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

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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>
This commit is contained in:
Ramon Roche
2026-03-16 07:44:12 -07:00
parent 082beb885d
commit 2fc70dea3e
4 changed files with 126 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10046_sihsim_quadx_vision
+38
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@@ -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
+1
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@@ -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