diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator index 5286b8f6bc..529bfaf3e8 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator @@ -9,6 +9,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" if simulator_sih start; then sensor_baro_sim start + sensor_gps_sim start sensor_mag_sim start else diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board index 48f43db3ac..c3fae0e738 100644 --- a/boards/airmind/mindpx-v2/default.px4board +++ b/boards/airmind/mindpx-v2/default.px4board @@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_INPUT=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -72,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/atl/mantis-edu/default.px4board b/boards/atl/mantis-edu/default.px4board index 41b9a43088..88e1001ef0 100644 --- a/boards/atl/mantis-edu/default.px4board +++ b/boards/atl/mantis-edu/default.px4board @@ -32,6 +32,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_GIMBAL=y diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board index 153719032f..f1f793f5ac 100644 --- a/boards/av/x-v1/default.px4board +++ b/boards/av/x-v1/default.px4board @@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -69,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index 41ad0ff736..57d0d81790 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -16,7 +16,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y CONFIG_DRIVERS_LINUX_PWM_OUT=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_MODULES_AIRSPEED_SELECTOR=y @@ -33,6 +32,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -52,14 +52,15 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y +CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board index ce664c05fb..0b2fee1e0f 100644 --- a/boards/cuav/nora/default.px4board +++ b/boards/cuav/nora/default.px4board @@ -31,7 +31,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -76,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board index f5fdd0b7b5..48a94b2030 100644 --- a/boards/cuav/x7pro/default.px4board +++ b/boards/cuav/x7pro/default.px4board @@ -32,7 +32,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -77,6 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board index 718dee0c14..bb89d6d246 100644 --- a/boards/cubepilot/cubeorange/default.px4board +++ b/boards/cubepilot/cubeorange/default.px4board @@ -28,13 +28,11 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_INPUT=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_PX4IO=y -#CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y +CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y CONFIG_DRIVERS_UAVCAN=y CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y @@ -72,6 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y @@ -100,4 +99,3 @@ CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board index 27827893c1..de6c2abff0 100644 --- a/boards/cubepilot/cubeyellow/default.px4board +++ b/boards/cubepilot/cubeyellow/default.px4board @@ -72,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 32d971e681..680666f413 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -18,7 +18,6 @@ CONFIG_DRIVERS_IMU_ST_LSM9DS1=y CONFIG_DRIVERS_LINUX_PWM_OUT=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_MODULES_AIRSPEED_SELECTOR=y @@ -35,6 +34,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -54,14 +54,16 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y +CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board index 94817a6889..eaecd081bc 100644 --- a/boards/holybro/durandal-v1/default.px4board +++ b/boards/holybro/durandal-v1/default.px4board @@ -69,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board index 1a04309f17..629c1a557f 100644 --- a/boards/holybro/kakuteh7/default.px4board +++ b/boards/holybro/kakuteh7/default.px4board @@ -21,7 +21,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y CONFIG_DRIVERS_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -64,6 +63,7 @@ CONFIG_MODULES_SENSORS=y # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board index 66600df02f..814050f587 100644 --- a/boards/holybro/pix32v5/default.px4board +++ b/boards/holybro/pix32v5/default.px4board @@ -77,6 +77,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board index 36226fb163..3cca69ecde 100644 --- a/boards/modalai/fc-v1/default.px4board +++ b/boards/modalai/fc-v1/default.px4board @@ -30,10 +30,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y @@ -74,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index d7e9dcff82..f639950bee 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -29,10 +29,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_UAVCAN=y CONFIG_BOARD_UAVCAN_INTERFACES=1 @@ -72,6 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index f89c33ffca..d592c791f4 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -69,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board index ed32b5a09f..1adec256f7 100644 --- a/boards/mro/ctrl-zero-f7-oem/default.px4board +++ b/boards/mro/ctrl-zero-f7-oem/default.px4board @@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -70,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board index 5925e791c9..fca453d7d8 100644 --- a/boards/mro/ctrl-zero-f7/default.px4board +++ b/boards/mro/ctrl-zero-f7/default.px4board @@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -70,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board index f89c33ffca..5c64e1af3c 100644 --- a/boards/mro/ctrl-zero-h7-oem/default.px4board +++ b/boards/mro/ctrl-zero-h7-oem/default.px4board @@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y @@ -48,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -69,12 +68,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board index 0292137395..5fc4ad7dd8 100644 --- a/boards/mro/ctrl-zero-h7/default.px4board +++ b/boards/mro/ctrl-zero-h7/default.px4board @@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y @@ -49,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -70,12 +69,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y CONFIG_SYSTEMCMDS_BL_UPDATE=y diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board index a848b5524c..f3c6137964 100644 --- a/boards/mro/pixracerpro/default.px4board +++ b/boards/mro/pixracerpro/default.px4board @@ -68,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board index 59d5d2cade..a7525e4e01 100644 --- a/boards/mro/x21-777/default.px4board +++ b/boards/mro/x21-777/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board index 72f2b9eb2f..bf9292ec98 100644 --- a/boards/mro/x21/default.px4board +++ b/boards/mro/x21/default.px4board @@ -72,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board index f462cb275a..3772be3f2b 100644 --- a/boards/nxp/fmuk66-e/default.px4board +++ b/boards/nxp/fmuk66-e/default.px4board @@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -72,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board index 68fcda7a7b..7baee2656e 100644 --- a/boards/nxp/fmuk66-v3/default.px4board +++ b/boards/nxp/fmuk66-v3/default.px4board @@ -32,7 +32,6 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_ROBOCLAW=y CONFIG_DRIVERS_RPM=y @@ -77,6 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board index 18e4b227d8..cea42ef564 100644 --- a/boards/nxp/fmurt1062-v1/default.px4board +++ b/boards/nxp/fmurt1062-v1/default.px4board @@ -19,7 +19,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_DRIVERS_TONE_ALARM=y diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board index 79837435ea..b1d9925cc8 100644 --- a/boards/px4/fmu-v3/default.px4board +++ b/boards/px4/fmu-v3/default.px4board @@ -32,10 +32,8 @@ CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_PWM_INPUT=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_PX4IO=y CONFIG_DRIVERS_ROBOCLAW=y -CONFIG_DRIVERS_RPM=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y @@ -45,6 +43,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y CONFIG_MODULES_ESC_BATTERY=y @@ -53,6 +52,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -68,22 +68,21 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y -CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BL_UPDATE=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_GPIO=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board index b62880b873..fe212199c0 100644 --- a/boards/px4/fmu-v4/default.px4board +++ b/boards/px4/fmu-v4/default.px4board @@ -75,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board index 9eb0c40d46..f73c72d6bf 100644 --- a/boards/px4/fmu-v4pro/default.px4board +++ b/boards/px4/fmu-v4pro/default.px4board @@ -73,6 +73,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board index 8d6b1231f9..fc1ca57e40 100644 --- a/boards/px4/fmu-v6u/default.px4board +++ b/boards/px4/fmu-v6u/default.px4board @@ -71,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 0db3f1a0d9..c33c5f0219 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -14,7 +14,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y CONFIG_DRIVERS_PCA9685_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_RPI_RC_IN=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y @@ -23,6 +22,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y +CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y CONFIG_MODULES_ESC_BATTERY=y @@ -31,6 +31,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y CONFIG_MODULES_FW_ATT_CONTROL=y CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_FW_POS_CONTROL_L1=y +CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y @@ -46,19 +47,20 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y -CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y +CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y +CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UUV_ATT_CONTROL=y CONFIG_MODULES_UUV_POS_CONTROL=y -CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_DYN=y CONFIG_SYSTEMCMDS_LED_CONTROL=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 2ecf9c5dbb..223ddc1baa 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -53,6 +53,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board index bd489282d7..943191213e 100644 --- a/boards/sky-drones/smartap-airlink/default.px4board +++ b/boards/sky-drones/smartap-airlink/default.px4board @@ -75,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board index 34fbe07a3b..75ef687ce5 100644 --- a/boards/spracing/h7extreme/default.px4board +++ b/boards/spracing/h7extreme/default.px4board @@ -15,7 +15,6 @@ CONFIG_COMMON_MAGNETOMETER=y CONFIG_COMMON_OPTICAL_FLOW=y CONFIG_DRIVERS_OSD=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board index 7952ef46f3..cf6b7fd16d 100644 --- a/boards/uvify/core/default.px4board +++ b/boards/uvify/core/default.px4board @@ -25,7 +25,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y CONFIG_DRIVERS_PCA9685=y CONFIG_DRIVERS_PWM_INPUT=y CONFIG_DRIVERS_PWM_OUT=y -CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_DRIVERS_RC_INPUT=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y @@ -59,6 +58,7 @@ CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y +CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y diff --git a/src/modules/simulation/simulator_sih/sih.cpp b/src/modules/simulation/simulator_sih/sih.cpp index 6ee3c2650b..16b7568d22 100644 --- a/src/modules/simulation/simulator_sih/sih.cpp +++ b/src/modules/simulation/simulator_sih/sih.cpp @@ -73,7 +73,6 @@ void Sih::run() const hrt_abstime task_start = hrt_absolute_time(); _last_run = task_start; - _gps_time = task_start; _airspeed_time = task_start; _dist_snsr_time = task_start; _vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast(0), @@ -217,12 +216,6 @@ void Sih::sensor_step() reconstruct_sensors_signals(now); - // gps published at 10Hz - if (now - _gps_time >= 100_ms) { - _gps_time = now; - send_gps(now); - } - if ((_vehicle == VehicleType::FW || _vehicle == VehicleType::TS) && now - _airspeed_time >= 50_ms) { _airspeed_time = now; send_airspeed(now); @@ -266,8 +259,6 @@ void Sih::parameters_updated() // guards against too small determinants _Im1 = 100.0f * inv(static_cast(100.0f * _I)); - _gps_used = _sih_gps_used.get(); - _distance_snsr_min = _sih_distance_snsr_min.get(); _distance_snsr_max = _sih_distance_snsr_max.get(); _distance_snsr_override = _sih_distance_snsr_override.get(); @@ -452,69 +443,6 @@ void Sih::reconstruct_sensors_signals(const hrt_abstime &time_now_us) // update IMU every iteration _px4_accel.update(time_now_us, acc(0), acc(1), acc(2)); _px4_gyro.update(time_now_us, gyro(0), gyro(1), gyro(2)); - - // GPS - _gps_lat_noiseless = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH); - _gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0; - _gps_alt_noiseless = _H0 - _p_I(2); - - _gps_lat = _gps_lat_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); - _gps_lon = _gps_lon_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0; - _gps_alt = _gps_alt_noiseless + generate_wgn() * 0.5f; - _gps_vel = _v_I + noiseGauss3f(0.06f, 0.077f, 0.158f); -} - -void Sih::send_gps(const hrt_abstime &time_now_us) -{ - 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_GPS_DEVTYPE_SIM; - - sensor_gps_s sensor_gps{}; - sensor_gps.timestamp_sample = time_now_us; - sensor_gps.device_id = device_id.devid; - sensor_gps.lat = (int32_t)(_gps_lat * 1e7); // Latitude in 1E-7 degrees - sensor_gps.lon = (int32_t)(_gps_lon * 1e7); // Longitude in 1E-7 degrees - sensor_gps.alt = (int32_t)(_gps_alt * 1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres) - sensor_gps.alt_ellipsoid = (int32_t)(_gps_alt * 1000); // Altitude in 1E-3 meters bove Ellipsoid, (millimetres) - sensor_gps.vel_ned_valid = true; // True if NED velocity is valid - sensor_gps.vel_m_s = sqrtf(_gps_vel(0) * _gps_vel(0) + _gps_vel(1) * _gps_vel(1)); // GPS ground speed, (metres/sec) - sensor_gps.vel_n_m_s = _gps_vel(0); // GPS North velocity, (metres/sec) - sensor_gps.vel_e_m_s = _gps_vel(1); // GPS East velocity, (metres/sec) - sensor_gps.vel_d_m_s = _gps_vel(2); // GPS Down velocity, (metres/sec) - - // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) - sensor_gps.cog_rad = atan2(_gps_vel(1), _gps_vel(0)); - - if (_gps_used >= 4) { - sensor_gps.fix_type = 3; // 3D fix - sensor_gps.satellites_used = _gps_used; - sensor_gps.heading = NAN; - sensor_gps.heading_offset = NAN; - sensor_gps.s_variance_m_s = 0.5f; - sensor_gps.c_variance_rad = 0.1f; - sensor_gps.eph = 0.9f; - sensor_gps.epv = 1.78f; - sensor_gps.hdop = 0.7f; - sensor_gps.vdop = 1.1f; - - } else { - sensor_gps.fix_type = 0; // 3D fix - sensor_gps.satellites_used = _gps_used; - sensor_gps.heading = NAN; - sensor_gps.heading_offset = NAN; - sensor_gps.s_variance_m_s = 100.f; - sensor_gps.c_variance_rad = 100.f; - sensor_gps.eph = 100.f; - sensor_gps.epv = 100.f; - sensor_gps.hdop = 100.f; - sensor_gps.vdop = 100.f; - } - - sensor_gps.timestamp = hrt_absolute_time(); - _sensor_gps_pub.publish(sensor_gps); } void Sih::send_airspeed(const hrt_abstime &time_now_us) @@ -627,10 +555,10 @@ void Sih::publish_ground_truth(const hrt_abstime &time_now_us) // publish global position groundtruth vehicle_global_position_s global_position{}; global_position.timestamp_sample = time_now_us; - global_position.lat = _gps_lat_noiseless; - global_position.lon = _gps_lon_noiseless; - global_position.alt = _gps_alt_noiseless; - global_position.alt_ellipsoid = _gps_alt_noiseless; + global_position.lat = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH);; + global_position.lon = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;; + global_position.alt = _H0 - _p_I(2);; + global_position.alt_ellipsoid = global_position.alt; global_position.terrain_alt = -_p_I(2); global_position.timestamp = hrt_absolute_time(); _global_position_ground_truth_pub.publish(global_position); diff --git a/src/modules/simulation/simulator_sih/sih.hpp b/src/modules/simulation/simulator_sih/sih.hpp index 1d629c2b71..e77b7d15e2 100644 --- a/src/modules/simulation/simulator_sih/sih.hpp +++ b/src/modules/simulation/simulator_sih/sih.hpp @@ -73,7 +73,6 @@ #include #include #include -#include #include #include #include @@ -120,7 +119,6 @@ private: // simulated sensors PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION PX4Gyroscope _px4_gyro{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION - uORB::Publication _sensor_gps_pub{ORB_ID(sensor_gps)}; uORB::Publication _distance_snsr_pub{ORB_ID(distance_sensor)}; uORB::Publication _airspeed_pub{ORB_ID(airspeed)}; @@ -158,7 +156,6 @@ private: // reconstruct the noisy sensor signals void reconstruct_sensors_signals(const hrt_abstime &time_now_us); - void send_gps(const hrt_abstime &time_now_us); void send_airspeed(const hrt_abstime &time_now_us); void send_dist_snsr(const hrt_abstime &time_now_us); void publish_ground_truth(const hrt_abstime &time_now_us); @@ -182,7 +179,6 @@ private: hrt_abstime _last_run{0}; hrt_abstime _last_actuator_output_time{0}; - hrt_abstime _gps_time{0}; hrt_abstime _airspeed_time{0}; hrt_abstime _dist_snsr_time{0}; @@ -251,12 +247,6 @@ private: // AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f, 0.239f, TS_CM-0.083f), 0.0f, TS_AR) // }; - // sensors reconstruction - matrix::Vector3f _gps_vel{}; - double _gps_lat, _gps_lat_noiseless; - double _gps_lon, _gps_lon_noiseless; - float _gps_alt, _gps_alt_noiseless; - // parameters float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0, _T_TAU; double _LAT0, _LON0, _COS_LAT0; @@ -264,7 +254,6 @@ private: matrix::Matrix3f _I; // vehicle inertia matrix matrix::Matrix3f _Im1; // inverse of the inertia matrix - int _gps_used; float _distance_snsr_min, _distance_snsr_max, _distance_snsr_override; // parameters defined in sih_params.c @@ -287,7 +276,6 @@ private: (ParamInt) _sih_lat0, (ParamInt) _sih_lon0, (ParamFloat) _sih_h0, - (ParamInt) _sih_gps_used, (ParamFloat) _sih_distance_snsr_min, (ParamFloat) _sih_distance_snsr_max, (ParamFloat) _sih_distance_snsr_override, diff --git a/src/modules/simulation/simulator_sih/sih_params.c b/src/modules/simulation/simulator_sih/sih_params.c index 0530be31f3..60dd336a9b 100644 --- a/src/modules/simulation/simulator_sih/sih_params.c +++ b/src/modules/simulation/simulator_sih/sih_params.c @@ -284,15 +284,6 @@ PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370); */ PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f); -/** - * Number of GPS satellites used - * - * @min 0 - * @max 50 - * @group Simulation In Hardware - */ -PARAM_DEFINE_INT32(SIH_GPS_USED, 10); - /** * distance sensor minimum range *