feat(sim): add RotorPy simulator support (#27116)

* Add rotorpy simulator and integrate with main simulator script

* docs: add rotorpy simulator instructions

* docs(update): subedit

* docs: address RotorPy review comments

---------

Co-authored-by: Davide Iafrate <dvde.iafrate98@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

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

@@ -40,6 +40,7 @@ px4_add_romfs_files(
 	px4-rc.jmavsim
 	px4-rc.mavlinksim
 	px4-rc.sihsim
+	px4-rc.rotorpy
 	rc.replay
 	rcS
 )

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

@@ -0,0 +1,33 @@
+#!/bin/sh
+
+echo "INFO  [init] rotorpy sensors simulator"
+
+param set-default SYS_HITL 1
+
+if [ -n "${PX4_HOME_LAT}" ]; then
+	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+fi
+
+if [ -n "${PX4_HOME_LON}" ]; then
+	param set SIH_LOC_LON0 ${PX4_HOME_LON}
+fi
+if [ -n "${PX4_HOME_ALT}" ]; then
+	param set SIH_LOC_H0 ${PX4_HOME_ALT}
+fi
+
+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

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

@@ -11,6 +11,11 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
     # Run SIH
     . px4-rc.sihsim
 
+elif [ "$PX4_SIMULATOR" = "rotorpy" ]; then
+    # No simulator, possibly HITL
+    . px4-rc.mavlinksim
+    . px4-rc.rotorpy
+
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
     # Run Gazebo (gz)
     . px4-rc.gzsim