PX4 Software In-the-Loop Simulator

The purpose is to have a docker-isolated PX4 SITL via gazebo.

DockerHub

To run from the DockerHub image:

docker run --rm -it -p5760:5760 radarku/px4-sitl

...which starts a MAVLink TCP socket listening at port 5760

Settings

--env PX4_HOME_LAT   42.3898
--env PX4_HOME_LON   -71.1476
--env PX4_HOME_ALT   14.2

Usage

You should get an interactive PX4 shell, which you can use:

pxh> commander takeoff

Alternatively you can connect to the MAVLink stream:

mavproxy.py --master=tcp:127.0.0.1:5760

If you start getting this RC FAILSAFE:

INFO  [commander] Takeoff detected
WARN  [commander] Failsafe enabled: no datalink
INFO  [navigator] RTL HOME activated
INFO  [navigator] RTL: climb to 25 m (11 m above home)
INFO  [navigator] RTL: return at 25 m (11 m above home)
INFO  [navigator] RTL: land at home

Go into your GCS and update the parameter NAV_RCL_ACT (Set RC loss failsafe mode) to 0 (Disabled) as explained here:

https://docs.px4.io/en/advanced_config/parameter_reference.html#NAV_RCL_ACT

Building and Running Manually

To build:

docker build --rm --tag px4-sitl .

To run:

docker run --rm -it -p5760:5760 px4-sitl

...which starts a MAVLink TCP socket listening at port 5760