added x500_lidar model

PX4 · Jul 17, 2024 · 3e69be9 · 3e69be9
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diff --git a/assets/simulation/gazebo/vehicles/x500_lidar.png b/assets/simulation/gazebo/vehicles/x500_lidar.png
diff --git a/en/releases/main.md b/en/releases/main.md
@@ -49,6 +49,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 - The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7.
   ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
+- Added 'x500_lidar' [Gazebo model](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)
 
 ### Ethernet
 

diff --git a/en/sim_gazebo_gz/index.md b/en/sim_gazebo_gz/index.md
@@ -48,6 +48,7 @@ Note that all gazebo make targets have the prefix `gz_`.
 | [Quadrotor(x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor)                                           | `make px4_sitl gz_x500`           | 4001                |
 | [Quadrotor(x500) with Depth Camera](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera)       | `make px4_sitl gz_x500_depth`     | 4002                |
 | [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision`    | 4005                |
+| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)               | `make px4_sitl gz_x500_lidar`     | 4013                |
 | [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol)                                                       | `make px4_sitl gz_standard_vtol`  | 4004                |
 | [Plane](../sim_gazebo_gz/vehicles.md#standard-plane)                                                     | `make px4_sitl gz_rc_cessna`      | 4003                |
 | [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane)                                            | `make px4_sitl gz_advanced_plane` | 4008                |

diff --git a/en/sim_gazebo_gz/vehicles.md b/en/sim_gazebo_gz/vehicles.md
@@ -51,7 +51,17 @@ make px4_sitl gz_x500_mono_cam
 The camera cannot yet be used to stream video or for image capture in QGroundControl.
 [PX4-Autopilot#22563](https://github.com/PX4/PX4-Autopilot/issues/22563) can be used to track the additional work needed to fully enable these use cases.
 :::
+### X500 Quadrotor with 2D LIDAR
 
+This model have a 2D LIDAR attached, modelled on the Hokuyo TM-30LX.
+
+
+
+```sh
+make px4_sitl gz_x500_lidar
+```
+
+![x500 with 2D LIDAR in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar.png)
 ## Plane/Fixed-wing
 
 ### Standard Plane