# Custom drone model for SITL **URL:** \ **Category:** PX4 Autopilot\ **Created:** [October 22, 2021, 7:54am UTC](https://discuss.px4.io/t/custom-drone-model-for-sitl/24659 "2021-10-22T07:54:26Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Dilini\_Pasqual](https://discuss.px4.io/letter_avatar_proxy/v4/letter/d/58956e/32.png) [@Dilini\_Pasqual](https://discuss.px4.io/u/Dilini_Pasqual)\ **Post date:** [October 22, 2021, 7:54am UTC](https://discuss.px4.io/t/custom-drone-model-for-sitl/24659/1 "2021-10-22T07:54:26Z")
Hi, I am new to drone simulations and development. And I’m working on obstacle avoidance research based on simulations. I have to use a 3D Lidar with the drone and it exceeds the payload capacity of the 3DR iris drone. So I have to use a different drone model for SITL simulations (I’m expecting to use Tarot650). If someone can give me an insight into how I can use a custom drone model for SITL simulations with ROS, Gazebo I really appreciate it. Regards. ---
**Author:** ![roomez](https://discuss.px4.io/user_avatar/discuss.px4.io/roomez/32/5483_2.png) [@roomez](https://discuss.px4.io/u/roomez)\ **Post date:** [October 25, 2021, 11:05am UTC](https://discuss.px4.io/t/custom-drone-model-for-sitl/24659/2 "2021-10-25T11:05:27Z")
Hi 1. you should add 3D model in to Firmware/Tools/sitl\_gazebo/models 2. open gazebo: open models from directory\>\> Firmware/Tools/sitl\_gazebo/models 3. right click on your model and click on edit model 4. make 3D models and joins and plugins and sensors and … 5. final build your sdf file in to directory Good luck ---
**Author:** ![Dilini\_Pasqual](https://discuss.px4.io/letter_avatar_proxy/v4/letter/d/58956e/32.png) [@Dilini\_Pasqual](https://discuss.px4.io/u/Dilini_Pasqual)\ **Post date:** [December 14, 2021, 1:57am UTC](https://discuss.px4.io/t/custom-drone-model-for-sitl/24659/3 "2021-12-14T01:57:11Z")
Thank you for the reply. It was useful and I was able to solve the issue.