remove developing comments and cleanup

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim

@@ -27,8 +27,6 @@ else
 	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 fi
 
-echo "mvlinksim"
-
 # Start sensor simulation manager for additional sensors not handled by gz
 if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
 then

src/modules/simulation/failure_injection/failureInjection.cpp

@@ -1,11 +1,6 @@
 
 #include <simulation/failure_injection/failureInjection.hpp>
 
-void FailureInjection::test()
-{
-	printf("test\n");
-}
-
 bool FailureInjection::handle_gps_failure(sensor_gps_s &gps)
 {
 	if (_gps_blocked) {
@@ -39,7 +34,7 @@ bool FailureInjection::handle_gps_failure(sensor_gps_s &gps)
 			matrix::Vector2f vel_gps(gps.vel_n_m_s, gps.vel_e_m_s);
 			const float vel_norm = vel_gps.norm();
 
-			// directional drift by 5%
+			// directional drift by RELATIVE_GPS_DRIFT
 			if (vel_norm > 1.f) {
 				vel_gps *= 1.f + RELATIVE_GPS_DRIFT;
 
@@ -50,7 +45,7 @@ bool FailureInjection::handle_gps_failure(sensor_gps_s &gps)
 				vel_gps(0) = 0.5f;
 			}
 
-			// perpendicular drift by 5%
+			// perpendicular drift
 			matrix::Vector2f vel_normal = vel_gps.normalized();
 			vel_gps(0) += vel_norm * RELATIVE_GPS_DRIFT * vel_normal(1);
 			vel_gps(1) -= vel_norm * RELATIVE_GPS_DRIFT * vel_normal(0);
@@ -165,7 +160,7 @@ void FailureInjection::check_failure_injections()
 				// }
 
 			} else if (failure_type == vehicle_command_s::FAILURE_TYPE_DRIFT) {
-				PX4_INFO("CMD_INJECT_FAILURE, GPsS drift");
+				PX4_INFO("CMD_INJECT_FAILURE, GPS drift");
 				supported = true;
 				_gps_drift = true;
 
@@ -285,7 +280,7 @@ void FailureInjection::check_failure_injections()
 				// 0 to signal all
 				if (instance == 0) {
 					for (int i = 0; i < GYRO_COUNT_MAX; i++) {
-						PX4_WARN("CMD_INJECT_FAILUREe, gyro %d stuck", i);
+						PX4_WARN("CMD_INJECT_FAILURE, gyro %d stuck", i);
 						_gyro_blocked[i] = false;
 						_gyro_stuck[i] = true;
 					}

src/modules/simulation/failure_injection/failureInjection.hpp

@@ -1,4 +1,37 @@
+/****************************************************************************
+*
+*   Copyright (c) 2019-2025 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
 
+#pragma once
 
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
@@ -21,7 +54,7 @@ static constexpr uint8_t GYRO_COUNT_MAX  = 4;
 static constexpr uint8_t MAG_COUNT_MAX   = 4;
 static constexpr uint8_t BARO_COUNT_MAX  = 4;
 
-
+// drift by 10%
 static constexpr float RELATIVE_GPS_DRIFT = 0.1f;
 
 class FailureInjection
@@ -29,8 +62,6 @@ class FailureInjection
 
 public:
 	FailureInjection() {};
-	void test();
-
 
 	void check_failure_injections();
 	bool handle_gps_failure(sensor_gps_s &gps);

src/modules/simulation/sensor_sim_manager/SensorSimManager.hpp

@@ -144,7 +144,6 @@ private:
 	float _last_baro_pressure{0.0f};
 	float _last_baro_temperature{0.0f};
 
-	// TODO: needed?
 	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 	perf_counter_t _gps_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": gps")};
 	perf_counter_t _baro_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": baro")};
@@ -179,7 +178,7 @@ private:
 
 	hrt_abstime _last_baro_update_time{0};
 	float _baro_drift_pa{0.0f};
-	float _baro_drift_pa_per_sec{0.1f}; // TODO, was 0
+	float _baro_drift_pa_per_sec{0.1f};
 	bool _baro_rnd_use_last{false};
 	double _baro_rnd_y2{0.0};