From 06a91d2345227c3216f9fb99b7ec85cfb59207d9 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 30 Jun 2025 18:27:11 +0200
Subject: [PATCH] Add SIH hexarotor airframe

Note that this consumes 512 bytes more flash and
that's also why I didn't add it earlier.
---
 .../init.d/airframes/1104_hex_x_sih.hil       | 49 +++++++++++++++++++
 .../init.d/airframes/CMakeLists.txt           |  1 +
 2 files changed, 50 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d/airframes/1104_hex_x_sih.hil

diff --git a/ROMFS/px4fmu_common/init.d/airframes/1104_hex_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1104_hex_x_sih.hil
new file mode 100644
index 0000000000..1734ba92b5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/1104_hex_x_sih.hil
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name SIH Hexarotor X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Matthias Grob <maetugr@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set UAVCAN_ENABLE 0
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_FUNC6 106
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index d9142ec1c5..27c9b90e4a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -49,6 +49,7 @@ if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM)
 		1101_rc_plane_sih.hil
 		1102_tailsitter_duo_sih.hil
 		1103_standard_vtol_sih.hil
+		1104_hex_x_sih.hil
 	)
 endif()