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* add AGP also for SimulatorMavlink

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* add AGP failure injection
* add distance sensor failure injection
This commit is contained in:
Marco Hauswirth
2025-10-03 10:41:12 +02:00
parent bfee522856
commit 52a98229b1
12 changed files with 238 additions and 98 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+5 -13
View File
@@ -193,16 +193,8 @@ else
exit 1
fi
# TODO:
# # NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
# # the magnetometer sensor in the model.sdf.
# if param compare -s SENS_EN_MAGSIM 1
# then
# sensor_mag_sim start
# fi
# # NOTE: new gz has airspeed sensor, remove once added
# if param compare -s SENS_EN_ARSPDSIM 1
# then
# sensor_airspeed_sim start
# fi
# Start sensor simulation manager for additional sensors not handled by gz
if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
then
sensor_sim_manager start
fi
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
+9
View File
@@ -5,6 +5,7 @@
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default SIM_GZ_EN 1
simulator_tcp_port=$((4560+px4_instance))
@@ -25,3 +26,11 @@ else
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi
echo "mvlinksim"
# Start sensor simulation manager for additional sensors not handled by gz
if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
then
sensor_sim_manager start
fi