init.d-posix: make all simulation airframes simulator specific

.github/workflows/sitl_tests.yml

@@ -81,7 +81,7 @@ jobs:
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         DONT_RUN: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo mavsdk_tests
     - name: ccache post-run mavsdk_tests
       run: ccache -s
 

.vscode/tasks.json

@@ -49,45 +49,6 @@
                 "group": "test"
             }
         },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
         {
             "label": "jmavsim kill",
             "type": "shell",

CMakeLists.txt

@@ -296,7 +296,10 @@ if(${PX4_PLATFORM} STREQUAL "posix")
 	set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 	set(CMAKE_ENABLE_EXPORTS ON)
 
-	include(coverage)
+	if(CMAKE_BUILD_TYPE MATCHES "Coverage")
+		include(coverage)
+	endif()
+
 	include(sanitizers)
 
 	# Define GNU standard installation directories

ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=jmavsim}
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+

ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default EKF2_RNG_A_HMAX 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (foggy_lidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default EKF2_RNG_A_HMAX 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx

@@ -41,4 +41,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
 param set SIH_VEHICLE_TYPE 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_EVP_NOISE 0.05
+param set-default EKF2_EVA_NOISE 0.05
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2
+
+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow

@@ -1,25 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
-
-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5

ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock

@@ -0,0 +1,38 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (irlock)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+# enable fusion of landing target velocity
+param set-default LTEST_MODE 1
+param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2
+
+# Start up Landing Target Estimator module
+landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1011_iris_irlock

@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (irlock)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
-param set-default RTL_PLD_MD 2
-
-# Start up Landing Target Estimator module
-landing_target_estimator start

ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (rplidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default LPE_FUSION 242
+

ROMFS/px4fmu_common/init.d-posix/airframes/1012_iris_rplidar

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (rplidar)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default LPE_FUSION 242
-

ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision

@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Vision)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+# EKF2: Vision position and heading
+param set-default EKF2_AID_MASK 24
+param set-default EKF2_EV_DELAY 5
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Vision + baro
+param set-default LPE_FUSION 132
+
+# AEQ: External heading set to use vision input
+param set-default ATT_EXT_HDG_M 1
+

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
-

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default COM_OBS_AVOID 1
+param set-default MPC_XY_CRUISE 5.0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup

@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Optical Flow)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+# EKF2
+param set-default EKF2_AID_MASK 2
+param set-default EKF2_GPS_CTRL 0
+
+# LPE: Flow-only mode
+param set-default LPE_FUSION 242
+param set-default LPE_FAKE_ORIGIN 1
+
+param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup

@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Optical Flow)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_GPS_CTRL 0
-
-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2

ROMFS/px4fmu_common/init.d-posix/airframes/1018_iris_vision_velocity

@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Vision Velocity)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Vision velocity and heading
-param set-default EKF2_AID_MASK 272
-param set-default EKF2_EV_DELAY 5
-param set-default EKF2_GPS_CTRL 0

ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps

@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (Dual GPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+# EKF2: Multi GPS blending
+param set-default SENS_GPS_MASK 7

ROMFS/px4fmu_common/init.d-posix/airframes/1019_iris_dual_gps

@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Dual GPS)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10016_iris
-
-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam

@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Plane SITL with camera
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/1031_plane_cam

@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with camera
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default RWTO_TKOFF 0
+

ROMFS/px4fmu_common/init.d-posix/airframes/1032_plane_catapult

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default RWTO_TKOFF 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -63,4 +63,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with catapult
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+param set-default FW_THR_TRIM 0.0
+param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with catapult
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_THR_TRIM 0.0
-param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -0,0 +1,65 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_AIRSPD_SC 1.1
+param set-default FW_LND_ANG 5
+param set-default FW_LND_FL_PMIN 9.5
+param set-default FW_LND_FL_PMAX 20
+param set-default FW_LND_FLALT 5
+
+param set-default FW_L1_PERIOD 25
+
+param set-default FW_PR_FF 0.40
+param set-default FW_PR_I 0.05
+param set-default FW_PR_P 0.05
+
+param set-default FW_R_TC 0.45
+param set-default FW_RR_FF 0.40
+param set-default FW_RR_I 0.132
+param set-default FW_RR_P 0.085
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500
+param set-default MIS_DIST_WPS 10000
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
+param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256

ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop

@@ -0,0 +1,93 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
+param set-default CA_AIRFRAME 2
+
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.1515
+param set-default CA_ROTOR0_PY 0.245
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR1_PX -0.1515
+param set-default CA_ROTOR1_PY -0.1875
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR2_PX 0.1515
+param set-default CA_ROTOR2_PY -0.245
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.1515
+param set-default CA_ROTOR3_PY 0.1875
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_ROTOR4_PX 0.2
+
+param set-default CA_SV_CS_COUNT 3
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+
+param set-default FW_L1_PERIOD 12
+param set-default FW_PR_FF 0.2
+param set-default FW_PR_P 0.9
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default MC_ROLLRATE_P 0.3
+param set-default MC_YAW_P 1.6
+
+param set-default MIS_TAKEOFF_ALT 10
+
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_XY_P 0.8
+param set-default MPC_XY_VEL_P_ACC 3
+param set-default MPC_XY_VEL_I_ACC 4
+param set-default MPC_XY_VEL_D_ACC 0.1
+
+param set-default NAV_ACC_RAD 5
+
+param set-default VT_FWD_THRUST_EN 4
+param set-default VT_F_TRANS_THR 0.75
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 1234
+param set-default VT_B_TRANS_DUR 8
+param set-default VT_TYPE 2
+
+
+# Gimbal
+param set-default PWM_MAIN_FUNC9 420
+param set-default PWM_MAIN_FUNC10 421
+param set-default PWM_MAIN_FUNC11 422
+
+param set-default RC_MAP_AUX1 8
+param set-default RC_MAP_AUX2 9
+param set-default RC_MAP_AUX3 10
+

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -1,18 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d-posix/airframes/1040_standard_vtol
-
-# Gimbal
-param set-default PWM_MAIN_FUNC9 420
-param set-default PWM_MAIN_FUNC10 421
-param set-default PWM_MAIN_FUNC11 422
-
-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
-

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar

@@ -0,0 +1,78 @@
+#!/bin/sh
+#
+# @name Plane SITL with downward facing LIDAR.
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256
+
+
+param set-default FW_LND_USETER 1

ROMFS/px4fmu_common/init.d-posix/airframes/1044_plane_lidar

@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL with downward facing LIDAR.
-#
-
-. ${R}etc/init.d-posix/airframes/1030_plane
-
-param set-default FW_LND_USETER 1
-

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

@@ -32,54 +32,58 @@
 ############################################################################
 
 px4_add_romfs_files(
-	10016_iris
+	1010_gazebo_iris_opt_flow
-	10018_iris_foggy_lidar
+	1010_gazebo_iris_opt_flow.post
-	10019_omnicopter
+	1011_gazebo_iris_irlock
-	10030_px4vision
+	1012_gazebo_iris_rplidar
-	10040_quadx
+	1013_gazebo_iris_vision
-	10041_airplane
+	1013_gazebo_iris_vision.post
-	10042_xvert
+	1015_gazebo_iris_obs_avoid
-	1010_iris_opt_flow
+	1015_gazebo_iris_obs_avoid.post
-	1010_iris_opt_flow.post
+	1017_gazebo_iris_opt_flow_mockup
-	1011_iris_irlock
+	1019_gazebo_iris_dual_gps
-	1012_iris_rplidar
+	1021_gazebo_uuv_hippocampus
-	1013_iris_vision
+	1022_gazebo_uuv_bluerov2_heavy
-	1013_iris_vision.post
+	1030_gazebo_plane
-	1015_iris_obs_avoid
+	1031_gazebo_plane_cam
-	1015_iris_obs_avoid.post
+	1032_gazebo_plane_catapult
-	1017_iris_opt_flow_mockup
+	1033_jsbsim_rascal
-	1018_iris_vision_velocity
+	1034_flightgear_rascal-electric
-	1019_iris_dual_gps
+	1035_gazebo_techpod
-	1021_uuv_hippocampus
+	1036_jsbsim_malolo
-	1022_uuv_bluerov2_heavy
+	1037_gazebo_believer
-	1030_plane
+	1038_gazebo_glider
-	1031_plane_cam
+	1039_flightgear_rascal
-	1032_plane_catapult
+	1040_gazebo_standard_vtol
-	1033_rascal
+	1041_gazebo_tailsitter
-	1034_rascal-electric
+	1042_gazebo_tiltrotor
-	1035_techpod
+	1043_gazebo_standard_vtol_drop
-	1036_malolo
+	1044_gazebo_plane_lidar
-	1037_believer
+	1060_gazebo_rover
-	1038_glider
+	1061_gazebo_r1_rover
-	1040_standard_vtol
+	1062_flightgear_tf-r1
-	1041_tailsitter
+	1070_gazebo_boat
-	1042_tiltrotor
-	1043_standard_vtol_drop
-	1044_plane_lidar
-	1060_rover
-	1061_r1_rover
-	1062_tf-r1
-	1070_boat
-	3010_quadrotor_x
-	3011_hexarotor_x
 
-	4001_x500
+	2507_gazebo_cloudship
 
-	17001_tf-g1
+	3010_jsbsim_quadrotor_x
-	17002_tf-g2
+	3011_jsbsim_hexarotor_x
-	2507_cloudship
 
-	6001_x4
+	4001_ign_x500
-	6011_typhoon_h480
+
-	6011_typhoon_h480.post
+	6001_ign_x4
+	6011_gazebo_typhoon_h480
+	6011_gazebo_typhoon_h480.post
+
+	10016_gazebo_iris
+	10017_jmavsim_iris
+	10018_gazebo_iris_foggy_lidar
+	10019_gazebo_omnicopter
+	10030_gazebo_px4vision
+	10040_sihsim_quadx
+	10041_sihsim_airplane
+	10042_sihsim_xvert
+
+	17001_flightgear_tf-g1
+	17002_flightgear_tf-g2
 )

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

@@ -6,6 +6,8 @@ param set-default IMU_INTEG_RATE 250
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
 
+	echo "INFO  [init] SIH simulator"
+
 	if ! simulator_sih start; then
 		echo "ERROR  [init] simulator_sih failed to start"
 		exit 1
@@ -13,6 +15,8 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 
 elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 
+	echo "INFO  [init] Ignition Gazebo simulator"
+
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
 		. ./gazebo_env.sh
@@ -34,7 +38,7 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		echo "INFO  [init] ign gazebo already running"
 	fi
 
-	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+	if simulator_ignition_bridge start -m "${PX4_SIM_MODEL#*ign_}" -w "${PX4_SIM_WORLD}"; then
 		sensor_baro_sim start
 		sensor_gps_sim start
 		sensor_mag_sim start
@@ -43,6 +47,19 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		exit 1
 	fi
 
+elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$PX4_SIMULATOR" = "jmavsim" ]; then
+
+	echo "INFO  [init] jMAVSim simulator"
+
+	if jps | grep -i jmavsim; then
+		kill $(jps | grep -i jmavsim | awk '{print $1}') || true
+		sleep 1
+	fi
+
+	./jmavsim_run.sh -l -r 250 &
+
+	simulator_mavlink start -h localhost $((4560+px4_instance))
+
 else
 	# otherwise start simulator (mavlink) module
 	simulator_tcp_port=$((4560+px4_instance))
@@ -53,15 +70,15 @@ else
 	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
 
 		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "PX4 SIM HOST: localhost"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			echo "INFO  [init] PX4_SIM_HOSTNAME: $PX4_SIM_HOST_ADDR"
 			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
 		fi
 
 	else
-		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		echo "INFO  [init] PX4_SIM_HOSTNAME: $PX4_SIM_HOSTNAME"
 		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
 	fi
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,6 +1,6 @@
 #!/bin/sh
 
-set -e
+#set -e
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)

Tools/simulation/flightgear/sitl_run.sh

@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=flightgear_${model}
 
 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"

Tools/simulation/gazebo/sitl_multiple_run.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
 
 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=gazebo_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=gazebo_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))

Tools/simulation/gazebo/sitl_run.sh

@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=gazebo_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -75,10 +75,6 @@ SIM_PID=0
 if [ -x "$(command -v gazebo)" ]; then
 	# Get the model name
 	model_name="${model}"
-	# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
-	if [ -f "${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
-		model_name="${model}-gen"
-	fi
 
 	# Set the plugin path so Gazebo finds our model and sim
 	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"

Tools/simulation/jmavsim/jmavsim_run.sh

@@ -2,7 +2,8 @@
 
 set -e
 
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+SCRIPT_DIR=$(dirname $(readlink -f "$BASH_SOURCE"))
+
 cd "$SCRIPT_DIR/jMAVSim"
 
 port=4560
@@ -73,4 +74,4 @@ fi
 ant create_run_jar copy_res
 cd out/production
 
-java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java -XX:GCTimeRatio=20 --illegal-access=permit -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args

Tools/simulation/jmavsim/sitl_run.sh

@@ -1,67 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-if [ "$#" -lt 3 ]; then
-	echo usage: sitl_run.sh sitl_bin debugger src_path build_path
-	exit 1
-fi
-
-sitl_bin="$1"
-debugger="$2"
-src_path="$3"
-build_path="$4"
-
-echo SITL ARGS
-
-echo sitl_bin: $sitl_bin
-echo debugger: $debugger
-echo src_path: $src_path
-echo build_path: $build_path
-
-rootfs="$build_path/rootfs" # this is the working directory
-mkdir -p "$rootfs"
-
-# To disable user input
-if [[ -n "$NO_PXH" ]]; then
-	no_pxh=-d
-else
-	no_pxh=""
-fi
-
-jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
-if [ -n "$jmavsim_pid" ]; then
-	kill $jmavsim_pid
-fi
-
-export PX4_SIM_MODEL="iris"
-
-# Start Java simulator
-"$src_path"/Tools/simulation/jmavsim/jmavsim_run.sh -r 250 -l &
-SIM_PID=$!
-
-pushd "$rootfs" >/dev/null
-
-# Do not exit on failure now from here on because we want the complete cleanup
-set +e
-
-sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc"
-
-echo SITL COMMAND: $sitl_command
-
-if [ "$debugger" == "lldb" ]; then
-	eval lldb -- $sitl_command
-elif [ "$debugger" == "gdb" ]; then
-	eval gdb --args $sitl_command
-elif [ "$debugger" == "valgrind" ]; then
-	eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
-elif [ "$debugger" == "callgrind" ]; then
-	eval valgrind --tool=callgrind -v $sitl_command
-else
-	eval $sitl_command
-fi
-
-popd >/dev/null
-
-pkill -9 -P $SIM_PID
-kill -9 $SIM_PID

Tools/simulation/jsbsim/sitl_run.sh

@@ -37,7 +37,7 @@ else
 	no_pxh=""
 fi
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=jsbsim_${model}
 export PX4_SIM_WORLD=${world}
 
 # This is needed for aircraft namespace mapping

Tools/simulation/sitl_multiple_run.sh

@@ -19,7 +19,7 @@ pkill -x px4 || true
 
 sleep 1
 
-export PX4_SIM_MODEL=iris
+export PX4_SIM_MODEL=gazebo_iris
 
 n=0
 while [ $n -lt $sitl_num ]; do

boards/px4/sitl/sitl.cmake

@@ -1,5 +1,3 @@
-set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
-set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
 
 # If the environment variable 'replay' is defined, we are building with replay
 # support. In this case, we enable the orb publisher rules.

launch/posix_sitl.launch

@@ -14,7 +14,7 @@
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
 
     <!-- gazebo configs -->
     <arg name="gui" default="true"/>

launch/px4.launch

@@ -9,7 +9,7 @@
     <arg name="ID" default="0"/>
     <arg name="interactive" default="true"/>
 
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
     <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
     <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">

launch/single_vehicle_spawn.launch

@@ -13,7 +13,7 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <arg name="gst_udp_port" default="5600"/>

launch/single_vehicle_spawn_sdf.launch

@@ -13,7 +13,7 @@
     <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="plane"/>
     <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
     <arg name="mavlink_udp_port" default="14560"/>
     <arg name="mavlink_tcp_port" default="4560"/>
     <!-- PX4 configs -->

platforms/posix/Debug/launch_sitl_default.json.in

@@ -14,7 +14,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "quadx"
+                    "value": "sih_quadx"
                 }
             ],
             "externalConsole": false,
@@ -58,7 +58,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_SIM_MODEL}"
+                    "value": "gazebo_${input:PX4_SIM_MODEL}"
                 }
             ],
             "externalConsole": false,
@@ -103,10 +103,9 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "iris"
+                    "value": "jmavsim_iris"
                 }
             ],
-            "preLaunchTask": "jmavsim",
             "postDebugTask": "jmavsim kill",
             "linux": {
                 "MIMode": "gdb",

platforms/posix/Debug/launch_sitl_ignition.json.in

@@ -15,7 +15,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_SIM_MODEL}"
+                    "value": "ign_${input:PX4_SIM_MODEL}"
                 }
             ],
             "externalConsole": false,

platforms/posix/src/px4/common/main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2015-2018 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015-2022 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
@@ -345,22 +345,33 @@ int main(int argc, char **argv)
 
 		ret = run_startup_script(commands_file, absolute_binary_path, instance);
 
+		if (ret == 0) {
+			// We now block here until we need to exit.
+			if (pxh_off) {
+				wait_to_exit();
+
+			} else {
+				px4_daemon::Pxh pxh;
+				pxh.run_pxh();
+			}
+		}
+
+		// delete lock
+		const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
+		int fd_flock = open(file_lock_path.c_str(), O_RDWR, 0666);
+
+		if (fd_flock >= 0) {
+			unlink(file_lock_path.c_str());
+			flock(fd_flock, LOCK_UN);
+			close(fd_flock);
+		}
+
 		if (ret != 0) {
 			return PX4_ERROR;
 		}
 
-		// We now block here until we need to exit.
-		if (pxh_off) {
-			wait_to_exit();
-
-		} else {
-			px4_daemon::Pxh pxh;
-			pxh.run_pxh();
-		}
-
 		std::string cmd("shutdown");
 		px4_daemon::Pxh::process_line(cmd, true);
-
 	}
 
 	return PX4_OK;
@@ -453,7 +464,7 @@ void register_sig_handler()
 	// SIGINT
 	struct sigaction sig_int {};
 	sig_int.sa_handler = sig_int_handler;
-	sig_int.sa_flags = 0;// not SA_RESTART!
+	sig_int.sa_flags = 0; // not SA_RESTART!
 
 	// SIGPIPE
 	// We want to ignore if a PIPE has been closed.

platforms/posix/src/px4/common/px4_daemon/server.cpp

@@ -228,6 +228,8 @@ Server::_server_main()
 		_unlock();
 	}
 
+	std::string sock_path = get_socket_path(_instance_id);
+	unlink(sock_path.c_str());
 	close(_fd);
 }
 

src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt

@@ -72,21 +72,74 @@ file(GLOB ign_worlds
 	${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
 )
 
+# find corresponding airframes
+file(GLOB ign_airframes
+     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_ign_*
+)
+
+# remove any .post files
+foreach(ign_airframe IN LISTS ign_airframes)
+	if(ign_airframe MATCHES ".post")
+		list(REMOVE_ITEM ign_airframes ${ign_airframe})
+	endif()
+endforeach()
+list(REMOVE_DUPLICATES ign_airframes)
+
+foreach(ign_airframe IN LISTS ign_airframes)
+	set(model_only)
+	string(REGEX REPLACE ".*_ign_" "" model_only ${ign_airframe})
+
+	if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only}")
+
+		if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only}/model.sdf"))
+			#message(STATUS "Ignition SDF file found for ${model_only}")
+		else()
+			message(WARNING "Ignition no SDF file found for ${model_only}")
+		endif()
+
+	else()
+		message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/${model_only} not found")
+	endif()
+endforeach()
+
 foreach(model ${ign_models})
+
+	# match model to airframe
+	set(airframe_model_only)
+	set(airframe_sys_autostart)
+	set(ign_airframe_found)
+	foreach(ign_airframe IN LISTS ign_airframes)
+
+		string(REGEX REPLACE ".*_ign_" "" airframe_model_only ${ign_airframe})
+		string(REGEX REPLACE "_ign_.*" "" airframe_sys_autostart ${ign_airframe})
+
+		if(model STREQUAL ${airframe_model_only})
+			set(ign_airframe_found ${ign_airframe})
+			break()
+		endif()
+	endforeach()
+
+	if(ign_airframe_found)
+		#message(STATUS "ign model: ${model} (${airframe_model_only}), airframe: ${ign_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+	else()
+		message(WARNING "ign missing model: ${model} (${airframe_model_only}), airframe: ${ign_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+	endif()
+
 	foreach(world ${ign_worlds})
 
 		get_filename_component("world_name" ${world} NAME_WE)
 
 		if(world_name MATCHES "default")
 			add_custom_target(ign_${model}
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=ign_${model} $<TARGET_FILE:px4>
 				WORKING_DIRECTORY ${SITL_WORKING_DIR}
 				USES_TERMINAL
 				DEPENDS px4
 			)
 		else()
 			add_custom_target(ign_${model}_${world_name}
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=ign_${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
 				WORKING_DIRECTORY ${SITL_WORKING_DIR}
 				USES_TERMINAL
 				DEPENDS px4
@@ -95,7 +148,5 @@ foreach(model ${ign_models})
 	endforeach()
 endforeach()
 
-
+# PX4_IGN_GAZEBO_MODELS, PX4_IGN_GAZEBO_WORLDS, IGN_GAZEBO_RESOURCE_PATH
-# TODO: PX4_IGN_MODELS_PATH
-# PX4_IGN_WORLDS_PATH
 configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)

src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake

@@ -24,6 +24,20 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 		tf-r1
 	)
 
+	# find corresponding airframes
+	file(GLOB flightgear_airframes
+		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_flightgear_*
+	)
+
+	# remove any .post files
+	foreach(flightgear_airframe IN LISTS flightgear_airframes)
+		if(flightgear_airframe MATCHES ".post")
+			list(REMOVE_ITEM flightgear_airframes ${flightgear_airframe})
+		endif()
+	endforeach()
+	list(REMOVE_DUPLICATES flightgear_airframes)
+
 	# default flightgear target
 	add_custom_target(flightgear
 		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
@@ -33,6 +47,28 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 	)
 
 	foreach(model ${models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(flightgear_airframe_found)
+		foreach(flightgear_airframe IN LISTS flightgear_airframes)
+
+			string(REGEX REPLACE ".*_flightgear_" "" airframe_model_only ${flightgear_airframe})
+			string(REGEX REPLACE "_flightgear_.*" "" airframe_sys_autostart ${flightgear_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(flightgear_airframe_found ${flightgear_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(flightgear_airframe_found)
+			#message(STATUS "flightgear model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "flightgear missing model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
 		add_custom_target(flightgear_${model}
 			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 			WORKING_DIRECTORY ${SITL_WORKING_DIR}

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake

@@ -62,7 +62,6 @@ set(debuggers
 )
 
 set(models
-	none
 	believer
 	boat
 	cloudship
@@ -76,7 +75,6 @@ set(models
 	iris_opt_flow_mockup
 	iris_rplidar
 	iris_vision
-	nxp_cupcar
 	omnicopter
 	plane
 	plane_cam
@@ -85,7 +83,6 @@ set(models
 	px4vision
 	r1_rover
 	rover
-	shell
 	standard_vtol
 	standard_vtol_drop
 	tailsitter
@@ -108,8 +105,62 @@ set(worlds
 	yosemite
 )
 
+# find corresponding airframes
+file(GLOB gazebo_airframes
+     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
+)
+
+# remove any .post files
+foreach(gazebo_airframe IN LISTS gazebo_airframes)
+	if(gazebo_airframe MATCHES ".post")
+		list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
+	endif()
+endforeach()
+list(REMOVE_DUPLICATES gazebo_airframes)
+
+foreach(gazebo_airframe IN LISTS gazebo_airframes)
+	set(model_only)
+	string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
+
+	if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
+
+		if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
+		OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
+			#message(STATUS "SDF file found for ${model_only}")
+		else()
+			message(WARNING "No SDF file found for ${model_only}")
+		endif()
+
+	else()
+		message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
+	endif()
+endforeach()
+
 foreach(debugger ${debuggers})
 	foreach(model ${models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(gazebo_airframe_found)
+		foreach(gazebo_airframe IN LISTS gazebo_airframes)
+
+			string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
+			string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(gazebo_airframe_found ${gazebo_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(gazebo_airframe_found)
+			#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
 		foreach(world ${worlds})
 			if(world STREQUAL "none")
 				if(debugger STREQUAL "none")

src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake

@@ -1,25 +1,33 @@
-px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
 
-# create targets for each viewer/model/debugger combination
+find_program(JAVA_ANT_PATH "ant")
-set(debuggers
+find_package(Java)
-	none
-	gdb
-	lldb
-	valgrind
-	callgrind
-)
 
-foreach(debugger ${debuggers})
+if(JAVA_ANT_PATH AND Java_JAVAC_EXECUTABLE AND Java_JAVA_EXECUTABLE)
-	if(debugger STREQUAL "none")
-		set(_targ_name "jmavsim")
-	else()
-		set(_targ_name "jmavsim_${debugger}")
-	endif()
 
-	add_custom_target(${_targ_name}
+	px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
-		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+
+	add_custom_target(jmavsim_run_symlink ALL
+		COMMAND ${CMAKE_COMMAND} -E create_symlink ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jmavsim_run.sh ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
+		BYPRODUCTS ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
+	)
+
+	# build_jmavsim
+	add_custom_command(
+		OUTPUT ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
+		COMMAND ${JAVA_ANT_PATH} create_run_jar copy_res
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/
+		USES_TERMINAL
+		DEPENDS git_jmavsim jmavsim_run_symlink
+		COMMENT "building jMAVSim"
+	)
+	add_custom_target(build_jmavsim DEPENDS ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar)
+
+	# launch helper
+	add_custom_target(jmavsim_iris
+		COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=jmavsim_iris PX4_SIMULATOR=jmavsim $<TARGET_FILE:px4>
 		WORKING_DIRECTORY ${SITL_WORKING_DIR}
 		USES_TERMINAL
-		DEPENDS px4 git_jmavsim
+		DEPENDS px4 git_jmavsim build_jmavsim jmavsim_run_symlink
 	)
-endforeach()
+
+endif()

src/modules/simulation/simulator_mavlink/sitl_targets_jsbsim.cmake

@@ -1,56 +1,113 @@
 
-px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge")
 
-include(ExternalProject)
+
-ExternalProject_Add(jsbsim_bridge
+if(DEFINED ENV{JSBSIM_ROOT_DIR} )
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge
+	set(JSBSIM_ROOT_DIR "$ENV{JSBSIM_ROOT_DIR}" )
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+endif()
-	BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
+
-	INSTALL_COMMAND ""
+find_path(JSBSIM_INCLUDE_DIR
-	DEPENDS git_jsbsim_bridge
+	NAMES
-	USES_TERMINAL_CONFIGURE true
+		FGFDMExec.h
-	USES_TERMINAL_BUILD true
+	PATHS
-	EXCLUDE_FROM_ALL true
+		${JSBSIM_ROOT_DIR}/include/JSBSim
-	BUILD_ALWAYS 1
+		/usr/include/JSBSim
+		/usr/local/include/JSBSim
 )
 
-# jsbsim: create targets for jsbsim
+if(JSBSIM_INCLUDE_DIR)
-set(models
-	rascal
-	quadrotor_x
-	hexarotor_x
-	malolo
-)
 
-set(worlds
+	px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge")
-	none
-	LSZH
-)
 
-# default jsbsim target
+	include(ExternalProject)
-add_custom_target(jsbsim
+	ExternalProject_Add(jsbsim_bridge
-	COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> "rascal" "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/jsbsim_bridge
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	USES_TERMINAL
+		BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
-	DEPENDS px4 jsbsim_bridge
+		INSTALL_COMMAND ""
-)
+		DEPENDS git_jsbsim_bridge
+		USES_TERMINAL_CONFIGURE true
+		USES_TERMINAL_BUILD true
+		EXCLUDE_FROM_ALL true
+		BUILD_ALWAYS 1
+	)
 
-foreach(model ${models})
+	# jsbsim: create targets for jsbsim
-	foreach(world ${worlds})
+	set(models
-		if(world STREQUAL "none")
+		rascal
-			add_custom_target(jsbsim_${model}
+		quadrotor_x
-				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		hexarotor_x
-				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		malolo
-				USES_TERMINAL
+	)
-				DEPENDS px4 jsbsim_bridge
+
-			)
+	set(worlds
-		else()
+		none
-			add_custom_target(jsbsim_${model}__${world}
+		LSZH
-				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+	)
-				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+
-				USES_TERMINAL
+
-				DEPENDS px4 jsbsim_bridge
+	# find corresponding airframes
-			)
+	file(GLOB jsbsim_airframes
+		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_jsbsim_*
+	)
+
+	# remove any .post files
+	foreach(jsbsim_airframe IN LISTS jsbsim_airframes)
+		if(jsbsim_airframe MATCHES ".post")
+			list(REMOVE_ITEM jsbsim_airframes ${jsbsim_airframe})
 		endif()
 	endforeach()
-endforeach()
+	list(REMOVE_DUPLICATES jsbsim_airframes)
+
+	# default jsbsim target
+	add_custom_target(jsbsim
+		COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> "rascal" "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		USES_TERMINAL
+		DEPENDS px4 jsbsim_bridge
+	)
+
+	foreach(model ${models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(jsbsim_airframe_found)
+		foreach(jsbsim_airframe IN LISTS jsbsim_airframes)
+
+			string(REGEX REPLACE ".*_jsbsim_" "" airframe_model_only ${jsbsim_airframe})
+			string(REGEX REPLACE "_jsbsim_.*" "" airframe_sys_autostart ${jsbsim_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(jsbsim_airframe_found ${jsbsim_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(jsbsim_airframe_found)
+			#message(STATUS "jsbsim model: ${model} (${airframe_model_only}), airframe: ${jsbsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "jsbsim missing model: ${model} (${airframe_model_only}), airframe: ${jsbsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
+
+		foreach(world ${worlds})
+			if(world STREQUAL "none")
+				add_custom_target(jsbsim_${model}
+					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
+					USES_TERMINAL
+					DEPENDS px4 jsbsim_bridge
+				)
+			else()
+				add_custom_target(jsbsim_${model}__${world}
+					COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/jsbsim/sitl_run.sh $<TARGET_FILE:px4> ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
+					USES_TERMINAL
+					DEPENDS px4 jsbsim_bridge
+				)
+			endif()
+		endforeach()
+	endforeach()
+
+endif()

src/modules/simulation/simulator_sih/CMakeLists.txt

@@ -55,9 +55,45 @@ if(PX4_PLATFORM MATCHES "posix")
 		xvert
 	)
 
+	# find corresponding airframes
+	file(GLOB sihsim_airframes
+		RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_sihsim_*
+	)
+
+	# remove any .post files
+	foreach(sihsim_airframe IN LISTS sihsim_airframes)
+		if(sihsim_airframe MATCHES ".post")
+			list(REMOVE_ITEM sihsim_airframes ${sihsim_airframe})
+		endif()
+	endforeach()
+	list(REMOVE_DUPLICATES sihsim_airframes)
+
 	foreach(model ${models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(sihsim_airframe_found)
+		foreach(sihsim_airframe IN LISTS sihsim_airframes)
+
+			string(REGEX REPLACE ".*_sihsim_" "" airframe_model_only ${sihsim_airframe})
+			string(REGEX REPLACE "_sihsim_.*" "" airframe_sys_autostart ${sihsim_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(sihsim_airframe_found ${sihsim_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(sihsim_airframe_found)
+			#message(STATUS "sihsim model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "sihsim missing model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
 		add_custom_target(sihsim_${model}
-			COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
+			COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=sihsim_${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
 			WORKING_DIRECTORY ${SITL_WORKING_DIR}
 			USES_TERMINAL
 			DEPENDS px4

test/mavsdk_tests/process_helper.py

@@ -275,13 +275,6 @@ class GzmodelspawnRunner(Runner):
                                       PX4_GAZEBO_MODELS,
                                       self.model, self.model + ".sdf")
 
-        elif os.path.isfile(os.path.join(workspace_dir,
-                                         PX4_GAZEBO_MODELS,
-                                         self.model, self.model + "-gen.sdf")):
-
-            model_path = os.path.join(workspace_dir,
-                                      PX4_GAZEBO_MODELS,
-                                      self.model, self.model + "-gen.sdf")
         else:
             raise Exception("Model not found")