From 4bbaff013105969dd46198f9ba3216507c7de0b6 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Thu, 9 Apr 2026 08:54:24 +0200
Subject: [PATCH] fix(sensor_airspeed_sim): match SimulatorMavlink rounding

---
 .../simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp      | 4 ++--
 .../simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp      | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
index 79eb8fbc88..a67ad76937 100644
--- a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
+++ b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
@@ -184,8 +184,8 @@ void SensorAirspeedSim::check_failure_injection()
 		bool handled = false;
 		bool supported = false;
 
-		const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
-		const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
+		const int failure_unit = static_cast<int>(std::lround(vehicle_command.param1));
+		const int failure_type = static_cast<int>(std::lround(vehicle_command.param2));
 
 		if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_AIRSPEED) {
 
diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp
index 8f584ae900..2adb3abe33 100644
--- a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp
+++ b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp
@@ -34,6 +34,7 @@
 #pragma once
 
 #include <lib/perf/perf_counter.h>
+#include <math.h>
 #include <mathlib/mathlib.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>