update the 2d lidar models, and add the new 1D lidar models

de/releases/main.md

@@ -49,7 +49,9 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 - [SIH]: 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)).
 - [Gazebo]:
   - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4. The default installer scripts (used for CI) and documentation have been updated. This is required because Garden end-of-life is Nov 2024. ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
-  - New vehicle model `x500_lidar` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_2d` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
+  - New vehicle model `x500_lidar_front` — [x500 Quadrotor with a front facing 1D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-front-facing-1d-lidar). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
+  - New vehicle model `x500_lidar_down` — [x500 Quadrotor with a 1D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
   - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
   - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
 

de/sim_gazebo_gz/index.md

@@ -40,17 +40,19 @@ This runs both the PX4 SITL instance and the Gazebo client.
 
 The supported vehicles and `make` commands are listed below. Note that all gazebo make targets have the prefix `gz_`.
 
-| Vehicle                                                                                                  | Command                            | `PX4_SYS_AUTOSTART` |
-| -------------------------------------------------------------------------------------------------------- | ---------------------------------- | ------------------- |
-| [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                |
-| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover)                                    | `make px4_sitl gz_r1_rover`        | 4009                |
-| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)                                          | `make px4_sitl gz_rover_ackermann` | 4012                |
+| Vehicle                                                                                                               | Command                            | `PX4_SYS_AUTOSTART` |
+| --------------------------------------------------------------------------------------------------------------------- | ---------------------------------- | ------------------- |
+| [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 1D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar)                            | `make px4_sitl gz_x500_lidar_down` | 4016                |
+| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)                            | `make px4_sitl gz_x500_lidar_2d`   | 4013                |
+| [Quadrotor(x500) with front facing 1D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-front-facing-1d-lidar)  | `make px4_sitl gz_x500_lidar_front`| 4017                |
+| [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                |
+| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover)                                                 | `make px4_sitl gz_r1_rover`        | 4009                |
+| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)                                                       | `make px4_sitl gz_rover_ackermann` | 4012                |
 
 All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
 

en/computer_vision/collision_prevention.md

@@ -187,18 +187,18 @@ In order to emit `OBSTACLE_DISTANCE` messages you must use the _rqt_reconfigure_
 
 ## Gazebo Simulation
 
-_Collision Prevention_ can be tested using [Gazebo](../sim_gazebo_gz/index.md) with the [x500_lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) model.
+_Collision Prevention_ can be tested using [Gazebo](../sim_gazebo_gz/index.md) with the [x500_lidar_2d](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) model.
 To do this, start a simulation with the x500 lidar model by running the following command:
 
 ```sh
-make px4_sitl gz_x500_lidar
+make px4_sitl gz_x500_lidar_2d
 ```
 
 Next, adjust the relevant parameters to the appropriate values and add arbitrary obstacles to your simulation world to test the collision prevention functionality.
 
 The diagram below shows how the simulation looks when viewed in Gazebo.
 
-![RViz image of collision detection using the x500_lidar model in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_viz.png)
+![RViz image of collision detection using the x500_lidar_2d model in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_2d_viz.png)
 
 <!-- PR companion collision prevention (initial): https://github.com/PX4/PX4-Autopilot/pull/10785 -->
 <!-- PR for FC sensor collision prevention: https://github.com/PX4/PX4-Autopilot/pull/12179 -->

en/sim_gazebo_gz/vehicles.md

@@ -62,22 +62,48 @@ This can be used with the [Aruco world](../sim_gazebo_gz/worlds.md#aruco) to tes
 make px4_sitl gz_x500_mono_cam_down
 ```
 
+### X500 Quadrotor with 1D LIDAR
+
+This model have a LIDAR attached to the bottom, modelled on the Lightware LW20/C.
+
+It has a range between 0.1 and 100m.
+
+The model can be used for testing [Rangefinder](../sensor/rangefinders.md) usecases like [landing](../flight_modes_mc/land.md) or [terrain following](../flying/terrain_following_holding.md).
+
+```sh
+make px4_sitl gz_x500_lidar_front
+```
+
+![x500 with frontfacing 1D LIDAR in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_front.png)
 ### X500 Quadrotor with 2D LIDAR
 
 This model have a 2D LIDAR attached, modelled on the Hokuyo UTM-30LX.
 It has a range between 0.1 and 30m, and scans in a 270° arc.
 The model can be used for testing [Collision Prevention](../computer_vision/collision_prevention.md#gazebo-simulation).
 
 ```sh
-make px4_sitl gz_x500_lidar
+make px4_sitl gz_x500_lidar_2d
 ```
 
-![x500 with 2D LIDAR in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar.png)
+![x500 with 2D LIDAR in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_2d.png)
 
 ::: info
-The model cannot be used for testing normal [rangefinder](../sensor/rangefinders.md#gazebo-simulation) use cases, such as terrain following, as the information is not written to the [DistanceSensor](../msg_docs/DistanceSensor.md) topic (it is written to the [ObstacleDistance](../msg_docs/ObstacleDistance.md) UORB message used by collision prevention).
+The sensor information is written to the [ObstacleDistance](../msg_docs/ObstacleDistance.md) UORB message used by collision prevention).
 :::
+
+### X500 Quadrotor with front facing 1D LIDAR
+
+This model have a LIDAR attached to the front, modelled on the Lightware LW20/C.
+
+It has a range between 0.2 and 100m.
+
+The model can be used for testing [Collision Prevention](../computer_vision/collision_prevention.md#gazebo-simulation).
+
+```sh
+make px4_sitl gz_x500_lidar_front
+```
 
+![x500 with frontfacing 1D LIDAR in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_front.png)
 ## Plane/Fixed-wing
 
 ### Standard Plane