Added support for hitl testing for vtol and fw

On branch adding_hitl_testing_for_vtol_and_fw
Changes to be committed:
	new file:   ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil
	new file:   ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil
	modified:   ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
	modified:   ROMFS/px4fmu_common/init.d/rc.hitl_testing
	modified:   Tools/simulation/gz/hitl_run.sh
	new file:   Tools/simulation/gz/models/ssrc_skywalker_x8/model_hitl.sdf
	modified:   Tools/simulation/gz/plugins/px4-gzsim-plugins
	modified:   boards/ssrc/saluki-v2
	modified:   src/modules/simulation/simulator_mavlink/sitl_targets_gz-sim.cmake
	modified:   test/mavsdk_tests/CMakeLists.txt
	modified:   test/mavsdk_tests/configs/hitl_gz_harm.json
	new file:   test/mavsdk_tests/fw_mission.plan
	modified:   test/mavsdk_tests/mavsdk_test_runner.py
	new file:   test/mavsdk_tests/test_fw_mission.cpp

ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil

@@ -0,0 +1,97 @@
+#!/bin/sh
+#
+# @name Standard VTOL
+#
+# @type Standard VTOL
+#
+# @class VTOL
+
+. ${R}etc/init.d/rc.vtol_defaults
+. ${R}etc/init.d/rc.hitl_testing
+
+# Default rates
+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
+
+# HITL PWM functions
+param set-default HIL_ACT_FUNC1 101
+param set-default HIL_ACT_MIN1 10
+param set-default HIL_ACT_MAX1 1500
+param set-default HIL_ACT_FUNC2 102
+param set-default HIL_ACT_MIN2 10
+param set-default HIL_ACT_MAX2 1500
+param set-default HIL_ACT_FUNC3 103
+param set-default HIL_ACT_MIN3 10
+param set-default HIL_ACT_MAX3 1500
+param set-default HIL_ACT_FUNC4 104
+param set-default HIL_ACT_MIN4 10
+param set-default HIL_ACT_MAX4 1500
+param set-default HIL_ACT_FUNC5 105
+param set-default HIL_ACT_MIN5 0
+param set-default HIL_ACT_MAX5 3500
+param set-default HIL_ACT_FUNC6 201
+param set-default HIL_ACT_DIS6 500
+param set-default HIL_ACT_FUNC7 202
+param set-default HIL_ACT_DIS7 500
+param set-default HIL_ACT_FUNC8 203
+param set-default HIL_ACT_DIS8 500
+
+
+param set-default ASPD_PRIMARY 1
+
+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 CA_SV_CS3_TRQ_Y 0.0
+param set-default CA_SV_CS3_TYPE 0
+
+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_AIRMODE 1
+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_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_TYPE 2
+param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil

@@ -0,0 +1,83 @@
+#!/bin/sh
+#
+# @name SSRC Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.hitl_testing
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+
+# HITL PWM functions
+param set-default HIL_ACT_FUNC1 201
+param set-default HIL_ACT_DIS1 500
+param set-default HIL_ACT_FUNC2 202
+param set-default HIL_ACT_DIS2 500
+param set-default HIL_ACT_FUNC4 101
+param set-default HIL_ACT_MIN4 150
+param set-default HIL_ACT_MAX4 3000
+
+# Airspeed parameters
+param set-default ASPD_PRIMARY 1
+param set-default FW_AIRSPD_MAX 22.0
+param set-default FW_AIRSPD_MIN 14.0
+param set-default FW_AIRSPD_STALL 12.0
+param set-default FW_AIRSPD_TRIM 18.0
+
+# Maximum landing slope angle in deg
+param set-default FW_LND_ANG 8
+
+# RC loss failsafe to HOLD mode
+param set-default COM_RC_IN_MODE 1
+
+# Maximum manual roll angle
+param set-default FW_MAN_R_MAX 60.0
+
+# Fixed wing control
+# Pitch rate
+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
+# Pitch angle in deg
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
+# Roll rate
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+# Yaw rate
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+#Throttle limit
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+# Climb and sink rate
+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
+
+# Navigation
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+# Misc
+param set-default RTL_RETURN_ALT 30.0
+param set-default RTL_DESCEND_ALT 30.0
+param set-default FW_LND_USETER 0
+param set-default RWTO_TKOFF 1
+param set-default FD_ESCS_EN 0

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

@@ -41,6 +41,8 @@ px4_add_romfs_files(
 	1101_rc_plane_sih.hil
 	1102_tailsitter_duo_sih.hil
 	1401_ssrc_holybro_x500.hil
+	1404_ssrc_standard_vtol.hil
+	1440_ssrc_skywalker_x8.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane

ROMFS/px4fmu_common/init.d/rc.hitl_testing

@@ -4,11 +4,11 @@
 #
 
 
-param set SYS_HITL 1
-param set UAVCAN_ENABLE 0
+param set-default SYS_HITL 1
+param set-default UAVCAN_ENABLE 0
 param set-default SYS_FAILURE_EN 1
 
-param set MAV_HITL_SHOME 0
+param set-default MAV_HITL_SHOME 0
 
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1
@@ -19,4 +19,13 @@ param set-default SENS_EN_ARSPDSIM 1
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
+param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
+
+
+# Disable RC loss failsafe check
+param set-default COM_RC_LOSS_T 180
+param set-default NAV_RCL_ACT 1
+
+# Disable RC input requirement
+param set-default COM_RC_IN_MODE 1

Tools/simulation/gz/hitl_run.sh

@@ -20,8 +20,8 @@ fi
 source $(pwd)/build/px4_sitl_default/rootfs/gz_env.sh
 
 if [ ! -f $GZ_SIM_SYSTEM_PLUGIN_PATH/libmavlink_hitl_gazebosim.so ]; then
-    echo "You should build gz-sim"
-    echo "make px4_sitl gz-sim"
+    echo "You should build gzsim-plugins"
+    echo "make px4_sitl gzsim-plugins"
     exit
 fi
 

Tools/simulation/gz/models/ssrc_skywalker_x8/model_hitl.sdf

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='ssrc_skywalker_x8_hitl'>
+    <include merge='true'>
+      <uri>model://ssrc_skywalker_x8</uri>
+    </include>
+    <plugin filename="libmavlink_hitl_gazebosim.so" name="mavlink_interface::GazeboMavlinkInterface">
+      <robotNamespace/>
+      <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic>
+      <poseSubTopic>/pose/info</poseSubTopic>
+      <mavlink_addr>192.168.200.101</mavlink_addr>
+      <mavlink_udp_local_port>14542</mavlink_udp_local_port>
+      <mavlink_udp_remote_port>14543</mavlink_udp_remote_port>
+      <mavlink_tcp_port>4560</mavlink_tcp_port>
+      <use_tcp>0</use_tcp>
+    </plugin>
+  </model>
+</sdf>

src/modules/simulation/simulator_mavlink/sitl_targets_gz-sim.cmake

@@ -37,7 +37,7 @@ if(gz-sim8_FOUND)
 
 	include(ExternalProject)
 
-	ExternalProject_Add(gz-sim
+	ExternalProject_Add(gzsim-plugins
 		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz/plugins/px4-gzsim-plugins/
 		BINARY_DIR ${PX4_BINARY_DIR}/build_gz-sim_plugins
 		INSTALL_COMMAND ""

test/mavsdk_tests/CMakeLists.txt

@@ -27,6 +27,7 @@ if(MAVSDK_FOUND)
         test_multicopter_offboard.cpp
         test_multicopter_manual.cpp
         test_vtol_mission.cpp
+        test_fw_mission.cpp
         # test_multicopter_follow_me.cpp
     )
 

test/mavsdk_tests/configs/hitl_gz_harm.json

@@ -9,7 +9,7 @@
             "vehicle": "ssrc_holybro_x500",
             "model_file": "model_hitl",
             "sys_autostart": 1401,
-            "test_filter": "[multicopter],[offboard][offboard_attitude]",
+            "test_filter": "[multicopter],[offboard],[offboard_attitude]",
             "timeout_min": 10
         },
         {
@@ -19,6 +19,14 @@
             "sys_autostart": 1404,
             "test_filter": "[vtol], [vtol_wind], [vtol_airspeed_fail]",
             "timeout_min": 10
+        },
+        {
+            "model": "ssrc_skywalker_x8",
+            "vehicle": "ssrc_skywalker_x8",
+            "model_file": "model_hitl",
+            "sys_autostart": 1440,
+            "test_filter": "[fw]",
+            "timeout_min": 10
         }
     ]
 }