AFAIK this is not done anywhere else for SIH-as-SITL. Just below for
gazebo it is already present.
the corresponding check for SIH-on-FC happens at
ROMFS/px4fmu_common/init.d/rcS:388 - also no airspeed is enabled
anywhere. is that intended?
also, handle airspeed failure correctly in SensorAirspeedSim.cpp
this makes SIH artificial sensor noise smaller or larger. useful for
deterministic-ish sim. setting it to 0 does not work right now for
mysterious reasons.
airspeed, baro, and mag off.
agp has no failures, and other failure types like stuck etc not
implemented at all.
doubting this implementation, lots of repetitions and
almost-repetitions. maybe we should do it more similar to
SimulatorMavlink.cpp? Where simulator_sih handles the sensor failures
itself, with one big if mess, but the rest of it nice and lean.
failing tests for quadx:
- 'Continue on baro stuck during mission (baro height mode)': failed
- 'Continue on baro stuck during mission (GPS height mode)': failed
- 'Fly straight Multicopter Mission': failed
- 'Offboard takeoff and land': failed
- 'Offboard position control': failed
* Add new INS driver sbgECom
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
* Fix sensor airspeed simulator units
* Fix HIGHRES_IMU pressure unit
* Allow HIGHRES_IMU to support 4 IMUs
* sbgECom: Add documentation
* Use submodule instead of fetching sbgECom using CMake
* Remove patch strategy
* Fix dates
* Remove patch file
* Update SBG dev type ID
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
---------
Co-authored-by: Samuel Toledano <samuel.toledano@sbg-systems.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
