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# <code>make posix_sitl_default gazebo</code> executed in <code>~/src/Firmware</code> launches gazebo and px4 sitl with the default iris model
# Init script for px4 console which configures also mavlink, is found under <code>%Firmware%/posix-configs/SITL/init/ekf2/iris</code>
== Gazebo World ==
Followed the following tutorial to get a simple gazebo world with 2D ground plane image. [http://gazebosim.org/tutorials?tut=static_map_plugin&cat=build_world http://gazebosim.org/tutorials?tut=static_map_plugin&cat=build_world]