FLEET OPERATIONS · MOVING GROUND STATION · PX4 × 3
Three drones, one moving carrier.
Three PX4 instances launch in turn from pads on a carrier vehicle, fly separate inspection legs at 3, 4.5 and 6 m, then land back on their pads while the carrier drives. A ground station grants one launch and one landing at a time; every drone keeps its own C++ supervisor and PX4 failsafes.
FLEET CHECKS—Independent observations
CLOSEST APPROACH—Between airborne drones
CARRIER TRAVEL—While recovering the fleet
WORST PAD ERROR—At touchdown on the moving deck
Fleet replay
Trails are PX4 estimates converted to world coordinates; grey dashed routes are each drone's plan. After touchdown a drone is drawn on its pad, because PX4's own estimate stops following a moving deck once it has landed (explained in the SITL guide); the deck camera shows where the drones physically are. Drones are drawn 1.5× for visibility. This is a recorded replay, not a live console.
Acceptance checks
Launches, phases and landings
Real: three PX4 flight-firmware instances with EKF2, Gazebo physics for the drones and the carrier, ROS 2 over XRCE-DDS, and each drone's C++ supervisor. The carrier's road is obstacle-free by design, and the carrier's motion comes from Gazebo's velocity controller. Recording two cameras runs this simulation below real time; every adapter judges freshness on simulation time, as PX4 does.