[Kconfig] CI fixes and SITL fix

boards/nxp/ucans32k146/default.px4board

@@ -7,6 +7,7 @@ CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y

boards/px4/sitl/Kconfig

@@ -0,0 +1,9 @@
+config BOARD_LOCKSTEP
+    bool "Force enable lockstep"
+    help
+        forces lockstep behaviour, despite REPLAY env variable
+
+config BOARD_NOLOCKSTEP
+    bool "Force disable lockstep"
+    help
+        forces nolockstep behaviour, despite REPLAY env variable

boards/px4/sitl/nolockstep.px4board

@@ -0,0 +1 @@
+CONFIG_BOARD_NOLOCKSTEP=y

boards/px4/sitl/replay.px4board

@@ -0,0 +1,2 @@
+CONFIG_BOARD_COMPILE_DEFINITIONS="-DORB_USE_PUBLISHER_RULES"
+CONFIG_BOARD_LOCKSTEP=y

boards/px4/sitl/sitl.cmake

@@ -0,0 +1,18 @@
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+	message(STATUS "Building with uorb publisher rules support")
+	add_definitions(-DORB_USE_PUBLISHER_RULES)
+
+	message(STATUS "Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+endif()

boards/px4/sitl/test.px4board

@@ -1 +1,2 @@
+CONFIG_BOARD_NOLOCKSTEP=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y