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github-actions[bot] edited this page Oct 17, 2026
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A Unity simulator for the drone team's PX4 aircraft. Unity simulates the physics, sensors and cameras. PX4 SITL, the real flight code built for your computer, connects to Unity over the same MAVLink HIL interface it uses with Gazebo and flies the vehicle. QGroundControl, ROS 2 and MAVLink scripts talk to PX4 exactly as they would with the real aircraft.
Vehicles are JSON specs built at startup. Two are included: PX4's X500 quadcopter, with the numbers from PX4's own Gazebo model, and a quadplane standing in for the team's aircraft.
| Page | Contents |
|---|---|
| Setup | Requirements, building PX4, running the sim, flying it, ROS 2, troubleshooting |
| Architecture | Processes, every port and topic, lockstep, coordinate frames, sensors, vehicle model |
| Vehicles | The vehicle spec: frame, every field and unit, thrust tables, load summary, adding a vehicle, generating the PX4 airframe |
| Development | Code layout, camera config, actuator channels, tests, CI, keys |
Repository: https://github.com/mcgill-robotics/drone-SW-Unity-Sim
Published from docs/ in the repository. Edit the pages there through a pull request; edits made on the wiki are overwritten by the next publish.