[arguments...]
+ Commands:
+ start
+
+ stop
+
+ status print status info
+```
+
## gyro_calibration
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
diff --git a/docs/zh/msg_docs/FailureInjection.md b/docs/zh/msg_docs/FailureInjection.md
new file mode 100644
index 0000000000..c5ece8711f
--- /dev/null
+++ b/docs/zh/msg_docs/FailureInjection.md
@@ -0,0 +1,126 @@
+---
+pageClass: is-wide-page
+---
+
+# FailureInjection (UORB message)
+
+Failure injection configuration.
+
+Currently active failure-injection configuration, published by the failure
+injection manager (the sole subscriber to vehicle_command INJECT_FAILURE).
+Republished only when the configuration changes, so command spam on
+vehicle_command cannot propagate to the consumers applying the failures.
+
+**TOPICS:** failure_injection
+
+## Fields
+
+| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
+| ---------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | -------------------------------------------------- | ----------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | Time since system start |
+| count | `uint8` | | | number of valid entries in the arrays below |
+| unit | `uint8[4]` | | [FAILURE_UNIT](#FAILURE_UNIT) | Affected component per entry |
+| instance_mask | `uint16[4]` | | | Bit i targets instance (i+1); 0xFFFF = all instances |
+| failure_type | `uint8[4]` | | [FAILURE_TYPE](#FAILURE_TYPE) | failure mode per entry |
+
+## Enums
+
+### FAILURE_UNIT {#FAILURE_UNIT}
+
+Used in field(s): [unit](#fld_unit)
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -- |
+| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | |
+| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | |
+| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | |
+| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | |
+| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | |
+| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | |
+| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | |
+| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | |
+| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | |
+| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | |
+| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | |
+| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | |
+| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | |
+| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | |
+| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | |
+
+### FAILURE_TYPE {#FAILURE_TYPE}
+
+Used in field(s): [failure_type](#fld_failure_type)
+
+| 参数名 | 类型 | 值 | 描述 |
+| ----------------------------------------------------------------------------------------------------------- | ------- | - | -- |
+| FAILURE_TYPE_OK | `uint8` | 0 | |
+| FAILURE_TYPE_OFF | `uint8` | 1 | |
+| FAILURE_TYPE_STUCK | `uint8` | 2 | |
+| FAILURE_TYPE_GARBAGE | `uint8` | 3 | |
+| FAILURE_TYPE_WRONG | `uint8` | 4 | |
+| FAILURE_TYPE_SLOW | `uint8` | 5 | |
+| FAILURE_TYPE_DELAYED | `uint8` | 6 | |
+| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | |
+
+## Constants
+
+| 参数名 | 类型 | 值 | 描述 |
+| ------------------------------------------------------------ | ------- | - | --------------------------------------- |
+| MAX_FAILURES | `uint8` | 4 | maximum number of simultaneous failures |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureInjection.msg)
+
+:::details
+Click here to see original file
+
+```c
+#Failure injection configuration.
+#
+# Currently active failure-injection configuration, published by the failure
+# injection manager (the sole subscriber to vehicle_command INJECT_FAILURE).
+# Republished only when the configuration changes, so command spam on
+# vehicle_command cannot propagate to the consumers applying the failures.
+
+uint64 timestamp # [us] Time since system start
+
+uint8 MAX_FAILURES = 4 # maximum number of simultaneous failures
+
+uint8 count # number of valid entries in the arrays below
+
+uint8[4] unit # [@enum FAILURE_UNIT] Affected component per entry
+# Failure unit (affected component). Mirrors MAVLink FAILURE_UNIT and the
+# FAILURE_UNIT_* values in vehicle_command.
+uint8 FAILURE_UNIT_SENSOR_GYRO = 0
+uint8 FAILURE_UNIT_SENSOR_ACCEL = 1
+uint8 FAILURE_UNIT_SENSOR_MAG = 2
+uint8 FAILURE_UNIT_SENSOR_BARO = 3
+uint8 FAILURE_UNIT_SENSOR_GPS = 4
+uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5
+uint8 FAILURE_UNIT_SENSOR_VIO = 6
+uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7
+uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8
+uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100
+uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101
+uint8 FAILURE_UNIT_SYSTEM_SERVO = 102
+uint8 FAILURE_UNIT_SYSTEM_AVOIDANCE = 103
+uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104
+uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105
+
+uint16[4] instance_mask # Bit i targets instance (i+1); 0xFFFF = all instances
+
+uint8[4] failure_type # [@enum FAILURE_TYPE] failure mode per entry
+# Failure mode.
+# Mirrors MAVLink FAILURE_TYPE and the FAILURE_TYPE_* values in vehicle_command.
+uint8 FAILURE_TYPE_OK = 0
+uint8 FAILURE_TYPE_OFF = 1
+uint8 FAILURE_TYPE_STUCK = 2
+uint8 FAILURE_TYPE_GARBAGE = 3
+uint8 FAILURE_TYPE_WRONG = 4
+uint8 FAILURE_TYPE_SLOW = 5
+uint8 FAILURE_TYPE_DELAYED = 6
+uint8 FAILURE_TYPE_INTERMITTENT = 7
+```
+
+:::
diff --git a/docs/zh/sensor/rangefinders.md b/docs/zh/sensor/rangefinders.md
index 9abb86c800..6cc5a6ed2c 100644
--- a/docs/zh/sensor/rangefinders.md
+++ b/docs/zh/sensor/rangefinders.md
@@ -29,6 +29,7 @@ There may also be other DroneCAN rangefinders than those listed here.
| [LightWare SF45/B] | ToF (IR laser) | ~50 m | UART | ~ | Rotary lidar (collision prevention) |
| [MaxBotix I2CXL-MaxSonar-EZ] | Ultrasonic | | I2C | ~ | |
| [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR) | ~0.1 m – ~8 m | DroneCAN, Cyphal | ~ | |
+| [Sony AS-DT1] | ToF | up to 40 m | UART | ~ | Multipoint distance sensor |
| [TeraRanger Evo 60 m] | ToF (IR) | 0.5 m – 60 m | I2C | ~ | |
| [TeraRanger Evo 600Hz] | ToF (IR) | 0.75 m – 8 m | I2C | ~ | High update rate (600 Hz) |
| [LightWare SF02] _(disc.)_ | ToF (IR laser) | ~50 m | UART | ~ | Discontinued |
@@ -55,6 +56,7 @@ There may also be other DroneCAN rangefinders than those listed here.
[LightWare SF10/B]: ../sensor/sfxx_lidar.md
[LightWare SF10/C]: ../sensor/sfxx_lidar.md
[MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez
+[Sony AS-DT1]: ../sensor/sony_asdt1.md
[TeraRanger Evo 60 m]: ../sensor/teraranger.md
[TeraRanger Evo 600Hz]: ../sensor/teraranger.md
[TeraRanger One]: ../sensor/teraranger.md
@@ -109,6 +111,11 @@ Others may be supported via the [RaccoonLab Cyphal and DroneCAN Rangefinder Adap
PX4 also supports the [LightWare LiDAR SF45 Rotating Lidar](../sensor/sf45_rotating_lidar.md) for [collision prevention](../computer_vision/collision_prevention.md) applications.
+### Sony AS-DT1
+
+[Sony AS-DT1](../sensor/sony_asdt1.md) is a multipoint distance sensor that connects to PX4 over a UART/serial port.
+PX4 configures the sensor baud rate and measurement output from the driver.
+
### TeraRanger 测距仪
[TeraRanger](../sensor/teraranger.md) provide a number of lightweight distance measurement sensors based on infrared Time-of-Flight (ToF) technology.
diff --git a/docs/zh/sensor/sony_asdt1.md b/docs/zh/sensor/sony_asdt1.md
new file mode 100644
index 0000000000..c5c66fd4f3
--- /dev/null
+++ b/docs/zh/sensor/sony_asdt1.md
@@ -0,0 +1,111 @@
+# Sony AS-DT1 LiDAR
+
+The _Sony AS-DT1 LiDAR_ is a multipoint distance sensor that connects to PX4 over a UART/serial port.
+
+PX4 configures the sensor for binary output and publishes the measurements to the [`obstacle_distance`](../msg_docs/ObstacleDistance.md) uORB topic.
+
+## Supported Modes
+
+The driver supports the AS-DT1 distance measurement range modes listed below.
+
+| 模式 | Maximum Measurement Distance | Minimum Frame Interval | Distance Measurement Points |
+| ------ | ---------------------------- | ------------------------ | --------------------------- |
+| 30MSTD | 30 m | 33.33 ms | 576 |
+| 30M15F | 30 m | 66.66 ms | 576 |
+| 30M30F | 30 m | 33.33 ms | 288 |
+| 20M | 20 m | 33.33 ms | 576 |
+| 40M | 40 m | 66.66 ms | 576 |
+
+The mode is selected using [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE).
+
+## Collision Prevention Output
+
+The driver publishes the AS-DT1 data to the [`obstacle_distance`](../msg_docs/ObstacleDistance.md) uORB topic used by [Collision Prevention](../computer_vision/collision_prevention.md).
+The message uses 72 bins at 5 degree increments around the vehicle.
+
+The AS-DT1 horizontal field of view is about 35 degrees.
+The driver maps the sensor's horizontal band into the matching `obstacle_distance` bins and leaves uncovered directions as no-data.
+[SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) sets the yaw offset of this field of view relative to vehicle forward.
+
+## 硬件安装
+
+The sensor can be connected to any unused _serial port_ (UART), such as `TELEM2`, `TELEM3`, or `GPS2`.
+
+The AS-DT1 uses the 8-pin JST-GH connector for external power and UART.
+Connect the sensor TX/RX pins to the flight controller UART and share ground between the sensor power supply and flight controller.
+
+
+
+| AS-DT1 8-pin Connector | 功能 | Connect To |
+| ---------------------- | ------- | ------------------------------------------------------ |
+| Pin 1 | GND | External power ground and flight controller serial GND |
+| Pin 2 | VCC | External 12 V to 24 V power supply |
+| Pin 5 | UART TX | Flight controller serial RX |
+| Pin 6 | UART RX | Flight controller serial TX |
+
+The ground from AS-DT1 pin 1 must be common to both the external power supply and the flight controller serial port.
+For example, splice or split the AS-DT1 ground wire so it connects to the power supply negative terminal and to the flight controller UART `GND` pin.
+
+Do not connect the AS-DT1 UART pins directly to RS-232 or RS-422 interfaces.
+The AS-DT1 UART RX input is 5 V tolerant, and the sensor should be powered from the external 12 V to 24 V supply described in the Sony hardware documentation.
+
+## Firmware Setup
+
+The `sony_asdt1` driver must be included in the PX4 firmware for the target board.
+If the Sony AS-DT1 parameters are not available, add the following line to the target board's `default.px4board` configuration, or enable the driver using [`boardconfig`](../hardware/porting_guide_config.md#px4-menuconfig-setup):
+
+```plain
+CONFIG_DRIVERS_DISTANCE_SENSOR_SONY_ASDT1=y
+```
+
+Then rebuild and flash the firmware.
+
+## Parameter Setup
+
+Use the Sony application to set the sensor to **Measurement (UART)** mode before connecting it to PX4.
+
+The driver uses the following parameters:
+
+| Parameter | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG) | Selects the serial port and enables driver autostart on boot. |
+| [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE) | Selects the AS-DT1 measurement range mode. The driver configures the sensor mode and publishes matching `obstacle_distance` metadata. |
+| [SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) | Sets the sensor yaw offset, in degrees, relative to vehicle forward. This is published as `obstacle_distance.angle_offset`; positive values are clockwise. |
+
+`SENS_ASDT1_MODE` and `SENS_ASDT1_ROT` may not appear until `SENS_ASDT1_CFG` is enabled and the flight controller has rebooted once.
+
+Reboot the flight controller, or restart the driver manually, after changing these parameters.
+
+[Configure the serial port](../peripherals/serial_configuration.md) on which the sensor will run using [SENS_ASDT1_CFG](../advanced_config/parameter_reference.md#SENS_ASDT1_CFG).
+There is no need to set the baud rate for the port, as this is configured by the driver.
+
+Set [SENS_ASDT1_MODE](../advanced_config/parameter_reference.md#SENS_ASDT1_MODE) to the required measurement mode and reboot the flight controller.
+
+If the sensor is mounted with a yaw offset from vehicle forward, set [SENS_ASDT1_ROT](../advanced_config/parameter_reference.md#SENS_ASDT1_ROT) to the offset in degrees.
+Positive values are clockwise.
+
+## 测试
+
+You can check the driver state in the _QGroundControl MAVLink Console_:
+
+```sh
+sony_asdt1 status
+```
+
+You can observe the published measurements with:
+
+```sh
+listener obstacle_distance
+```
+
+To print the sensor's saved configuration without starting measurements, run:
+
+```sh
+sony_asdt1 start -d /dev/ttyS2 -s
+```
+
+Replace `/dev/ttyS2` with the serial device for your board and port.
+
+## 更多信息
+
+- [Modules Reference: Distance Sensor (Driver): sony_asdt1](../modules/modules_driver_distance_sensor.md#sony-asdt1)
diff --git a/docs/zh/sim_xplane/index.md b/docs/zh/sim_xplane/index.md
new file mode 100644
index 0000000000..ed8c2eb0a9
--- /dev/null
+++ b/docs/zh/sim_xplane/index.md
@@ -0,0 +1,100 @@
+# X-Plane Simulation
+
+:::warning
+This simulator is [community supported and maintained](../simulation/community_supported_simulators.md).
+It may or may not work with current versions of PX4 and may be removed in future releases.
+See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
+:::
+
+[X-Plane](https://www.x-plane.com/) can be used with PX4 for [Software-In-The-Loop (SITL)](../simulation/index.md#sitl-simulation-environment) simulation through the community-supported [px4xplane](https://github.com/alireza787b/px4xplane) bridge plugin.
+PX4 runs as the flight controller, while X-Plane provides the vehicle dynamics, visual scene, and simulated sensor inputs.
+The px4xplane bridge is an X-Plane plugin: it runs inside X-Plane, accepts PX4's simulator MAVLink connection, publishes simulated sensors to PX4, and writes PX4 actuator outputs to X-Plane datarefs.
+
+## 支持的载具
+
+PX4 includes X-Plane SITL airframes for the following vehicles:
+
+| Vehicle | 类型 | PX4 target |
+| -------------- | --------------- | ------------------------------------------ |
+| Cessna 172 | Plane | `make px4_sitl_default xplane_cessna172` |
+| TB2 | Plane | `make px4_sitl_default xplane_tb2` |
+| Ehang 184 | 多旋翼 | `make px4_sitl_default xplane_ehang184` |
+| Alia-250 | VTOL quadplane | `make px4_sitl_default xplane_alia250` |
+| QuadTailsitter | VTOL tailsitter | `make px4_sitl_default xplane_qtailsitter` |
+
+The matching X-Plane aircraft files and bridge configuration are distributed by the px4xplane project.
+Additional X-Plane aircraft or vehicle models can also be integrated when PX4 has a matching SITL-capable control path and px4xplane can map the required actuator outputs to writable X-Plane datarefs.
+
+## 安装
+
+1. Install the [PX4 development environment](../dev_setup/dev_env.md) on the machine, container, or WSL2 environment that will run PX4 SITL.
+
+2. Install X-Plane 11 or X-Plane 12.
+
+3. Download the latest OS-specific px4xplane release package from the [px4xplane releases page](https://github.com/alireza787b/px4xplane/releases).
+
+4. The release package is an archive, not an installer.
+ Extract it and copy the complete `px4xplane` plugin folder into:
+
+ ```sh
+ X-Plane/Resources/plugins/px4xplane
+ ```
+
+5. Copy the matching X-Plane aircraft folders from the same extracted package into an X-Plane aircraft directory.
+ Keep the packaged `64/config.ini` with the `px4xplane` plugin unless the release notes say otherwise.
+
+The [px4xplane build and installation guide](https://github.com/alireza787b/px4xplane/blob/master/docs/BUILD.md#installation) has more detail on the plugin folder layout.
+
+## Network Setup
+
+PX4 connects to the X-Plane bridge on TCP port `4560`.
+The default host is `localhost`, which is suitable when PX4 and X-Plane run on the same Linux or macOS machine.
+
+For Windows, the usual setup is X-Plane running natively on Windows and PX4 running in WSL2.
+In that case, set `PX4_SIM_HOSTNAME` in the WSL2 shell to the Windows host IP before starting PX4.
+This variable is set on the PX4/SITL side and points to the host where X-Plane and the px4xplane plugin are running:
+
+```sh
+export PX4_SIM_HOSTNAME=$(ip route | awk '/default/ {print $3; exit}')
+```
+
+Then start the desired PX4 target from the same shell.
+If PX4 runs in Docker or on another computer, set `PX4_SIM_HOSTNAME` to the reachable IP address or hostname of the X-Plane machine instead.
+Make sure inbound TCP port `4560` is allowed by the firewall on the X-Plane host.
+
+## Running SITL
+
+1. Start X-Plane and load the aircraft that matches the PX4 target.
+
+2. Confirm the px4xplane plugin is loaded in the X-Plane plugin menu.
+
+3. Start PX4 SITL. 例如：
+
+ ```sh
+ cd PX4-Autopilot
+ make px4_sitl_default xplane_alia250
+ ```
+
+4. Connect QGroundControl to PX4 as usual.
+
+PX4 prints `Simulator connected on TCP port 4560` when the bridge is connected.
+
+## Custom Aircraft
+
+To add another X-Plane aircraft:
+
+1. Create a PX4 airframe file in `ROMFS/px4fmu_common/init.d-posix/airframes`.
+2. Add a matching SITL target in `src/modules/simulation/simulator_mavlink/sitl_targets_xplane.cmake`.
+3. Configure the px4xplane bridge to map PX4 actuator outputs to the aircraft datarefs.
+4. Tune the PX4 parameters from ULog data and X-Plane truth logs.
+
+See the [px4xplane custom airframe guide](https://github.com/alireza787b/px4xplane/blob/master/docs/custom-airframe-config.md) for bridge configuration details.
+For X-Plane-side aircraft design and dataref mapping, see the official [Plane Maker manual](https://developer.x-plane.com/manuals/planemaker/index.html) and [X-Plane datarefs reference](https://developer.x-plane.com/datarefs/).
+
+## 故障处理
+
+If PX4 waits for the simulator, verify that X-Plane is running, the px4xplane plugin is loaded, `PX4_SIM_HOSTNAME` points to the X-Plane host, and TCP port `4560` is not blocked.
+
+If the aircraft loads but does not respond correctly, verify that the X-Plane aircraft, PX4 target, and px4xplane configuration all refer to the same vehicle.
+
+If estimator warnings appear, keep the simulator frame rate stable, check that the intended airframe parameters were loaded, and inspect the ULog sensor and estimator topics before changing bridge or airframe parameters.
diff --git a/docs/zh/simulation/community_supported_simulators.md b/docs/zh/simulation/community_supported_simulators.md
index 18a96dcf89..6fdd9f48bc 100644
--- a/docs/zh/simulation/community_supported_simulators.md
+++ b/docs/zh/simulation/community_supported_simulators.md
@@ -12,13 +12,14 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
这些工具有来自其社区的不同程度的支持 (有些得到很好的支持，有些则没有) 。
Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat)
-| 仿真器 | 描述 |
-| ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [FlightGear](../sim_flightgear/index.md) | A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.
Supported Vehicles: Plane, Autogyro, Rover
|
-| [JMAVSim](../sim_jmavsim/index.md) | A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).
Supported Vehicles: Quad
|
-| [JSBSim](../sim_jsbsim/index.md) | A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.
Supported Vehicles: Plane, Quad, Hex
|
-| [AirSim](../sim_airsim/index.md) | A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.
Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).
|
-| [RotorPy](../sim_rotorpy/index.md) | A Python-based multirotor simulation environment with aerodynamic forces and moments, actuator limits, sensor noise, wind, obstacles, and a Gymnasium interface for research workflows.
Supported Vehicles: Quad
|
+| 仿真器 | 描述 |
+| ---------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [FlightGear](../sim_flightgear/index.md) | A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.
Supported Vehicles: Plane, Autogyro, Rover
|
+| [JMAVSim](../sim_jmavsim/index.md) | A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).
Supported Vehicles: Quad
|
+| [JSBSim](../sim_jsbsim/index.md) | A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.
Supported Vehicles: Plane, Quad, Hex
|
+| [AirSim](../sim_airsim/index.md) | A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.
Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).
|
+| [RotorPy](../sim_rotorpy/index.md) | A Python-based multirotor simulation environment with aerodynamic forces and moments, actuator limits, sensor noise, wind, obstacles, and a Gymnasium interface for research workflows.
Supported Vehicles: Quad
|
+| [X-Plane](../sim_xplane/index.md) | A commercial flight simulator using blade element theory for flight dynamics. The PX4 integration uses the community-supported px4xplane bridge plugin.
Preconfigured PX4 targets: Plane, Multicopter, VTOL. Additional X-Plane aircraft or vehicle models can be integrated when PX4 has a matching SITL-capable control path and px4xplane can map the required actuator outputs to writable X-Plane datarefs.
|
:::tip
[Gazebo](../sim_gazebo_gz/index.md) and [SIH](../sim_sih/index.md) are the officially supported simulators. See the [Simulation](index.md) page for more information.