From 467abbf85fff33a3ecc0849947acdef4de672126 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Mon, 13 Jan 2025 16:29:06 +0100
Subject: [PATCH] add svtol airframe for sih-in-sitl

---
 .../init.d-posix/airframes/10043_sihsim_svtol | 114 ++++++++++++++++++
 .../init.d-posix/airframes/CMakeLists.txt     |   1 +
 .../simulation/simulator_sih/CMakeLists.txt   |   1 +
 3 files changed, 116 insertions(+)
 create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol
new file mode 100644
index 0000000000..253687fc35
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10043_sihsim_svtol
@@ -0,0 +1,114 @@
+#!/bin/sh
+#
+# @name SIH Standard VTOL
+#
+# @type Simulation
+# @class VTOL
+#
+# @output Motor1 motor right
+# @output Motor2 motor left
+# @output Servo1 elevon right
+# @output Servo2 elevon left
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# SIH in SITL changes. could we source these from a common file?  {{{
+# inspired by: diff ROMFS/px4fmu_common/init.d/airframes/4001_quad_x ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set-default EKF2_GPS_DELAY 0
+
+# battery check disabled below already
+# HIL_ACT_FUNC* set below -- do we need PWM_MAIN_FUNC* as well?
+# SIH_VEHICLE_TYPE set below too.
+
+# }}}
+
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 2
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PX 0.2
+param set-default CA_ROTOR0_PY 0.2
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_PX -0.2
+param set-default CA_ROTOR1_PY -0.2
+param set-default CA_ROTOR2_PX 0.2
+param set-default CA_ROTOR2_PY -0.2
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.2
+param set-default CA_ROTOR3_PY 0.2
+param set-default CA_ROTOR3_KM -0.05
+
+
+param set-default CA_ROTOR4_PX -0.3
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 1
+param set-default CA_ROTOR4_AZ 0
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TRQ_R 0.5
+param set-default CA_SV_CS0_TYPE 2
+param set-default CA_SV_CS1_TRQ_P 1
+param set-default CA_SV_CS1_TYPE 3
+param set-default CA_SV_CS2_TRQ_Y 1
+
+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
+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-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 105
+
+param set-default PWM_MAIN_REV 16
+
+param set-default MAV_TYPE 22
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+# param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as standard vtol
+param set SIH_VEHICLE_TYPE 3
+
+param set-default VT_ARSP_TRANS 6
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 4cf43413f6..905118eebc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/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_svtol
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
diff --git a/src/modules/simulation/simulator_sih/CMakeLists.txt b/src/modules/simulation/simulator_sih/CMakeLists.txt
index 3dc290a775..98915c800e 100644
--- a/src/modules/simulation/simulator_sih/CMakeLists.txt
+++ b/src/modules/simulation/simulator_sih/CMakeLists.txt
@@ -56,6 +56,7 @@ if(PX4_PLATFORM MATCHES "posix")
 		standard_vtol
 		hex
 		rover_ackermann
+		svtol
 	)
 
 	# find corresponding airframes