Run PX4 in your own gazebo model

[Xun]

I have created my own coaxial hexacopter Gazebo model: I want to be able to run PX4 for such configuration with the Gazebo simulator to close the loop?
Is this supported? How do I implement this? How do I link the hexacopter coaxial type of airframe to my model?

[kangmin7]

Hello Xun

Please check my answer in the topic below:

Rectangle drone with 8 props

Hello everyone, Me and my team working on college project. We are gone through different configuration like quad, hexa, octa and all but there is special requirement for rectangle drone as you can see in image. Is it possible to make rectangle drone? How? It would be really helpful if you give guidance on what needed to be modified and where to look in code and any video or materials would be also helpful. [20211024_172748]

[Xun]

thanks for the reply @kangmin7! Still I am slightly confused.
In the PX4 User Guide it is stated that in order to create a custom airframe, you should include your config file in ROMFS/px4fmu_common/init.d.
However, after reading some discussions in here, I apparently have to include it in ROMFS/px4fmu_common/init.d-posix.
What is the difference?

[kangmin7]

It turns out init.d-posix is for SITL, and init.d is the one that can be uploaded to the actual vehicle