Correct dates in the license headers

Enable and disable sensor sim module with parameter

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -10,6 +10,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
+param set-default SENS_EN_ARSPDSIM 1
+
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
+param set-default SENS_EN_ARSPDSIM 1
+
 # TODO: Enable motor failure detection when the
 # VTOL no longer reports 0A for all ESCs in SITL
 param set-default FD_ACT_EN 0

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -80,7 +80,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			sensor_airspeed_sim start
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -94,7 +97,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			sensor_airspeed_sim start
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"
@@ -109,7 +115,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
-			sensor_airspeed_sim start
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
 
 		else
 			echo "ERROR [init] gz_bridge failed to start"

boards/cubepilot/cubeorange/test.px4board

@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y

platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/micro_hal.h

@@ -40,14 +40,6 @@ __BEGIN_DECLS
 #include <stm32.h>
 #define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_STM32F4
 #define PX4_FLASH_BASE  STM32_FLASH_BASE
-#if defined(CONFIG_STM32_STM32F4XXX)
-# include <stm32_bbsram.h>
-# define PX4_BBSRAM_SIZE STM32_BBSRAM_SIZE
-# define PX4_HF_GETDESC_IOCTL STM32_BBSRAM_GETDESC_IOCTL
-# define HAS_BBSRAM CONFIG_STM32_BBSRAM
-# define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES
-# define SAVE_CRASHDUMP CONFIG_STM32_SAVE_CRASHDUMP
-#endif
 #define PX4_NUMBER_I2C_BUSES STM32_NI2C
 #define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 16
 

src/modules/mavlink/mavlink_main.cpp

@@ -1864,20 +1864,30 @@ Mavlink::task_main(int argc, char *argv[])
 	// use default /dev/null so that these numbers are not used by other other files.
 	if (fcntl(0, F_GETFD) == -1) {
 		int tmp = open("/dev/null", O_RDONLY);
-		dup2(tmp, 0);
-		close(tmp);
+
+		if (tmp != 0) {
+			dup2(tmp, 0);
+			close(tmp);
+		}
+
 	}
 
 	if (fcntl(1, F_GETFD) == -1) {
 		int tmp = open("/dev/null", O_WRONLY);
-		dup2(tmp, 1);
-		close(tmp);
+
+		if (tmp != 1) {
+			dup2(tmp, 1);
+			close(tmp);
+		}
 	}
 
 	if (fcntl(2, F_GETFD) == -1) {
 		int tmp = open("/dev/null", O_WRONLY);
-		dup2(tmp, 2);
-		close(tmp);
+
+		if (tmp != 2) {
+			dup2(tmp, 2);
+			close(tmp);
+		}
 	}
 
 	int ch;

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -106,47 +106,49 @@ void SensorAirspeedSim::Run()
 		updateParams();
 	}
 
-	if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
-	    && _vehicle_attitude_sub.updated()) {
+	if (_sim_failure.get() == 0) {
+		if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()
+		    && _vehicle_attitude_sub.updated()) {
 
-		vehicle_local_position_s lpos{};
-		_vehicle_local_position_sub.copy(&lpos);
+			vehicle_local_position_s lpos{};
+			_vehicle_local_position_sub.copy(&lpos);
 
-		vehicle_global_position_s gpos{};
-		_vehicle_global_position_sub.copy(&gpos);
+			vehicle_global_position_s gpos{};
+			_vehicle_global_position_sub.copy(&gpos);
 
-		vehicle_attitude_s attitude{};
-		_vehicle_attitude_sub.copy(&attitude);
+			vehicle_attitude_s attitude{};
+			_vehicle_attitude_sub.copy(&attitude);
 
-		Vector3f local_velocity = Vector3f{lpos.vx, lpos.vy, lpos.vz};
-		Vector3f body_velocity = Dcmf{Quatf{attitude.q}} .transpose() * local_velocity;
+			Vector3f local_velocity = Vector3f{lpos.vx, lpos.vy, lpos.vz};
+			Vector3f body_velocity = Dcmf{Quatf{attitude.q}} .transpose() * local_velocity;
 
-		// device id
-		device::Device::DeviceId device_id;
-		device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
-		device_id.devid_s.bus = 0;
-		device_id.devid_s.address = 0;
-		device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SIM;
+			// device id
+			device::Device::DeviceId device_id;
+			device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
+			device_id.devid_s.bus = 0;
+			device_id.devid_s.address = 0;
+			device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SIM;
 
-		const float alt_amsl = gpos.alt;
-		const float temperature_local = TEMPERATURE_MSL - LAPSE_RATE * alt_amsl;
-		const float density_ratio = powf(TEMPERATURE_MSL / temperature_local, 4.256f);
-		const float air_density = AIR_DENSITY_MSL / density_ratio;
+			const float alt_amsl = gpos.alt;
+			const float temperature_local = TEMPERATURE_MSL - LAPSE_RATE * alt_amsl;
+			const float density_ratio = powf(TEMPERATURE_MSL / temperature_local, 4.256f);
+			const float air_density = AIR_DENSITY_MSL / density_ratio;
 
-		// calculate differential pressure + noise in hPa
-		const float diff_pressure_noise = (float)generate_wgn() * 0.01f;
-		float diff_pressure = sign(body_velocity(0)) * 0.005f * air_density  * body_velocity(0) * body_velocity(
-					      0) + diff_pressure_noise;
+			// calculate differential pressure + noise in hPa
+			const float diff_pressure_noise = (float)generate_wgn() * 0.01f;
+			float diff_pressure = sign(body_velocity(0)) * 0.005f * air_density  * body_velocity(0) * body_velocity(
+						      0) + diff_pressure_noise;
 
 
-		differential_pressure_s differential_pressure{};
-		// report.timestamp_sample = time;
-		differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
-		differential_pressure.differential_pressure_pa = (double)diff_pressure * 100.0; // hPa to Pa;
-		differential_pressure.temperature = temperature_local;
-		differential_pressure.timestamp = hrt_absolute_time();
-		_differential_pressure_pub.publish(differential_pressure);
+			differential_pressure_s differential_pressure{};
+			// report.timestamp_sample = time;
+			differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
+			differential_pressure.differential_pressure_pa = (double)diff_pressure * 100.0; // hPa to Pa;
+			differential_pressure.temperature = temperature_local;
+			differential_pressure.timestamp = hrt_absolute_time();
+			_differential_pressure_pub.publish(differential_pressure);
 
+		}
 	}
 
 	perf_end(_loop_perf);

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -89,7 +89,7 @@ private:
 
 	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 
-	// DEFINE_PARAMETERS(
-	// 	(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used
-	// )
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::SIM_ARSPD_FAIL>) _sim_failure
+	)
 };

src/modules/simulation/sensor_airspeed_sim/parameters.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,10 +32,25 @@
  ****************************************************************************/
 
 /**
- * simulated GPS number of satellites used
+ * Enable simulated airspeed sensor instance
  *
+ * @reboot_required true
  * @min 0
- * @max  50
- * @group Simulator
- */
-// PARAM_DEFINE_INT32(SIM_GPS_USED, 10);
+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 Enabled
+  */
+PARAM_DEFINE_INT32(SENS_EN_ARSPDSIM, 0);
+
+/**
+ * Dynamically simulate failure of airspeed sensor instance
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 1
+ * @group Sensors
+ * @value 0 Disabled
+ * @value 1 Enabled
+  */
+PARAM_DEFINE_INT32(SIM_ARSPD_FAIL, 0);