---
# System prepended metadata

title: Untitled

---

### PX4 firmware installation 
  
 * navigate to the home directory 
  
 ```bash 
 cd ~ 
 ``` 
  
 * clone px4 firmware repository 
  
 ```bash 
 git clone --recursive https://github.com/PX4/PX4-Autopilot.git  
 ``` 
  
 ### Build Gazebo Simulation Examples 
  
 * navigate to the px4-autopilot directory 
  
 ```bash 
 cd PX4-Autopilot 
 DONT_RUN=1 make px4_sitl_default gazebo 
 source ~/catkin_ws/devel/setup.bash    # (optional) 
 source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default 
 ``` 
  
 ### Install QGroundControl software 
 * install gstreamer plugins 
 ```bash 
 sudo usermod -a -G dialout $USER 
 sudo apt-get remove modemmanager -y 
 sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y 
 Logout and login again to enable the change to user permissions. 
 ``` 
  
 * Download [QGroundControl.AppImage](https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage) 
 * Install (and run) using the terminal commands: 
 ```bash 
 chmod +x ./QGroundControl.AppImage 
 ./QGroundControl.AppImage  #(or double click) 
 ``` 
  
 ### Add UNO Quadcopter model to the px4 gazebo sitl models 
 1. Copy the uno_quadcopter directory from models to the PX4-Autopilot/Tools/sitl_gazebo/models (make symbolic link between directories to reflect changes made in this repository into the px4-autopilot directory) 
 ```bash 
 ln -s ~/Octo_copter/src/uno_gazebo_sitl/models/uno_quadcopter ~/PX4-Autopilot/Tools/sitl_gazebo/models/ 
 ``` 
 2. Copy the 31415_uno_quadcopter file ```to PX4_Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes``` and ```PX4-Autopilot/build/px4_sitl_default/etc/init.d-posix/airframes``` 
 ```bash 
 ln -s ~/Octo_copter/src/uno_gazebo_sitl/models/uno_quadcopter/3141_uno_quadcopter ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/ 
 ln -s ~/Octo_copter/src/uno_gazebo_sitl/models/uno_quadcopter/3141_uno_quadcopter ~/PX4-Autopilot/build/px4_sitl_default/etc/init.d-posix/airframes/ 
  
 ``` 
 3. Add the model ```uno_quadcopter``` to the file ```PX4_Autopilot/platforms/posix/cmake/sitl_target.cmake``` in the command ```set(models …)``` 
  
 ### Source the PX4 sitl setup script 
 ```bash 
 source ~/Octo_copter/src/uno_gazebo_sitl/sitl_setup.bash   
 ```