Is there a way to change the firmware of the drone?

[samchurch-riis]

I would like to create a custom version of the px4 firmware and would like to use it on my machine, is there a way to overwrite the current firmware on the simulated drone?

[julianoes]

You can use the normal SITL approach as described in the PX4 docs: https://docs.px4.io/master/en/simulation/