# Integrating PX4 with ignition gazebo

**URL:** <https://discourse.openrobotics.org/t/integrating-px4-with-ignition-gazebo/47758>\
**Category:** Gazebo General\
**Tags:** ignition\
**Created:** [February 26, 2021, 11:38am UTC](https://discourse.openrobotics.org/t/integrating-px4-with-ignition-gazebo/47758 "2021-02-26T11:38:25Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Adwait\_Naik](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/adwait_naik/32/4260_2.png) [@Adwait\_Naik](https://discourse.openrobotics.org/u/Adwait_Naik)\
**Post date:** [February 26, 2021, 11:38am UTC](https://discourse.openrobotics.org/t/integrating-px4-with-ignition-gazebo/47758/1 "2021-02-26T11:38:25Z")

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I am trying to design a plugin suite for **MAVLink SITL and HITL** using **PX4-firmware** , **ignition gazebo**. In simple terms, a flight simulator to launch VTOLs, drones, and other UAV’s using PX4-Autopilot firmware in ignition gazebo.

Already, there exists a plugin for PX4 and gazebo but since gazebo and ignition both have significantly different architecture and API, I am slightly confused about how to integrate PX4 with ignition gazebo.

Any suggestion is welcome.

Thanks

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**Author:** ![mabelzhang\_gazebo](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mabelzhang_gazebo/32/27478_2.png) [@mabelzhang\_gazebo](https://discourse.openrobotics.org/u/mabelzhang_gazebo)\
**Post date:** [March 6, 2021, 8:09am UTC](https://discourse.openrobotics.org/t/integrating-px4-with-ignition-gazebo/47758/2 "2021-03-06T08:09:45Z")

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I’m not familiar with PX4. If the question is about how to write a plugin for PX4 in Ignition, these tutorials might help: [https://ignitionrobotics.org/api/gazebo/4.6/tutorials.html](https://ignitionrobotics.org/api/gazebo/4.6/tutorials.html)  
In particular, the [Create System Plugins](https://ignitionrobotics.org/api/gazebo/4.6/createsystemplugins.html) one and the [Plugin migration](https://ignitionrobotics.org/api/gazebo/4.6/migrationplugins.html) one.