docs: ackermann rover sih (#25229)

* docs: ackermann rover sih * prettier --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
2026-06-02 11:59:17 +08:00 · 2025-08-13 01:04:33 +02:00
parent 7984562e6f
commit c475ec2c1f
2 changed files with 20 additions and 7 deletions
@@ -28,6 +28,7 @@ The Desktop computer is only used to display the virtual vehicle.
 - SIH as SITL (without hardware) from PX4 v1.14.
 - SIH for Standard VTOL from PX4 v1.16.
 - SIH for MC Hexacopter X from `main` (expected to be PX4 v1.17).
+- SIH for Ackermann Rover from `main`.

 ### Benefits

@@ -122,6 +123,10 @@ make px4_fmu-v6x boardconfig

 After uploading, check that the required modules are present.

+::: note
+To use rover in SIH you must also add the [rover modules](../config_rover/index.md#flashing-the-rover-build) to your board configuration or use the rover build.
+:::
+
 ## Starting SIH

 To set up/start SIH:
@@ -134,6 +139,7 @@ To set up/start SIH:
   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
+   - **SIH Ackermann Rover** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).

 The autopilot will then reboot.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
@@ -215,6 +221,12 @@ To run SIH as SITL:
     make px4_sitl sihsim_standard_vtol
     ```

+   - Ackermann Rover
+
+     ```sh
+     make px4_sitl sihsim_rover_ackermann
+     ```
+
 ### Change Simulation Speed

 SITL allows the simulation to be run faster than real time.
@@ -312,6 +324,7 @@ The dynamic models for the various vehicles are:
 - Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
 - Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
 - Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
+- Ackermann Rover: Based on lateral vehicle dynamics of the bicycle model adapted from [Sri Anumakonda, Everything you need to know about Self-Driving Cars in <30 minutes](https://srianumakonda.medium.com/everything-you-need-to-know-about-self-driving-in-30-minutes-b38d68bd3427)

 ## Video

@@ -12,10 +12,10 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
 The tools have variable levels of support from their communities (some are well supported and others are not).
 Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat)

-| Simulator                                            | Description                                                                                                                                                                                                                                                                                                                                                                                                        |
-| ---------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.  </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL</p>                                                           |
-| [FlightGear](../sim_flightgear/index.md)            | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
-| [JMAVSim](../sim_jmavsim/index.md) | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                      |
-| [JSBSim](../sim_jsbsim/index.md)                    | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                      |
-| [AirSim](../sim_airsim/index.md)                    | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                           |
+| Simulator                                           | Description                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.  </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover</p> |
+| [FlightGear](../sim_flightgear/index.md)            | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p>                          |
+| [JMAVSim](../sim_jmavsim/index.md)                  | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                                     |
+| [JSBSim](../sim_jsbsim/index.md)                    | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                                               |
+| [AirSim](../sim_airsim/index.md)                    | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                                         |