# Gazebo SITL for Tiltrotor UAV (Tricopter)

**URL:** <https://discuss.px4.io/t/gazebo-sitl-for-tiltrotor-uav-tricopter/3596>\
**Category:** PX4 Autopilot\
**Created:** [June 15, 2017, 3:38pm UTC](https://discuss.px4.io/t/gazebo-sitl-for-tiltrotor-uav-tricopter/3596 "2017-06-15T15:38:52Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![ganeshrk95](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/8e7dd6/32.png) [@ganeshrk95](https://discuss.px4.io/u/ganeshrk95)\
**Post date:** [June 15, 2017, 3:38pm UTC](https://discuss.px4.io/t/gazebo-sitl-for-tiltrotor-uav-tricopter/3596/1 "2017-06-15T15:38:52Z")

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Hey guys !

Can someone guide me how to simulate a tiltrotor (series link) on Gazebo (SITL).

I have a tricopter with a rear motor on a tiltrotor (servo). I can’t get the back motor moving if the servo is commanded by a particular channel.

Do I have to change the plugin file to get this working? If yes, which part exactly ?

set channels in the following manner:

[1] - Front Right  
[2] - Front Left  
[3] - Back motor  
[4] - servo

I have modified the init/ekf2/_file_ to use the Y+ mixer file (Rest are same as IRIS file). In the SDF if I remove the channel 4, The all three main rotors arm properly. But when I add channel 4 for servo (Copied code from plane SDF), the back motor doesn’t arm (But the servo does though). Mind helping me out ?

Any input is welcome.