Simulation Overview

VisionFlow-PX4 provides rich Gazebo simulation assets, supporting full-process simulation from controller development to system integration testing.

Simulation Assets Overview

Scene Worlds

Scene	Description	Supported Platforms
laboratory_landingbox	Main laboratory with landing box	q940_ti, swan_gamma
laboratory_no_landingbox	Laboratory without landing box	swan_gamma, x500
laboratory_landingbox_vla_task0	Laboratory with VLA task	q940_ti
laboratory_no_landingbox_vla_task0	VLA scenario without landing box	swan_gamma
indoor_dining	Indoor dining environment	General
baylands_coast	Bay Area coastal outdoor environment	General
laboratory_landingbox_hitl	Hardware-in-the-loop version	q940_ti_hitl

For detailed scene descriptions, please refer to Scene Worlds.

Drone Platforms

Platform	Model	Description
q940_ti	Q940TI + 3-finger/4-finger gripper	Primary test platform
swan_gamma_v1/v2	Swan + Gamma arm	Company version (old/new)
x500	Standard X500 quadcopter	Baseline test platform
differential_rover	Differential drive rover	Ground robot platform

Simulation Configuration

All simulations enable the lockstep scheduler to ensure timing accuracy:

EXTRA_CMAKE_ARGS="-DENABLE_LOCKSTEP_SCHEDULER=ON"

Next Steps

• Scene Worlds Details
• Model Details
• Asset Usage Guide