simulation organization and cleanup

- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)

src/modules/ignition_simulator/Kconfig

@@ -1,5 +0,0 @@
-menuconfig MODULES_IGNITION_SIMULATOR
-	bool "ignition_simulator"
-	default n
-	---help---
-		Enable support for ignition_simulator

src/modules/sih/Kconfig

@@ -1,12 +0,0 @@
-menuconfig MODULES_SIH
-	bool "sih"
-	default n
-	---help---
-		Enable support for sih
-
-menuconfig USER_SIH
-	bool "sih running as userspace module"
-	default y
-	depends on BOARD_PROTECTED && MODULES_SIH
-	---help---
-		Put sih in userspace memory

src/modules/simulation/Kconfig

@@ -0,0 +1,15 @@
+menu "Simulation"
+    menuconfig COMMON_SIMULATION
+        bool "Common simulation modules"
+        default n
+        select MODULES_SIMULATION_BATTERY_SIMULATOR
+        select MODULES_SIMULATION_PWM_OUT_SIM
+        select MODULES_SIMULATION_SENSOR_BARO_SIM
+        select MODULES_SIMULATION_SENSOR_GPS_SIM
+        select MODULES_SIMULATION_SENSOR_MAG_SIM
+        select MODULES_SIMULATION_SIMULATOR_MAVLINK
+        select MODULES_SIMULATION_SIMULATOR_SIH
+        ---help---
+            Enable default set of simulation modules
+    rsource "*/Kconfig"
+endmenu

src/modules/simulation/battery_simulator/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020-2022 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
@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__simulator__battery_simulator
+	MODULE modules__simulation__battery_simulator
 	MAIN battery_simulator
 	COMPILE_FLAGS
 	SRCS

src/modules/simulation/battery_simulator/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_BATTERY_SIMULATOR
+	bool "battery_simulator"
+	default n
+	---help---
+		Enable support for battery_simulator

src/modules/simulation/pwm_out_sim/CMakeLists.txt

@@ -0,0 +1,50 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+if(${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL} STREQUAL "px4_sitl")
+	set(module_config "module_sim.yaml")
+else()
+	set(module_config "module_hil.yaml")
+endif()
+
+px4_add_module(
+	MODULE modules__simulation__pwm_out_sim
+	MAIN pwm_out_sim
+	SRCS
+		PWMSim.cpp
+	MODULE_CONFIG
+		${module_config}
+	DEPENDS
+		mixer
+		mixer_module
+	)

src/modules/simulation/pwm_out_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_PWM_OUT_SIM
+	bool "pwm_out_sim"
+	default n
+	---help---
+		Enable support for pwm_out_sim

src/modules/simulation/pwm_out_sim/PWMSim.cpp

@@ -0,0 +1,330 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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.
+ *
+ ****************************************************************************/
+
+#include "PWMSim.hpp"
+
+#include <mathlib/mathlib.h>
+#include <px4_platform_common/getopt.h>
+
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>
+
+#include <px4_platform_common/sem.hpp>
+
+PWMSim::PWMSim(bool hil_mode_enabled) :
+	CDev(PWM_OUTPUT0_DEVICE_PATH),
+	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+	_mixing_output.setAllDisarmedValues(PWM_SIM_DISARMED_MAGIC);
+	_mixing_output.setAllFailsafeValues(PWM_SIM_FAILSAFE_MAGIC);
+	_mixing_output.setAllMinValues(PWM_SIM_PWM_MIN_MAGIC);
+	_mixing_output.setAllMaxValues(PWM_SIM_PWM_MAX_MAGIC);
+
+	_mixing_output.setIgnoreLockdown(hil_mode_enabled);
+
+	CDev::init();
+}
+
+void
+PWMSim::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		_mixing_output.unregister();
+
+		exit_and_cleanup();
+		return;
+	}
+
+	SmartLock lock_guard(_lock);
+
+	_mixing_output.update();
+
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+		updateParams();
+	}
+
+	// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
+	_mixing_output.updateSubscriptions(true);
+}
+
+bool
+PWMSim::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+		      unsigned num_control_groups_updated)
+{
+	// Only publish once we receive actuator_controls (important for lock-step to work correctly)
+	if (num_control_groups_updated > 0) {
+		actuator_outputs_s actuator_outputs{};
+		actuator_outputs.noutputs = num_outputs;
+
+		const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
+
+		for (int i = 0; i < (int)num_outputs; i++) {
+			if (outputs[i] != PWM_SIM_DISARMED_MAGIC) {
+
+				OutputFunction function = _mixing_output.outputFunction(i);
+				bool is_reversible = reversible_outputs & (1u << i);
+				float output = outputs[i];
+
+				if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax)
+				    && !is_reversible) {
+					// Scale non-reversible motors to [0, 1]
+					actuator_outputs.output[i] = (output - PWM_SIM_PWM_MIN_MAGIC) / (PWM_SIM_PWM_MAX_MAGIC - PWM_SIM_PWM_MIN_MAGIC);
+
+				} else {
+					// Scale everything else to [-1, 1]
+					const float pwm_center = (PWM_SIM_PWM_MAX_MAGIC + PWM_SIM_PWM_MIN_MAGIC) / 2.f;
+					const float pwm_delta = (PWM_SIM_PWM_MAX_MAGIC - PWM_SIM_PWM_MIN_MAGIC) / 2.f;
+					actuator_outputs.output[i] = (output - pwm_center) / pwm_delta;
+				}
+			}
+		}
+
+		actuator_outputs.timestamp = hrt_absolute_time();
+		_actuator_outputs_sim_pub.publish(actuator_outputs);
+		return true;
+	}
+
+	return false;
+}
+
+int
+PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+{
+	SmartLock lock_guard(_lock);
+
+	int ret = OK;
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		break;
+
+	case PWM_SERVO_DISARM:
+		break;
+
+	case PWM_SERVO_SET_MIN_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < pwm->channel_count; i++) {
+				if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
+					_mixing_output.minValue(i) = pwm->values[i];
+				}
+			}
+
+			break;
+		}
+
+	case PWM_SERVO_SET_MAX_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < pwm->channel_count; i++) {
+				if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
+					_mixing_output.maxValue(i) = pwm->values[i];
+				}
+			}
+
+			break;
+		}
+
+	case PWM_SERVO_SET_UPDATE_RATE:
+		// PWMSim does not limit the update rate
+		break;
+
+	case PWM_SERVO_SET_SELECT_UPDATE_RATE:
+		break;
+
+	case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
+		*(uint32_t *)arg = 9999;
+		break;
+
+	case PWM_SERVO_GET_UPDATE_RATE:
+		*(uint32_t *)arg = 9999;
+		break;
+
+	case PWM_SERVO_GET_SELECT_UPDATE_RATE:
+		*(uint32_t *)arg = 0;
+		break;
+
+	case PWM_SERVO_GET_FAILSAFE_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+				pwm->values[i] = _mixing_output.failsafeValue(i);
+			}
+
+			pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
+			break;
+		}
+
+	case PWM_SERVO_GET_DISARMED_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+				pwm->values[i] = _mixing_output.disarmedValue(i);
+			}
+
+			pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
+			break;
+		}
+
+	case PWM_SERVO_GET_MIN_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+				pwm->values[i] = _mixing_output.minValue(i);
+			}
+
+			pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
+			break;
+		}
+
+	case PWM_SERVO_GET_MAX_PWM: {
+			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+			for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
+				pwm->values[i] = _mixing_output.maxValue(i);
+			}
+
+			pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
+			break;
+		}
+
+	case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
+			// no restrictions on output grouping
+			unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
+
+			*(uint32_t *)arg = (1 << channel);
+			break;
+		}
+
+	case PWM_SERVO_GET_COUNT:
+		*(unsigned *)arg = OutputModuleInterface::MAX_ACTUATORS;
+		break;
+
+	case MIXERIOCRESET:
+		_mixing_output.resetMixer();
+		break;
+
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strlen(buf);
+			ret = _mixing_output.loadMixer(buf, buflen);
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	return ret;
+}
+
+int
+PWMSim::task_spawn(int argc, char *argv[])
+{
+	bool hil_mode = false;
+
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "m:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'm':
+			hil_mode = strcmp(myoptarg, "hil") == 0;
+			break;
+
+		default:
+			return print_usage("unrecognized flag");
+		}
+	}
+
+	PWMSim *instance = new PWMSim(hil_mode);
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return -1;
+	}
+
+	_object.store(instance);
+	_task_id = task_id_is_work_queue;
+	instance->ScheduleNow();
+	return 0;
+}
+
+int PWMSim::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int PWMSim::print_status()
+{
+	_mixing_output.printStatus();
+	return 0;
+}
+
+int PWMSim::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Driver for simulated PWM outputs.
+
+Its only function is to take `actuator_control` uORB messages,
+mix them with any loaded mixer and output the result to the
+`actuator_output` uORB topic.
+
+It is used in SITL and HITL.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("pwm_out_sim", "driver");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the module");
+	PRINT_MODULE_USAGE_PARAM_STRING('m', "sim", "hil|sim", "Mode", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
+{
+	return PWMSim::main(argc, argv);
+}

src/modules/simulation/pwm_out_sim/PWMSim.hpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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/device/device.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
+#include <drivers/drv_pwm_output.h>
+#include <lib/mixer_module/mixer_module.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+
+#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
+#define PARAM_PREFIX "PWM_MAIN"
+#else
+#define PARAM_PREFIX "HIL_ACT"
+#endif
+
+
+using namespace time_literals;
+
+class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
+{
+public:
+	PWMSim(bool hil_mode_enabled);
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
+
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+
+private:
+
+	void Run() override;
+
+	static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
+	static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
+	static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
+	static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;
+
+	MixingOutput _mixing_output{PARAM_PREFIX, MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
+	uORB::Publication<actuator_outputs_s> _actuator_outputs_sim_pub{ORB_ID(actuator_outputs_sim)};
+};

src/modules/simulation/pwm_out_sim/module_hil.yaml

@@ -0,0 +1,8 @@
+
+module_name: HIL
+actuator_output:
+  show_subgroups_if: 'SYS_HITL>0'
+  output_groups:
+    - param_prefix: HIL_ACT
+      channel_label: Channel
+      num_channels: 16

src/modules/simulation/pwm_out_sim/module_sim.yaml

@@ -0,0 +1,7 @@
+
+module_name: SIM
+actuator_output:
+  output_groups:
+    - param_prefix: PWM_MAIN
+      channel_label: Channel
+      num_channels: 16

src/modules/simulation/sensor_baro_sim/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2021-2022 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
@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__simulator__sensor_baro_sim
+	MODULE modules__simulation__sensor_baro_sim
 	MAIN sensor_baro_sim
 	COMPILE_FLAGS
 	SRCS

src/modules/simulation/sensor_baro_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_BARO_SIM
+	bool "sensor_baro_sim"
+	default n
+	---help---
+		Enable support for sensor_baro_sim

src/modules/simulation/sensor_gps_sim/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2021-2022 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
@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__simulator__sensor_gps_sim
+	MODULE modules__simulation__sensor_gps_sim
 	MAIN sensor_gps_sim
 	COMPILE_FLAGS
 	SRCS

src/modules/simulation/sensor_gps_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_GPS_SIM
+	bool "sensor_gps_sim"
+	default n
+	---help---
+		Enable support for sensor_gps_sim

src/modules/simulation/sensor_mag_sim/CMakeLists.txt

@@ -32,7 +32,7 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__simulator__sensor_mag_sim
+	MODULE modules__simulation__senosr_mag_sim
 	MAIN sensor_mag_sim
 	COMPILE_FLAGS
 	SRCS

src/modules/simulation/sensor_mag_sim/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SENSOR_MAG_SIM
+	bool "sensor_mag_sim"
+	default n
+	---help---
+		Enable support for sensor_mag_sim

src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022 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
@@ -32,7 +32,6 @@
 ############################################################################
 
 add_compile_options(-frtti -fexceptions)
-#add_compile_options(-fexceptions)
 
 # Find the Ignition_Transport library
 find_package(ignition-transport
@@ -41,33 +40,64 @@ find_package(ignition-transport
 		ignition-transport8
 		ignition-transport10
 		ignition-transport11
-
 	#QUIET
 )
-
-message(STATUS "PACKAGE_FIND_NAME: ${ignition-transport_NAME}")
-message(STATUS "PACKAGE_FIND_VERSION_MAJOR: ${ignition-transport_VERSION_MAJOR}")
-message(STATUS "PACKAGE_FIND_VERSION_MINOR: ${ignition-transport_VERSION_MINOR}")
-message(STATUS "PACKAGE_FIND_VERSION_COUNT: ${ignition-transport_VERSION_COUNT}")
-
 set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
 
 px4_add_module(
-	MODULE modules__ignition_simulator
-	MAIN ignition_simulator
+	MODULE modules__simulation__ignition_bridge
+	MAIN simulator_ignition_bridge
 	COMPILE_FLAGS
-		#${MAX_CUSTOM_OPT_LEVEL}
-		-O0
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
-		IgnitionSimulator.cpp
-		IgnitionSimulator.hpp
+		SimulatorIgnitionBridge.cpp
+		SimulatorIgnitionBridge.hpp
 	DEPENDS
 		drivers_accelerometer
 		drivers_gyroscope
 		mixer_module
 		px4_work_queue
+		ignition-transport${IGN_TRANSPORT_VER}::core
 	MODULE_CONFIG
 		module.yaml
 )
 
-target_link_libraries(modules__ignition_simulator PRIVATE ignition-transport${IGN_TRANSPORT_VER}::core)
+file(GLOB ign_models
+	LIST_DIRECTORIES true
+	RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
+	CONFIGURE_DEPENDS
+	${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
+)
+
+file(GLOB ign_worlds
+	CONFIGURE_DEPENDS
+	${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
+)
+
+foreach(model ${ign_models})
+	foreach(world ${ign_worlds})
+
+		get_filename_component("world_name" ${world} NAME_WE)
+
+		if(world_name MATCHES "default")
+			add_custom_target(ign_${model}
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4
+			)
+		else()
+			add_custom_target(ign_${model}_${world_name}
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4
+			)
+		endif()
+	endforeach()
+endforeach()
+
+
+# TODO: PX4_IGN_MODELS_PATH
+# PX4_IGN_WORLDS_PATH
+configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)

src/modules/simulation/simulator_ignition_bridge/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE
+	bool "simulator_ignition_bridge"
+	default n
+	---help---
+		Enable support for simulator_ignition_bridge

src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "IgnitionSimulator.hpp"
+#include "SimulatorIgnitionBridge.hpp"
 
 #include <uORB/Subscription.hpp>
 
@@ -42,7 +42,7 @@
 #include <iostream>
 #include <string>
 
-IgnitionSimulator::IgnitionSimulator(const char *world, const char *model) :
+SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_px4_accel(1310988),  // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	_px4_gyro(1310988),   // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
@@ -54,7 +54,7 @@ IgnitionSimulator::IgnitionSimulator(const char *world, const char *model) :
 	updateParams();
 }
 
-IgnitionSimulator::~IgnitionSimulator()
+SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
 {
 	// TODO: unsubscribe
 
@@ -63,18 +63,54 @@ IgnitionSimulator::~IgnitionSimulator()
 	}
 }
 
-int IgnitionSimulator::init()
+int SimulatorIgnitionBridge::init()
 {
+	// service call to create model
+	// ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
+	ignition::msgs::EntityFactory req{};
+	req.set_sdf_filename(_model_name + "/model.sdf");
+
+	// TODO: support model instances?
+	// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
+	req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
+
+	// /world/$WORLD/create service.
+	ignition::msgs::Boolean rep;
+	bool result;
+	std::string create_service = "/world/" + _world_name + "/create";
+
+	if (_node.Request(create_service, req, 1000, rep, result)) {
+		if (!result) {
+			PX4_ERR("Service call failed");
+			return PX4_ERROR;
+		}
+
+	} else {
+		PX4_ERR("Service call timed out");
+		return PX4_ERROR;
+	}
+
+
 	// clock
 	std::string clock_topic = "/world/" + _world_name + "/clock";
-	_node.Subscribe(clock_topic, &IgnitionSimulator::clockCallback, this);
 
+	if (!_node.Subscribe(clock_topic, &SimulatorIgnitionBridge::clockCallback, this)) {
+		return PX4_ERROR;
+	}
+
+	// pose: /world/$WORLD/pose/info
 	std::string world_pose_topic = "/world/" + _world_name + "/pose/info";
-	_node.Subscribe(world_pose_topic, &IgnitionSimulator::poseInfoCallback, this);
 
+	if (!_node.Subscribe(world_pose_topic, &SimulatorIgnitionBridge::poseInfoCallback, this)) {
+		return PX4_ERROR;
+	}
+
+	// IMU: /world/$WORLD/model/$MODEL//link/base_link/sensor/imu_sensor/imu
 	std::string imu_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/base_link/sensor/imu_sensor/imu";
-	_node.EnableStats(imu_topic, true);
-	_node.Subscribe(imu_topic, &IgnitionSimulator::imuCallback, this);
+
+	if (!_node.Subscribe(imu_topic, &SimulatorIgnitionBridge::imuCallback, this)) {
+		return PX4_ERROR;
+	}
 
 	for (auto &sub_topic : _node.SubscribedTopics()) {
 		PX4_INFO("subscribed: %s", sub_topic.c_str());
@@ -93,9 +129,9 @@ int IgnitionSimulator::init()
 	return OK;
 }
 
-int IgnitionSimulator::task_spawn(int argc, char *argv[])
+int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 {
-	const char *world_name = "empty";
+	const char *world_name = "default";
 	const char *model_name = nullptr;
 
 	bool error_flag = false;
@@ -132,7 +168,7 @@ int IgnitionSimulator::task_spawn(int argc, char *argv[])
 
 	PX4_INFO("world: %s, model: %s", world_name, model_name);
 
-	IgnitionSimulator *instance = new IgnitionSimulator(world_name, model_name);
+	SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name);
 
 	if (instance) {
 		_object.store(instance);
@@ -153,7 +189,7 @@ int IgnitionSimulator::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-void IgnitionSimulator::clockCallback(const ignition::msgs::Clock &clock)
+void SimulatorIgnitionBridge::clockCallback(const ignition::msgs::Clock &clock)
 {
 	// uint64_t time_us = clock.sim().sec() * 1e6 + clock.sim().nsec() / 1000;
 	// PX4_INFO("clock %lu ", time_us);
@@ -164,7 +200,7 @@ void IgnitionSimulator::clockCallback(const ignition::msgs::Clock &clock)
 	px4_clock_settime(CLOCK_MONOTONIC, &ts);
 }
 
-void IgnitionSimulator::imuCallback(const ignition::msgs::IMU &imu)
+void SimulatorIgnitionBridge::imuCallback(const ignition::msgs::IMU &imu)
 {
 	// FLU -> FRD
 	static const auto q_FLU_to_FRD = ignition::math::Quaterniond(0, 1, 0, 0);
@@ -188,7 +224,7 @@ void IgnitionSimulator::imuCallback(const ignition::msgs::IMU &imu)
 	}
 }
 
-void IgnitionSimulator::poseInfoCallback(const ignition::msgs::Pose_V &pose)
+void SimulatorIgnitionBridge::poseInfoCallback(const ignition::msgs::Pose_V &pose)
 {
 	//const uint64_t time_us = pose.header().stamp().sec() * 1e6 + pose.header().stamp().nsec() / 1000;
 	const uint64_t time_us = hrt_absolute_time();
@@ -300,8 +336,8 @@ void IgnitionSimulator::poseInfoCallback(const ignition::msgs::Pose_V &pose)
 	}
 }
 
-bool IgnitionSimulator::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-				      unsigned num_control_groups_updated)
+bool SimulatorIgnitionBridge::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+		unsigned num_control_groups_updated)
 {
 	ignition::msgs::Actuators rotor_velocity_message;
 	rotor_velocity_message.mutable_velocity()->Resize(num_outputs, 0);
@@ -317,7 +353,7 @@ bool IgnitionSimulator::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACT
 	return false;
 }
 
-void IgnitionSimulator::Run()
+void SimulatorIgnitionBridge::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
@@ -342,7 +378,7 @@ void IgnitionSimulator::Run()
 	_mixing_output.updateSubscriptions(true);
 }
 
-int IgnitionSimulator::print_status()
+int SimulatorIgnitionBridge::print_status()
 {
 	//perf_print_counter(_cycle_perf);
 	_mixing_output.printStatus();
@@ -350,12 +386,12 @@ int IgnitionSimulator::print_status()
 	return 0;
 }
 
-int IgnitionSimulator::custom_command(int argc, char *argv[])
+int SimulatorIgnitionBridge::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int IgnitionSimulator::print_usage(const char *reason)
+int SimulatorIgnitionBridge::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -367,7 +403,7 @@ int IgnitionSimulator::print_usage(const char *reason)
 
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("ignition_simulator", "driver");
+	PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
@@ -376,7 +412,7 @@ int IgnitionSimulator::print_usage(const char *reason)
 	return 0;
 }
 
-extern "C" __EXPORT int ignition_simulator_main(int argc, char *argv[])
+extern "C" __EXPORT int simulator_ignition_bridge_main(int argc, char *argv[])
 {
-	return IgnitionSimulator::main(argc, argv);
+	return SimulatorIgnitionBridge::main(argc, argv);
 }

src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp

@@ -58,11 +58,11 @@
 
 using namespace time_literals;
 
-class IgnitionSimulator : public ModuleBase<IgnitionSimulator>, public OutputModuleInterface
+class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
 {
 public:
-	IgnitionSimulator(const char *world, const char *model);
-	~IgnitionSimulator() override;
+	SimulatorIgnitionBridge(const char *world, const char *model);
+	~SimulatorIgnitionBridge() override;
 
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
@@ -112,14 +112,14 @@ private:
 	const std::string _world_name;
 	const std::string _model_name;
 
-	MixingOutput _mixing_output{"SIM_GZ", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	ignition::transport::Node _node;
 	ignition::transport::Node::Publisher _actuators_pub;
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::SIM_HOME_LAT>) _param_sim_home_lat,
-		(ParamFloat<px4::params::SIM_HOME_LON>) _param_sim_home_lon,
-		(ParamFloat<px4::params::SIM_HOME_ALT>) _param_sim_home_alt
+		(ParamFloat<px4::params::SIM_IGN_HOME_LAT>) _param_sim_home_lat,
+		(ParamFloat<px4::params::SIM_IGN_HOME_LON>) _param_sim_home_lon,
+		(ParamFloat<px4::params::SIM_IGN_HOME_ALT>) _param_sim_home_alt
 	)
 };

src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+export PX4_IGN_GAZEBO_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/models
+export PX4_IGN_GAZEBO_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/worlds
+
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_IGN_GAZEBO_MODELS

src/modules/simulation/simulator_ignition_bridge/module.yaml

@@ -1,7 +1,7 @@
-module_name: SIM_GZ
+module_name: SIM_IGN
 actuator_output:
   output_groups:
-    - param_prefix: SIM_GZ
+    - param_prefix: SIM_IGN
       channel_label: Channel
       num_channels: 8
       standard_params:

src/modules/simulation/simulator_ignition_bridge/parameters.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022 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
@@ -37,7 +37,7 @@
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_HOME_LAT, 47.397742f);
+PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LAT, 47.397742f);
 
 /**
  * simulator origin longitude
@@ -45,7 +45,7 @@ PARAM_DEFINE_FLOAT(SIM_HOME_LAT, 47.397742f);
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_HOME_LON, 8.545594);
+PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LON, 8.545594);
 
 /**
  * simulator origin altitude
@@ -53,4 +53,4 @@ PARAM_DEFINE_FLOAT(SIM_HOME_LON, 8.545594);
  * @unit m
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_HOME_ALT, 488.0);
+PARAM_DEFINE_FLOAT(SIM_IGN_HOME_ALT, 488.0);

src/modules/simulation/simulator_mavlink/CMakeLists.txt

@@ -0,0 +1,59 @@
+############################################################################
+#
+#   Copyright (c) 2015-2022 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulation__simulator_mavlink
+	MAIN simulator_mavlink
+	COMPILE_FLAGS
+		-Wno-double-promotion
+		-Wno-cast-align
+		-Wno-address-of-packed-member # TODO: fix in c_library_v2
+	INCLUDES
+		${CMAKE_BINARY_DIR}/mavlink
+		${CMAKE_BINARY_DIR}/mavlink/development
+	SRCS
+		SimulatorMavlink.cpp
+		SimulatorMavlink.hpp
+	DEPENDS
+		mavlink_c_generate
+		conversion
+		geo
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers_magnetometer
+	)
+
+include(sitl_targets_flightgear.cmake)
+include(sitl_targets_gazebo.cmake)
+include(sitl_targets_jmavsim.cmake)
+include(sitl_targets_jsbsim.cmake)

src/modules/simulation/simulator_mavlink/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SIMULATOR_MAVLINK
+	bool "simulator_mavlink"
+	default n
+	---help---
+		Enable support for mavlink simulator

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -33,8 +33,7 @@
  *
  ****************************************************************************/
 
-#include "simulator.h"
-#include <simulator_config.h>
+#include "SimulatorMavlink.hpp"
 
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/time.h>
@@ -59,18 +58,6 @@
 
 #include <limits>
 
-#ifdef ENABLE_UART_RC_INPUT
-#ifndef B460800
-#define B460800 460800
-#endif
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-static int openUart(const char *uart_name, int baud);
-#endif
-
 static int _fd;
 static unsigned char _buf[2048];
 static sockaddr_in _srcaddr;
@@ -81,6 +68,10 @@ const unsigned mode_flag_custom = 1;
 
 using namespace time_literals;
 
+static px4_task_t g_sim_task = -1;
+
+SimulatorMavlink *SimulatorMavlink::_instance = nullptr;
+
 static constexpr vehicle_odometry_s vehicle_odometry_empty {
 	.timestamp = 0,
 	.timestamp_sample = 0,
@@ -97,8 +88,8 @@ static constexpr vehicle_odometry_s vehicle_odometry_empty {
 	.quality = 0
 };
 
-Simulator::Simulator()
-	: ModuleParams(nullptr)
+SimulatorMavlink::SimulatorMavlink() :
+	ModuleParams(nullptr)
 {
 	int32_t sys_ctrl_alloc = 0;
 	param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
@@ -111,7 +102,20 @@ Simulator::Simulator()
 	}
 }
 
-void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg)
+void SimulatorMavlink::parameters_update(bool force)
+{
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || force) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		updateParams();
+	}
+}
+
+void SimulatorMavlink::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg)
 {
 	memset(msg, 0, sizeof(mavlink_hil_actuator_controls_t));
 
@@ -216,7 +220,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
 #endif
 }
 
-void Simulator::send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_control)
+void SimulatorMavlink::send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_control)
 {
 	esc_status_s esc_status{};
 	esc_status.timestamp = hrt_absolute_time();
@@ -226,7 +230,7 @@ void Simulator::send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_contr
 	esc_status.esc_armed_flags = armed ? 255 : 0;  // ugly
 
 	for (int i = 0; i < esc_status.esc_count; i++) {
-		esc_status.esc[i].actuator_function = _output_functions[i]; // TODO: this should be in pwm_out_sim...
+		esc_status.esc[i].actuator_function = _output_functions[i]; // TODO: this should be in pwm_sim...
 		esc_status.esc[i].timestamp = esc_status.timestamp;
 		esc_status.esc[i].esc_errorcount = 0; // TODO
 		esc_status.esc[i].esc_voltage = _battery_status.voltage_v;
@@ -239,7 +243,7 @@ void Simulator::send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_contr
 	_esc_status_pub.publish(esc_status);
 }
 
-void Simulator::send_controls()
+void SimulatorMavlink::send_controls()
 {
 	orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuator_outputs);
 
@@ -258,7 +262,7 @@ void Simulator::send_controls()
 	}
 }
 
-void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
+void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
 {
 	// temperature only updated with baro
 	if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
@@ -402,7 +406,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
 	}
 }
 
-void Simulator::handle_message(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
 {
 	switch (msg->msgid) {
 	case MAVLINK_MSG_ID_HIL_SENSOR:
@@ -454,14 +458,14 @@ void Simulator::handle_message(const mavlink_message_t *msg)
 	}
 }
 
-void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_distance_sensor(const mavlink_message_t *msg)
 {
 	mavlink_distance_sensor_t dist;
 	mavlink_msg_distance_sensor_decode(msg, &dist);
 	publish_distance_topic(&dist);
 }
 
-void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg)
 {
 	mavlink_hil_gps_t hil_gps;
 	mavlink_msg_hil_gps_decode(msg, &hil_gps);
@@ -531,7 +535,7 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
 	}
 }
 
-void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_hil_sensor(const mavlink_message_t *msg)
 {
 	if (_lockstep_component == -1) {
 		_lockstep_component = px4_lockstep_register_component();
@@ -572,7 +576,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 	px4_lockstep_progress(_lockstep_component);
 }
 
-void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_hil_state_quaternion(const mavlink_message_t *msg)
 {
 	mavlink_hil_state_quaternion_t hil_state;
 	mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
@@ -662,7 +666,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 	}
 }
 
-void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_landing_target(const mavlink_message_t *msg)
 {
 	mavlink_landing_target_t landing_target_mavlink;
 	mavlink_msg_landing_target_decode(msg, &landing_target_mavlink);
@@ -683,7 +687,7 @@ void Simulator::handle_message_landing_target(const mavlink_message_t *msg)
 	}
 }
 
-void Simulator::handle_message_odometry(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_odometry(const mavlink_message_t *msg)
 {
 	mavlink_odometry_t odom_in;
 	mavlink_msg_odometry_decode(msg, &odom_in);
@@ -900,7 +904,7 @@ void Simulator::handle_message_odometry(const mavlink_message_t *msg)
 	}
 }
 
-void Simulator::handle_message_optical_flow(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_optical_flow(const mavlink_message_t *msg)
 {
 	mavlink_hil_optical_flow_t flow;
 	mavlink_msg_hil_optical_flow_decode(msg, &flow);
@@ -945,7 +949,7 @@ void Simulator::handle_message_optical_flow(const mavlink_message_t *msg)
 	_sensor_optical_flow_pub.publish(sensor_optical_flow);
 }
 
-void Simulator::handle_message_rc_channels(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_rc_channels(const mavlink_message_t *msg)
 {
 	mavlink_rc_channels_t rc_channels;
 	mavlink_msg_rc_channels_decode(msg, &rc_channels);
@@ -979,7 +983,7 @@ void Simulator::handle_message_rc_channels(const mavlink_message_t *msg)
 	_input_rc_pub.publish(rc_input);
 }
 
-void Simulator::handle_message_vision_position_estimate(const mavlink_message_t *msg)
+void SimulatorMavlink::handle_message_vision_position_estimate(const mavlink_message_t *msg)
 {
 	mavlink_vision_position_estimate_t vpe;
 	mavlink_msg_vision_position_estimate_decode(msg, &vpe);
@@ -1016,7 +1020,7 @@ void Simulator::handle_message_vision_position_estimate(const mavlink_message_t
 	_visual_odometry_pub.publish(odom);
 }
 
-void Simulator::send_mavlink_message(const mavlink_message_t &aMsg)
+void SimulatorMavlink::send_mavlink_message(const mavlink_message_t &aMsg)
 {
 	uint8_t  buf[MAVLINK_MAX_PACKET_LEN];
 	uint16_t bufLen = 0;
@@ -1037,13 +1041,13 @@ void Simulator::send_mavlink_message(const mavlink_message_t &aMsg)
 	}
 }
 
-void *Simulator::sending_trampoline(void * /*unused*/)
+void *SimulatorMavlink::sending_trampoline(void * /*unused*/)
 {
 	_instance->send();
 	return nullptr;
 }
 
-void Simulator::send()
+void SimulatorMavlink::send()
 {
 #ifdef __PX4_DARWIN
 	pthread_setname_np("sim_send");
@@ -1102,7 +1106,7 @@ void Simulator::send()
 	orb_unsubscribe(_actuator_outputs_sub);
 }
 
-void Simulator::request_hil_state_quaternion()
+void SimulatorMavlink::request_hil_state_quaternion()
 {
 	mavlink_command_long_t cmd_long = {};
 	mavlink_message_t message = {};
@@ -1113,7 +1117,7 @@ void Simulator::request_hil_state_quaternion()
 	send_mavlink_message(message);
 }
 
-void Simulator::send_heartbeat()
+void SimulatorMavlink::send_heartbeat()
 {
 	mavlink_heartbeat_t hb = {};
 	mavlink_message_t message = {};
@@ -1123,7 +1127,7 @@ void Simulator::send_heartbeat()
 	send_mavlink_message(message);
 }
 
-void Simulator::run()
+void SimulatorMavlink::run()
 {
 #ifdef __PX4_DARWIN
 	pthread_setname_np("sim_rcv");
@@ -1234,27 +1238,8 @@ void Simulator::run()
 	fds[0].fd = _fd;
 	fds[0].events = POLLIN;
 
-#ifdef ENABLE_UART_RC_INPUT
-	// setup serial connection to autopilot (used to get manual controls)
-	int serial_fd = openUart(PIXHAWK_DEVICE, PIXHAWK_DEVICE_BAUD);
-
-	char serial_buf[1024];
-
-	if (serial_fd >= 0) {
-		fds[1].fd = serial_fd;
-		fds[1].events = POLLIN;
-		fd_count++;
-
-		PX4_INFO("Start using %s for radio control input.", PIXHAWK_DEVICE);
-
-	} else {
-		PX4_INFO("Not using %s for radio control input. Assuming joystick input via MAVLink.", PIXHAWK_DEVICE);
-	}
-
-#endif
-
 	// got data from simulator, now activate the sending thread
-	pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, nullptr);
+	pthread_create(&sender_thread, &sender_thread_attr, SimulatorMavlink::sending_trampoline, nullptr);
 	pthread_attr_destroy(&sender_thread_attr);
 
 	mavlink_status_t mavlink_status = {};
@@ -1292,125 +1277,10 @@ void Simulator::run()
 				}
 			}
 		}
-
-#ifdef ENABLE_UART_RC_INPUT
-
-		// got data from PIXHAWK
-		if (fd_count > 1 && fds[1].revents & POLLIN) {
-			int len = ::read(serial_fd, serial_buf, sizeof(serial_buf));
-
-			if (len > 0) {
-				mavlink_message_t msg;
-
-				mavlink_status_t serial_status = {};
-
-				for (int i = 0; i < len; ++i) {
-					if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
-						handle_message(&msg);
-					}
-				}
-			}
-		}
-
-#endif
 	}
 }
 
-#ifdef ENABLE_UART_RC_INPUT
-int openUart(const char *uart_name, int baud)
-{
-	/* process baud rate */
-	int speed;
-
-	switch (baud) {
-	case 0:      speed = B0;      break;
-
-	case 50:     speed = B50;     break;
-
-	case 75:     speed = B75;     break;
-
-	case 110:    speed = B110;    break;
-
-	case 134:    speed = B134;    break;
-
-	case 150:    speed = B150;    break;
-
-	case 200:    speed = B200;    break;
-
-	case 300:    speed = B300;    break;
-
-	case 600:    speed = B600;    break;
-
-	case 1200:   speed = B1200;   break;
-
-	case 1800:   speed = B1800;   break;
-
-	case 2400:   speed = B2400;   break;
-
-	case 4800:   speed = B4800;   break;
-
-	case 9600:   speed = B9600;   break;
-
-	case 19200:  speed = B19200;  break;
-
-	case 38400:  speed = B38400;  break;
-
-	case 57600:  speed = B57600;  break;
-
-	case 115200: speed = B115200; break;
-
-	case 230400: speed = B230400; break;
-
-	case 460800: speed = B460800; break;
-
-	case 921600: speed = B921600; break;
-
-	default:
-		PX4_ERR("Unsupported baudrate: %d", baud);
-		return -EINVAL;
-	}
-
-	/* open uart */
-	int uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
-
-	if (uart_fd < 0) {
-		return uart_fd;
-	}
-
-
-	/* Try to set baud rate */
-	struct termios uart_config = {};
-
-	int termios_state;
-
-	/* Back up the original uart configuration to restore it after exit */
-	if ((termios_state = tcgetattr(uart_fd, &uart_config)) < 0) {
-		PX4_ERR("tcgetattr failed for %s: %s\n", uart_name, strerror(errno));
-		::close(uart_fd);
-		return -1;
-	}
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		PX4_ERR("cfsetispeed or cfsetospeed failed for %s: %s\n", uart_name, strerror(errno));
-		::close(uart_fd);
-		return -1;
-	}
-
-	// Make raw
-	cfmakeraw(&uart_config);
-
-	if ((termios_state = tcsetattr(uart_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_ERR("tcsetattr failed for %s: %s\n", uart_name, strerror(errno));
-		::close(uart_fd);
-		return -1;
-	}
-
-	return uart_fd;
-}
-#endif
-
-void Simulator::check_failure_injections()
+void SimulatorMavlink::check_failure_injections()
 {
 	vehicle_command_s vehicle_command;
 
@@ -1618,7 +1488,7 @@ void Simulator::check_failure_injections()
 	}
 }
 
-int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavlink)
+int SimulatorMavlink::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavlink)
 {
 	distance_sensor_s dist{};
 	dist.timestamp = hrt_absolute_time();
@@ -1694,3 +1564,116 @@ int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavl
 
 	return PX4_OK;
 }
+
+int SimulatorMavlink::start(int argc, char *argv[])
+{
+	_instance = new SimulatorMavlink();
+
+	if (_instance) {
+
+		if (argc == 5 && strcmp(argv[3], "-u") == 0) {
+			_instance->set_ip(InternetProtocol::UDP);
+			_instance->set_port(atoi(argv[4]));
+		}
+
+		if (argc == 5 && strcmp(argv[3], "-c") == 0) {
+			_instance->set_ip(InternetProtocol::TCP);
+			_instance->set_port(atoi(argv[4]));
+		}
+
+		if (argc == 6 && strcmp(argv[3], "-t") == 0) {
+			PX4_INFO("using TCP on remote host %s port %s", argv[4], argv[5]);
+			PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
+			_instance->set_ip(InternetProtocol::TCP);
+			_instance->set_tcp_remote_ipaddr(argv[4]);
+			_instance->set_port(atoi(argv[5]));
+		}
+
+		if (argc == 6 && strcmp(argv[3], "-h") == 0) {
+			PX4_INFO("using TCP on remote host %s port %s", argv[4], argv[5]);
+			PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
+			_instance->set_ip(InternetProtocol::TCP);
+			_instance->set_hostname(argv[4]);
+			_instance->set_port(atoi(argv[5]));
+		}
+
+		_instance->run();
+
+		return 0;
+
+	} else {
+		PX4_WARN("creation failed");
+		return 1;
+	}
+}
+
+static void usage()
+{
+	PX4_INFO("Usage: simulator_mavlink {start -[spt] [-u udp_port / -c tcp_port] |stop|status}");
+	PX4_INFO("Start simulator:     simulator_mavlink start");
+	PX4_INFO("Connect using UDP: simulator_mavlink start -u udp_port");
+	PX4_INFO("Connect using TCP: simulator_mavlink start -c tcp_port");
+	PX4_INFO("Connect to a remote server using TCP: simulator_mavlink start -t ip_addr tcp_port");
+	PX4_INFO("Connect to a remote server via hostname using TCP: simulator_mavlink start -h hostname tcp_port");
+}
+
+__BEGIN_DECLS
+extern int simulator_mavlink_main(int argc, char *argv[]);
+__END_DECLS
+
+int simulator_mavlink_main(int argc, char *argv[])
+{
+	if (argc > 1 && strcmp(argv[1], "start") == 0) {
+
+		if (g_sim_task >= 0) {
+			PX4_WARN("Simulator already started");
+			return 0;
+		}
+
+		g_sim_task = px4_task_spawn_cmd("simulator_mavlink",
+						SCHED_DEFAULT,
+						SCHED_PRIORITY_MAX,
+						1500,
+						SimulatorMavlink::start,
+						argv);
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+
+		// We want to prevent the rest of the startup script from running until time
+		// is initialized by the HIL_SENSOR messages from the simulator.
+		while (true) {
+			if (SimulatorMavlink::getInstance() && SimulatorMavlink::getInstance()->has_initialized()) {
+				break;
+			}
+
+			system_usleep(100);
+		}
+
+#endif
+
+	} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
+		if (g_sim_task < 0) {
+			PX4_WARN("Simulator not running");
+			return 1;
+
+		} else {
+			px4_task_delete(g_sim_task);
+			g_sim_task = -1;
+		}
+
+	} else if (argc == 2 && strcmp(argv[1], "status") == 0) {
+		if (g_sim_task < 0) {
+			PX4_WARN("Simulator not running");
+			return 1;
+
+		} else {
+			PX4_INFO("running");
+		}
+
+	} else {
+		usage();
+		return 1;
+	}
+
+	return 0;
+}

src/modules/simulation/simulator_mavlink/SimulatorMavlink.hpp

@@ -113,10 +113,10 @@ static inline SensorSource operator &(A lhs, B rhs)
 	       );
 }
 
-class Simulator : public ModuleParams
+class SimulatorMavlink : public ModuleParams
 {
 public:
-	static Simulator *getInstance() { return _instance; }
+	static SimulatorMavlink *getInstance() { return _instance; }
 
 	enum class InternetProtocol {
 		TCP,
@@ -127,7 +127,7 @@ public:
 
 	void set_ip(InternetProtocol ip) { _ip = ip; }
 	void set_port(unsigned port) { _port = port; }
-	void set_hostname(std::string hostname) { _hostname = hostname; }
+	void set_hostname(const char *hostname) { _hostname = hostname; }
 	void set_tcp_remote_ipaddr(char *tcp_remote_ipaddr) { _tcp_remote_ipaddr = tcp_remote_ipaddr; }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
@@ -135,9 +135,9 @@ public:
 #endif
 
 private:
-	Simulator();
+	SimulatorMavlink();
 
-	~Simulator()
+	~SimulatorMavlink()
 	{
 		// free perf counters
 		perf_free(_perf_sim_delay);
@@ -161,7 +161,7 @@ private:
 
 	int publish_distance_topic(const mavlink_distance_sensor_t *dist);
 
-	static Simulator *_instance;
+	static SimulatorMavlink *_instance;
 
 	// simulated sensor instances
 	static constexpr uint8_t ACCEL_COUNT_MAX = 3;
@@ -216,8 +216,8 @@ private:
 	hrt_abstime _last_sim_timestamp{0};
 	hrt_abstime _last_sitl_timestamp{0};
 
-
 	void run();
+
 	void handle_message(const mavlink_message_t *msg);
 	void handle_message_distance_sensor(const mavlink_message_t *msg);
 	void handle_message_hil_gps(const mavlink_message_t *msg);
@@ -243,7 +243,6 @@ private:
 
 	void actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *msg);
 
-
 	// uORB publisher handlers
 	uORB::Publication<vehicle_angular_velocity_s>	_vehicle_angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
 	uORB::Publication<vehicle_attitude_s>		_attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};

src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake

@@ -0,0 +1,43 @@
+if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
+
+	px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge")
+
+	include(ExternalProject)
+	ExternalProject_Add(flightgear_bridge
+		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge
+		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+		BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
+		INSTALL_COMMAND ""
+		DEPENDS git_flightgear_bridge
+		USES_TERMINAL_CONFIGURE true
+		USES_TERMINAL_BUILD true
+		EXCLUDE_FROM_ALL true
+		BUILD_ALWAYS 1
+	)
+
+	# flighgear targets
+	set(models
+		rascal
+		rascal-electric
+		tf-g1
+		tf-g2
+		tf-r1
+	)
+
+	# default flightgear target
+	add_custom_target(flightgear
+		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		USES_TERMINAL
+		DEPENDS px4 flightgear_bridge
+	)
+
+	foreach(model ${models})
+		add_custom_target(flightgear_${model}
+			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+			WORKING_DIRECTORY ${SITL_WORKING_DIR}
+			USES_TERMINAL
+			DEPENDS px4 flightgear_bridge
+		)
+	endforeach()
+endif()

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake

@@ -0,0 +1,171 @@
+# Estimate an appropriate number of parallel jobs
+cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
+cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES)
+
+set(parallel_jobs 1)
+
+if(NOT NUMBER_OF_LOGICAL_CORES)
+	include(ProcessorCount)
+	ProcessorCount(NUMBER_OF_LOGICAL_CORES)
+endif()
+
+if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4)
+	# Memory estimate unavailable, use N-2 jobs
+	math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2")
+endif()
+
+if(AVAILABLE_PHYSICAL_MEMORY)
+	# Allow an additional job for every 1.5GB of available physical memory
+	math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)")
+else()
+	set(AVAILABLE_PHYSICAL_MEMORY "?")
+endif()
+
+if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES)
+	set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES})
+endif()
+
+if(parallel_jobs LESS 1)
+	set(parallel_jobs 1)
+endif()
+
+message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
+		Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
+
+# project to build sitl_gazebo if necessary
+px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
+include(ExternalProject)
+ExternalProject_Add(sitl_gazebo
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo
+	CMAKE_ARGS
+		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+		-DSEND_ODOMETRY_DATA=ON
+		-DGENERATE_ROS_MODELS=ON
+	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
+	INSTALL_COMMAND ""
+	DEPENDS git_gazebo
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+	BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
+)
+
+# create targets for each model/world/debugger combination
+
+set(debuggers
+	none
+	gdb
+	lldb
+	valgrind
+	callgrind
+)
+
+set(models
+	none
+	believer
+	boat
+	cloudship
+	glider
+	iris
+	iris_dual_gps
+	iris_foggy_lidar
+	iris_irlock
+	iris_obs_avoid
+	iris_opt_flow
+	iris_opt_flow_mockup
+	iris_rplidar
+	iris_vision
+	nxp_cupcar
+	omnicopter
+	plane
+	plane_cam
+	plane_catapult
+	plane_lidar
+	px4vision
+	r1_rover
+	rover
+	shell
+	standard_vtol
+	standard_vtol_drop
+	tailsitter
+	techpod
+	tiltrotor
+	typhoon_h480
+	uuv_bluerov2_heavy
+	uuv_hippocampus
+)
+
+set(worlds
+	none
+	baylands
+	empty
+	ksql_airport
+	mcmillan_airfield
+	sonoma_raceway
+	warehouse
+	windy
+	yosemite
+)
+
+foreach(debugger ${debuggers})
+	foreach(model ${models})
+		foreach(world ${worlds})
+			if(world STREQUAL "none")
+				if(debugger STREQUAL "none")
+					if(model STREQUAL "none")
+						set(_targ_name "gazebo")
+					else()
+						set(_targ_name "gazebo_${model}")
+					endif()
+				else()
+					if(model STREQUAL "none")
+						set(_targ_name "gazebo___${debugger}")
+					else()
+						set(_targ_name "gazebo_${model}_${debugger}")
+					endif()
+				endif()
+
+				add_custom_target(${_targ_name}
+					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
+					USES_TERMINAL
+					DEPENDS px4 sitl_gazebo
+				)
+			else()
+				if(debugger STREQUAL "none")
+					if(model STREQUAL "none")
+						set(_targ_name "gazebo___${world}")
+					else()
+						set(_targ_name "gazebo_${model}__${world}")
+					endif()
+				else()
+					if(model STREQUAL "none")
+						set(_targ_name "gazebo__${debugger}_${world}")
+					else()
+						set(_targ_name "gazebo_${model}_${debugger}_${world}")
+					endif()
+				endif()
+
+				add_custom_target(${_targ_name}
+					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
+					USES_TERMINAL
+					DEPENDS px4 sitl_gazebo
+				)
+			endif()
+		endforeach()
+	endforeach()
+endforeach()
+
+# mavsdk tests currently depend on sitl_gazebo
+ExternalProject_Add(mavsdk_tests
+	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
+	INSTALL_COMMAND ""
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+)

src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake

@@ -0,0 +1,25 @@
+px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
+
+# create targets for each viewer/model/debugger combination
+set(debuggers
+	none
+	gdb
+	lldb
+	valgrind
+	callgrind
+)
+
+foreach(debugger ${debuggers})
+	if(debugger STREQUAL "none")
+		set(_targ_name "jmavsim")
+	else()
+		set(_targ_name "jmavsim_${debugger}")
+	endif()
+
+	add_custom_target(${_targ_name}
+		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		USES_TERMINAL
+		DEPENDS px4 git_jmavsim
+	)
+endforeach()

src/modules/simulation/simulator_mavlink/sitl_targets_jsbsim.cmake

@@ -0,0 +1,56 @@
+
+px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge")
+
+include(ExternalProject)
+ExternalProject_Add(jsbsim_bridge
+	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge
+	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
+	INSTALL_COMMAND ""
+	DEPENDS git_jsbsim_bridge
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+)
+
+# jsbsim: create targets for jsbsim
+set(models
+	rascal
+	quadrotor_x
+	hexarotor_x
+	malolo
+)
+
+set(worlds
+	none
+	LSZH
+)
+
+# default jsbsim target
+add_custom_target(jsbsim
+	COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> "rascal" "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	USES_TERMINAL
+	DEPENDS px4 jsbsim_bridge
+)
+
+foreach(model ${models})
+	foreach(world ${worlds})
+		if(world STREQUAL "none")
+			add_custom_target(jsbsim_${model}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4 jsbsim_bridge
+			)
+		else()
+			add_custom_target(jsbsim_${model}__${world}
+				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				USES_TERMINAL
+				DEPENDS px4 jsbsim_bridge
+			)
+		endif()
+	endforeach()
+endforeach()

src/modules/simulation/simulator_sih/CMakeLists.txt

@@ -32,8 +32,8 @@
 ############################################################################
 
 px4_add_module(
-	MODULE modules__sih
-	MAIN sih
+	MODULE modules__simulation__simulator_sih
+	MAIN simulator_sih
 	COMPILE_FLAGS
 		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
@@ -46,3 +46,22 @@ px4_add_module(
 		drivers_gyroscope
 		drivers_magnetometer
 	)
+
+if(PX4_PLATFORM MATCHES "posix")
+	# create targets for sihsim
+	set(models
+		airplane
+		quadx
+		xvert
+	)
+
+	foreach(model ${models})
+		add_custom_target(sihsim_${model}
+			COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
+			WORKING_DIRECTORY ${SITL_WORKING_DIR}
+			USES_TERMINAL
+			DEPENDS px4
+		)
+	endforeach()
+
+endif()

src/modules/simulation/simulator_sih/Kconfig

@@ -0,0 +1,12 @@
+menuconfig MODULES_SIMULATION_SIMULATOR_SIH
+	bool "simulator_sih"
+	default n
+	---help---
+		Enable support for simulator_sih
+
+menuconfig USER_SIH
+	bool "simulator_sih running as userspace module"
+	default y
+	depends on BOARD_PROTECTED && MODULES_SIMULATION_SIMULATOR_SIH
+	---help---
+		Put sih in userspace memory

src/modules/simulation/simulator_sih/sih.cpp

@@ -813,14 +813,14 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
 
 )DESCR_STR");
 
-    PRINT_MODULE_USAGE_NAME("sih", "simulation");
+    PRINT_MODULE_USAGE_NAME("simulator_sih", "simulation");
     PRINT_MODULE_USAGE_COMMAND("start");
     PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
     return 0;
 }
 
-extern "C" __EXPORT int sih_main(int argc, char *argv[])
+extern "C" __EXPORT int simulator_sih_main(int argc, char *argv[])
 {
 	return Sih::main(argc, argv);
 }

src/modules/simulator/CMakeLists.txt

@@ -1,76 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 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.
-#
-############################################################################
-
-option(ENABLE_UART_RC_INPUT "Enable RC Input from UART mavlink connection" OFF)
-
-if(ENABLE_UART_RC_INPUT)
-	if (APPLE)
-		set(PIXHAWK_DEVICE "/dev/cu.usbmodem1")
-	elseif (UNIX AND NOT APPLE)
-		set(PIXHAWK_DEVICE "/dev/ttyACM0")
-	elseif (WIN32)
-		set(PIXHAWK_DEVICE "COM3")
-	endif()
-
-	set(PIXHAWK_DEVICE_BAUD 115200)
-endif()
-configure_file(simulator_config.h.in simulator_config.h @ONLY)
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-px4_add_module(
-	MODULE modules__simulator
-	MAIN simulator
-	COMPILE_FLAGS
-		-Wno-double-promotion
-		-Wno-cast-align
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
-	INCLUDES
-		${CMAKE_BINARY_DIR}/mavlink
-		${CMAKE_BINARY_DIR}/mavlink/development
-	SRCS
-		simulator.cpp
-		simulator_mavlink.cpp
-	DEPENDS
-		mavlink_c_generate
-		conversion
-		geo
-		drivers_accelerometer
-		drivers_gyroscope
-		drivers_magnetometer
-	)
-target_include_directories(modules__simulator INTERFACE ${CMAKE_BINARY_DIR}/mavlink)
-
-add_subdirectory(battery_simulator)
-add_subdirectory(sensor_baro_sim)
-add_subdirectory(sensor_gps_sim)
-add_subdirectory(sensor_mag_sim)

src/modules/simulator/Kconfig

@@ -1,12 +0,0 @@
-menuconfig MODULES_SIMULATOR
-	bool "simulator"
-	default n
-	---help---
-		Enable support for simulator
-
-menuconfig USER_SIMULATOR
-	bool "simulator running as userspace module"
-	default y
-	depends on BOARD_PROTECTED && MODULES_SIMULATOR
-	---help---
-		Put simulator in userspace memory

src/modules/simulator/simulator.cpp

@@ -1,179 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
- *   Copyright (c) 2016-2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file simulator.cpp
- *
- * This module interfaces via MAVLink to a software in the loop simulator (SITL)
- * such as jMAVSim or Gazebo.
- */
-
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/tasks.h>
-#include <px4_platform_common/time.h>
-#include <systemlib/err.h>
-#include <drivers/drv_board_led.h>
-
-#include "simulator.h"
-
-static px4_task_t g_sim_task = -1;
-
-Simulator *Simulator::_instance = nullptr;
-
-void Simulator::parameters_update(bool force)
-{
-	// check for parameter updates
-	if (_parameter_update_sub.updated() || force) {
-		// clear update
-		parameter_update_s pupdate;
-		_parameter_update_sub.copy(&pupdate);
-
-		// update parameters from storage
-		updateParams();
-	}
-}
-
-int Simulator::start(int argc, char *argv[])
-{
-	_instance = new Simulator();
-
-	if (_instance) {
-
-		if (argc == 5 && strcmp(argv[3], "-u") == 0) {
-			_instance->set_ip(InternetProtocol::UDP);
-			_instance->set_port(atoi(argv[4]));
-		}
-
-		if (argc == 5 && strcmp(argv[3], "-c") == 0) {
-			_instance->set_ip(InternetProtocol::TCP);
-			_instance->set_port(atoi(argv[4]));
-		}
-
-		if (argc == 6 && strcmp(argv[3], "-t") == 0) {
-			PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]);
-			PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
-			_instance->set_ip(InternetProtocol::TCP);
-			_instance->set_tcp_remote_ipaddr(argv[4]);
-			_instance->set_port(atoi(argv[5]));
-		}
-
-		if (argc == 6 && strcmp(argv[3], "-h") == 0) {
-			PX4_INFO("Simulator using TCP on remote host %s port %s", argv[4], argv[5]);
-			PX4_WARN("Please ensure port %s is not blocked by a firewall.", argv[5]);
-			_instance->set_ip(InternetProtocol::TCP);
-			_instance->set_hostname(argv[4]);
-			_instance->set_port(atoi(argv[5]));
-		}
-
-		_instance->run();
-
-		return 0;
-
-	} else {
-		PX4_WARN("Simulator creation failed");
-		return 1;
-	}
-}
-
-static void usage()
-{
-	PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop|status}");
-	PX4_INFO("Start simulator:     simulator start");
-	PX4_INFO("Connect using UDP: simulator start -u udp_port");
-	PX4_INFO("Connect using TCP: simulator start -c tcp_port");
-	PX4_INFO("Connect to a remote server using TCP: simulator start -t ip_addr tcp_port");
-	PX4_INFO("Connect to a remote server via hostname using TCP: simulator start -h hostname tcp_port");
-}
-
-__BEGIN_DECLS
-extern int simulator_main(int argc, char *argv[]);
-__END_DECLS
-
-
-int simulator_main(int argc, char *argv[])
-{
-	if (argc > 1 && strcmp(argv[1], "start") == 0) {
-
-		if (g_sim_task >= 0) {
-			PX4_WARN("Simulator already started");
-			return 0;
-		}
-
-		g_sim_task = px4_task_spawn_cmd("simulator",
-						SCHED_DEFAULT,
-						SCHED_PRIORITY_MAX,
-						1500,
-						Simulator::start,
-						argv);
-
-#if defined(ENABLE_LOCKSTEP_SCHEDULER)
-
-		// We want to prevent the rest of the startup script from running until time
-		// is initialized by the HIL_SENSOR messages from the simulator.
-		while (true) {
-			if (Simulator::getInstance() && Simulator::getInstance()->has_initialized()) {
-				break;
-			}
-
-			system_usleep(100);
-		}
-
-#endif
-
-	} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
-		if (g_sim_task < 0) {
-			PX4_WARN("Simulator not running");
-			return 1;
-
-		} else {
-			px4_task_delete(g_sim_task);
-			g_sim_task = -1;
-		}
-
-	} else if (argc == 2 && strcmp(argv[1], "status") == 0) {
-		if (g_sim_task < 0) {
-			PX4_WARN("Simulator not running");
-			return 1;
-
-		} else {
-			PX4_INFO("running");
-		}
-
-	} else {
-		usage();
-		return 1;
-	}
-
-	return 0;
-}

src/modules/simulator/simulator_config.h.in

@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 Anton Matosov. 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
-
-#cmakedefine ENABLE_UART_RC_INPUT
-
-#cmakedefine PIXHAWK_DEVICE "@PIXHAWK_DEVICE@"
-#cmakedefine PIXHAWK_DEVICE_BAUD @PIXHAWK_DEVICE_BAUD@

src/modules/simulator/simulator_params.c

@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2015 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.
- *
- ****************************************************************************/
-
-/**
- * @file simulator_params.c
- *
- * Parameters of software in the loop
- *
- * @author Mohamed Abdelkader <mohamedashraf123@gmail.com>
- */