# Simulating servo in SITL gazebo **URL:** \ **Category:** Uncategorized\ **Created:** [June 8, 2017, 7:50am UTC](https://discuss.px4.io/t/simulating-servo-in-sitl-gazebo/3518 "2017-06-08T07:50:17Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Swapneel17](https://discuss.px4.io/letter_avatar_proxy/v4/letter/s/d26b3c/32.png) [@Swapneel17](https://discuss.px4.io/u/Swapneel17)\ **Post date:** [June 8, 2017, 7:50am UTC](https://discuss.px4.io/t/simulating-servo-in-sitl-gazebo/3518/1 "2017-06-08T07:50:17Z")
Hi, I am trying to simulate a VTOL tiltrotor in gazebo. I have used the standard\_vtol as a template and configured the init file. I am unable to provide the required angle of tilt to the motors as there is no servo plugin in SITL\_gazebo. Can anyone help me to setup the tilt servo in sitl gazebo? ---
**Author:** ![Swapneel17](https://discuss.px4.io/letter_avatar_proxy/v4/letter/s/d26b3c/32.png) [@Swapneel17](https://discuss.px4.io/u/Swapneel17)\ **Post date:** [June 9, 2017, 10:37am UTC](https://discuss.px4.io/t/simulating-servo-in-sitl-gazebo/3518/2 "2017-06-09T10:37:03Z")
I used a scale of 1.57 (pi/2) and now it works as expected. Another problem I am facing is with control of motors. I inserted an extra frame called tilt\_servo which is connected to the `base_link` and then attached the `rotor_0` frame to it. By doing this the tilt\_servo is working properly but the rotor is not spinning. When I attach the rotor to base\_link or I disable the tilt\_servo, the rotor starts rotating as expected. Any suggestions on how to solve this? ---
**Author:** ![Jozef\_Woloch](https://discuss.px4.io/user_avatar/discuss.px4.io/jozef_woloch/32/7080_2.png) [@Jozef\_Woloch](https://discuss.px4.io/u/Jozef_Woloch)\ **Post date:** [November 6, 2017, 2:36am UTC](https://discuss.px4.io/t/simulating-servo-in-sitl-gazebo/3518/3 "2017-11-06T02:36:10Z")
Hey, have you managed to overcome this?