feat(simulation): add SIH SITL board and quadx_vision airframe

Add px4_sitl_sih board configuration (Gazebo disabled) and airframe
10046_sihsim_quadx_vision for GPS-based SIH multi-instance swarm
simulation. The airframe enables simulated GPS, baro, and mag sensors
with standard quadrotor X configuration.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

ROMFS/px4fmu_common/init.d-posix/airframes/10046_sihsim_quadx_vision

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name QuadrotorX SITL for SIH (Swarm)
+#
+# @type Quadrotor
+#
+# @maintainer Ramon Roche <mrpollo@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
+
+# Simulated sensors: GPS + baro + mag
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+# Square quadrotor X PX4 numbering
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 1
+param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR1_PX -1
+param set-default CA_ROTOR1_PY -1
+param set-default CA_ROTOR2_PX 1
+param set-default CA_ROTOR2_PY -1
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -1
+param set-default CA_ROTOR3_PY 1
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set SIH_VEHICLE_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -107,6 +107,7 @@ px4_add_romfs_files(
 	10043_sihsim_standard_vtol
 	10044_sihsim_hex
 	10045_sihsim_rover_ackermann
+	10046_sihsim_quadx_vision
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2

boards/px4/sitl/sih.px4board

@@ -0,0 +1,86 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_VERBOSE_STATUS=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=10000
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=n
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=n
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_IMU=y
+CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_MODULES_SPACECRAFT=n

src/modules/simulation/simulator_sih/CMakeLists.txt

@@ -52,6 +52,7 @@ if(PX4_PLATFORM MATCHES "posix")
 	set(models
 		airplane
 		quadx
+		quadx_vision
 		xvert
 		standard_vtol
 		hex