new airframe for sih, HIL_STATE_QUATERION sent through MAVLink

ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil

@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# @name SIH Quadcopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+# set HIL to avoid sensors startup
+param set SYS_HITL 1
+
+param set SYS_SIH 1

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -38,6 +38,7 @@ px4_add_romfs_files(
 	1000_rc_fw_easystar.hil
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
+	1100_rc_quad_x_sih.hil
 	
 	# [2000, 2999] Standard planes"
 	2100_standard_plane

ROMFS/px4fmu_common/init.d/rcS

@@ -337,6 +337,12 @@ else
 		# disable GPS
 		param set GPS_1_CONFIG 0
 
+		# start the SIH if needed
+		if  param compare SYS_SIH 1
+		then
+			sih start
+		fi
+
 	else
 		#
 		# board sensors: rc.sensors