This repository contains a Rust-based MAVLink script for controlling VTOL drones using PX4 SITL with Gazebo simulation.
It is designed to later run on a real companion computer onboard a drone.

This project uses a Nix flake to set up a reproducible Rust development environment

To get started:

1. Install Nix (make sure Flakes are enabled)

2. Allow project environment:

cd rust_vtol
direnv allow

You only need to run direnv allow once. After that, any time you enter the project folder, the environment will automatically activate

https://github.com/ArduPilot/SITL_Models# https://github.com/ArduPilot/ardupilot_gazebo

export GZ_SIM_RESOURCE_PATH=$HOME/dev/ardupilot_gazebo/models:$HOME/dev/ardupilot_gazebo/worlds:\
$HOME/dev/SITL_Models/Gazebo/models:$HOME/dev/SITL_Models/Gazebo/worlds:${GZ_SIM_RESOURCE_PATH}
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/dev/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}
gz sim -v4 -r $HOME/dev/SITL_Models/Gazebo/worlds/skywalker_x8_quad_runway.sdf

QGC Connect to UDP on port 14550

Run ArduPilot SITL 14550 is QGC 14551 is guided script

cd $HOME/dev/ardupilot
./Tools/autotest/sim_vehicle.py \
    -v ArduPlane \
    --model JSON \
    --add-param-file=$HOME/dev/SITL_Models/Gazebo/config/skywalker_x8_quad.param \
    --console --map \
    --out=udp:127.0.0.1:14550 \
    --out=udp:127.0.0.1:14551

• PX4-Autopilot downloaded and built
• QGroundControl installed

Note:
PX4, Gazebo and QGroundControl are installed outside of the project environment. As they are used only for SITL

Open a terminal and run:

cd PX4-Autopilot
make px4_sitl gz_standard_vtol

This will launch the PX4 SITL simulation with a standard VTOL model.

Start QGroundControl. It should automatically connect to the simulator via UDP (port 14540 for PX4).

In a separate terminal, run:

cd rust_vtol
cargo run

This will start the companion computer script and begin MAVLink communication with PX4.