First, install the Gazebo simulator:

Check Gazebo's official tutorial.

Next, build PX4 SITL to provide MAVLink translation plugin for Gazebo:

git clone https://github.com/tenok-rtos/gazebo.git
cd gazebo
git submodule update --init --recursive
cd PX4-Autopilot
make px4_sitl_default gazebo

Additionally, build gazebo_bridge for forwarding messages between Tenok (serial) and Gazebo (TCP/IP):

cd tenok/tools/gazebo_bridge

make

After finishing the installation, launch Gazeobo simulator:

./run_gazebo.sh

By the same time, launch Tenok with QEMU:

make qemu # Or use real hardware alternatively

The user should expect to see similar output as following:

char device redirected to /dev/pts/X (label serial1)
char device redirected to /dev/pts/Y (label serial2)
[    0.001000000] Tenok RTOS (built time: 11:14:41 Nov  8 2023)
[    0.001000000] Machine model: stm32f407
[    0.006000000] chardev serial0: console
[    0.008000000] chardev serial1: mavlink
[    0.008000000] chardev serial2: debug-link
[    0.008000000] blkdev rom: romfs storage
type `help' for help
user@stm32f407:/$

Next, launch Gazeobo bridge with the serial path given by QEMU:

cd tenok/tools/gazebo_bridge
make
./gazebo_bridge -i 127.0.0.1 -p 4560 -s /dev/pts/X -b 115200

Finally, the simulation should start. Note that 115200 is the default baudate of the MAVLink port set by Tenok.