitter
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```
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<a id="ugv"></a>
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## Безпілотний наземний засіб (Ровер/Автомобіль)
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### Наземний засіб з трапецією Аккермана
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```sh
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make px4_sitl gazebo-classic_rover
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```
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### Наземний засіб з диференціалом
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```sh
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make px4_sitl gazebo-classic_r1_rover
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```
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## Безпілотний підводний засіб(Підводний човен)
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### HippoCampus TUHH
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```sh
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make px4_sitl gazebo-classic_uuv_hippocampus
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```
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## Безпілотний надводний засіб (Човен)
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<a id="usv_boat"></a>
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### Човен
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```sh
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make px4_sitl gazebo-classic_boat
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```
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<a id="airship"></a>
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## Дирижабль
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### Cloudship
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```sh
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make px4_sitl gazebo-classic_cloudship
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```
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