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SIM: refactor sensor-simulation and add faliure injection in SIH #25582

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SIM: refactor sensor-simulation and add faliure injection in SIH #25582

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7ee9ba0
* add failure injection with first simple usecase for sitl
haumarco Sep 17, 2025
8bf68e9
* refactor sensor simulation modules to one module called SensorSimMa…
haumarco Sep 17, 2025
bfee522
* add missing failure units and types
haumarco Sep 18, 2025
52a9822
* add AGP also for SimulatorMavlink
haumarco Sep 18, 2025
2f71fc3
remove developing comments and cleanup
haumarco Sep 18, 2025
47fc364
lots of renaming of constant values
haumarco Sep 18, 2025
a1c4aa6
* remove random lib since its not available on Nuttx
haumarco Sep 18, 2025
dec7f75
remove airspeed publisher from airspeed-sim. only publishes different…
haumarco Oct 3, 2025
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12 changes: 3 additions & 9 deletions ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
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Original file line number Diff line number Diff line change
Expand Up @@ -193,14 +193,8 @@ else
exit 1
fi

# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
# the magnetometer sensor in the model.sdf.
if param compare -s SENS_EN_MAGSIM 1
# Start sensor simulation manager for additional sensors not handled by gz
if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
then
sensor_mag_sim start
fi
# NOTE: new gz has airspeed sensor, remove once added
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
sensor_sim_manager start
fi
7 changes: 7 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
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Expand Up @@ -5,6 +5,7 @@
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0
param set-default SIM_GZ_EN 1

simulator_tcp_port=$((4560+px4_instance))

Expand All @@ -25,3 +26,9 @@ else
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi

# Start sensor simulation manager for additional sensors not handled by gz
if param compare -s SENS_EN_AGPSIM 1 || param compare -s SENS_EN_MAGSIM 1 || param compare -s SENS_EN_ARSPDSIM 1
then
sensor_sim_manager start
fi
17 changes: 1 addition & 16 deletions ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim
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Expand Up @@ -15,22 +15,7 @@ fi

if simulator_sih start; then

if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_AGPSIM 1
then
sensor_agp_sim start
fi
sensor_sim_manager start

else
echo "ERROR [init] simulator_sih failed to start"
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5 changes: 1 addition & 4 deletions ROMFS/px4fmu_common/init.d/rcS
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Expand Up @@ -336,10 +336,7 @@ else
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
sensor_gps_sim start
sensor_agp_sim start
sensor_sim_manager start
fi

else
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2 changes: 1 addition & 1 deletion boards/px4/sitl/default.px4board
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Expand Up @@ -55,7 +55,7 @@ CONFIG_COMMON_SIMULATION=y
CONFIG_MODULES_SIMULATION_GZ_MSGS=y
CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_SIM_MANAGER=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y
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3 changes: 3 additions & 0 deletions msg/versioned/VehicleCommand.msg
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Expand Up @@ -140,6 +140,8 @@ uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5
uint8 FAILURE_UNIT_SENSOR_VIO = 6
uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7
uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8
uint8 FAILURE_UNIT_SENSOR_GPS_ALT = 9
uint8 FAILURE_UNIT_SENSOR_AGP = 10
uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100
uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101
uint8 FAILURE_UNIT_SYSTEM_SERVO = 102
Expand All @@ -155,6 +157,7 @@ uint8 FAILURE_TYPE_WRONG = 4
uint8 FAILURE_TYPE_SLOW = 5
uint8 FAILURE_TYPE_DELAYED = 6
uint8 FAILURE_TYPE_INTERMITTENT = 7
uint8 FAILURE_TYPE_DRIFT = 8

# Used as param1 in DO_CHANGE_SPEED command.
uint8 SPEED_TYPE_AIRSPEED = 0
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5 changes: 1 addition & 4 deletions src/modules/simulation/Kconfig
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Expand Up @@ -5,10 +5,7 @@ menu "Simulation"
depends on PLATFORM_POSIX
select MODULES_SIMULATION_BATTERY_SIMULATOR
select MODULES_SIMULATION_PWM_OUT_SIM
select MODULES_SIMULATION_SENSOR_AIRSPEED_SIM
select MODULES_SIMULATION_SENSOR_BARO_SIM
select MODULES_SIMULATION_SENSOR_GPS_SIM
select MODULES_SIMULATION_SENSOR_MAG_SIM
select MODULES_SIMULATION_SENSOR_SIM_MANAGER
select MODULES_SIMULATION_SYSTEM_POWER_SIMULATOR
select MODULES_SIMULATION_SIMULATOR_MAVLINK
select MODULES_SIMULATION_SIMULATOR_SIH
Expand Down
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