Based on the official PX4 SITL image, includes customized MAVLink config to support Docker comm.
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Custom PX4 SITL image for running PX4 Software-In-The-Loop with MAVSDK Server.
PX4 SITL
│
│ MAVLink / UDP
│ 14580 → 14540
▼
MAVSDK Server
│
│ gRPC :50051
▼
Rust Edge Service
The image supports:
PX4_MAVLINK_OFFBOARD_HOST
Set it to the MAVSDK Server service name or IP.
Example:
environment:
PX4_SIM_MODEL: sihsim_quadx
PX4_MAVLINK_OFFBOARD_HOST: <mavsdk-server-docker-ip>
When both containers are on the same Docker/Podman network, using the service name is recommended.
| Purpose | PX4 | Remote |
|---|---|---|
| GCS | 18570 | 14550 |
| MAVSDK / Offboard | 14580 | 14540 |
| Camera | 14280 | 14030 |
| Gimbal | 13030 | 13280 |
| SIH | 19450 | 19410 |
MAVSDK Server listens on:
UDP :14540
gRPC :50051
docker compose up -d
or:
podman compose up -d
Check logs:
docker logs px4-sitl
docker logs mavsdk-server
A successful connection should show:
New system on: <PX4_IP>:14580
System discovered
Server started
Server set to listen on 0.0.0.0:50051
rishav2404/px4-sitl:1.0.0
rishav2404/mavsdk-server:1.0.0
Use latest for development.
The image contains a customized:
/opt/px4/etc/init.d-posix/px4-rc.mavlink
The MAVSDK destination is configurable through:
PX4_MAVLINK_OFFBOARD_HOST
Content type
Image
Digest
sha256:bd870f265…
Size
42.9 MB
Last updated
about 2 months ago
docker pull rishav2404/px4-sitl