diff --git a/docker-compose.yml b/docker-compose.yml
index 7693e5d..fa7f8a3 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -7,4 +7,15 @@ services:
       - ./software:/software
       - ${PWD}/Makefile:/Makefile
     container_name: maav-run
-    command: "make ${ACTION}"
\ No newline at end of file
+    command: "make ${ACTION}"
+  gazebo:
+    image: maav-software
+    volumes:
+      - ./software:/software
+      - ${PWD}/Makefile:/Makefile
+      - $HOME/.Xauthority:/root/.Xauthority:rw
+    environment:
+      - DISPLAY
+    network_mode: "host"
+    container_name: gazebo-run
+    command: "gazebo"
diff --git a/scripts/build_gazebo.sh b/scripts/build_gazebo.sh
new file mode 100755
index 0000000..1478c91
--- /dev/null
+++ b/scripts/build_gazebo.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+# Run this command from the container only to build the PX4 firmware.
+# This will launch a PX4 shell, so once the command stops running you can
+# CTRL+C or exit. To save the build files, docker commit your container
+cd /PX4Firmware
+num_procs_avail=$(($(grep -c ^processor /proc/cpuinfo)-1))
+make posix_sitl_default gazebo -j$((num_procs_avail > 1 ? num_procs_avail : 1))
diff --git a/scripts/setup_sim.sh b/scripts/setup_sim.sh
index c931d24..dfaea4b 100755
--- a/scripts/setup_sim.sh
+++ b/scripts/setup_sim.sh
@@ -7,10 +7,7 @@ curl -sSL http://get.gazebosim.org | sh
 
 # Install PX4 firmware
 echo "Installing PX4 firmware"
-wget https://github.com/PX4/Firmware/archive/v1.9.2.zip -O Firmware.zip
-unzip Firmware.zip
-rm Firmware.zip
-mv Firmware-1.9.2 PX4Firmware
+git clone --single-branch --branch v1.8.2 https://github.com/PX4/Firmware/ PX4Firmware
 
 # Ubuntu Config
 echo "We must first remove modemmanager"
@@ -57,4 +54,4 @@ if [ ! -f exe/QGroundControl.AppImage ]; then
 	echo "Downloading QGroundControl"
 	wget https://s3-us-west-2.amazonaws.com/qgroundcontrol/builds/master/QGroundControl.AppImage -P /bin
 	chmod a+x /bin/QGroundControl.AppImage
-fi
\ No newline at end of file
+fi