PX4 · romain-chiap · Feb 6, 2019 · Feb 8, 2019 · Mar 5, 2019 · Mar 5, 2019
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# @name SIH Quadcopter X
+#
+# @type Simulation
+# @class Copter
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set SYS_HITL 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -38,6 +38,7 @@ px4_add_romfs_files(
 	1000_rc_fw_easystar.hil
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
+	1100_rc_quad_x_sih.hil
 
 	# [2000, 2999] Standard planes"
 	2100_standard_plane

diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -202,7 +202,7 @@ then
 		if fmu mode_${AUX_MODE} $FMU_ARGS
 		then
 			# Append aux mixer to main device.
-			if param compare SYS_HITL 1
+			if param greater SYS_HITL 0
 			then
 				if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
 				then

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -324,15 +324,20 @@ else
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
 	#
-	if param compare SYS_HITL 1
+	if param greater SYS_HITL 0
 	then
 		set OUTPUT_MODE hil
 		sensors start -h
 		commander start --hil
-
 		# disable GPS
 		param set GPS_1_CONFIG 0
 
+		# start the simulator in hardware if needed
+		if param compare SYS_HITL 2
+		then
+			sih start
+		fi
+
 	else
 		#
 		# board sensors: rc.sensors

diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py
@@ -9,7 +9,7 @@ class ModuleDocumentation(object):
     """
 
     valid_categories = ['driver', 'estimator', 'controller', 'system',
-                        'communication', 'command', 'template']
+                        'communication', 'command', 'template','simulation']
 
     max_line_length = 80 # wrap lines that are longer than this
 

diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

diff --git a/boards/airmind/mindpx-v2/default.cmake b/boards/airmind/mindpx-v2/default.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
@@ -84,6 +84,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		simulator
 		vmount
 		vtol_att_control

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
@@ -84,6 +84,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		simulator
 		vmount
 		vtol_att_control

diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/av/x-v1/default.cmake b/boards/av/x-v1/default.cmake
@@ -74,6 +74,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -48,6 +48,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -46,6 +46,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake
@@ -37,6 +37,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vtol_att_control
 		wind_estimator
 

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -52,6 +52,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -50,6 +50,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

diff --git a/boards/gumstix/aerocore2/default.cmake b/boards/gumstix/aerocore2/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		navigator
 		#position_estimator_inav
 		sensors
+		sih
 		vmount
 		#vtol_att_control
 		#wind_estimator

diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake
@@ -53,6 +53,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		#vtol_att_control
 		#wind_estimator

diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake
@@ -56,6 +56,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		#vtol_att_control
 		#wind_estimator

diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
@@ -70,6 +70,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vmount
 		#vtol_att_control
 		#wind_estimator

diff --git a/boards/parrot/bebop/default.cmake b/boards/parrot/bebop/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#vtol_att_control
 		wind_estimator
 

diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
@@ -83,6 +83,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
@@ -69,6 +69,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
@@ -68,6 +68,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
@@ -81,6 +81,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
@@ -81,6 +81,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v5/multicopter.cmake b/boards/px4/fmu-v5/multicopter.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		wind_estimator
 

diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
@@ -83,6 +83,7 @@ px4_add_board(
 		micrortps_bridge
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/raspberrypi/cross.cmake b/boards/px4/raspberrypi/cross.cmake
@@ -45,6 +45,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		vmount
 		vtol_att_control
 		wind_estimator

diff --git a/boards/px4/raspberrypi/native.cmake b/boards/px4/raspberrypi/native.cmake
@@ -43,6 +43,7 @@ px4_add_board(
 		mc_pos_control
 		navigator
 		sensors
+		sih
 		#simulator
 		vmount
 		vtol_att_control

diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
@@ -65,12 +65,15 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
 
 /**
- * Enable HITL mode on next boot
+ * Enable HITL/SIH mode on next boot
  *
- * While enabled the system will boot in HITL mode and not enable all sensors and checks.
- * When disabled the same vehicle can be normally flown outdoors.
+ * While enabled the system will boot in Hardware-In-The-Loop (HITL)
+ * or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
+ * When disabled the same vehicle can be flown normally.
  *
- * @boolean
+ * @value 0 HITL and SIH disabled
+ * @value 1 HITL enabled
+ * @value 2 SIH enabled
  * @reboot_required true
  *
  * @group System

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -824,12 +824,21 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 	if (hil_enabled && !_hil_enabled && _datarate > 5000) {
 		_hil_enabled = true;
 		ret = configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
+
+		if (_param_sys_hitl.get() == 2) {		// Simulation in Hardware enabled ?
+			configure_stream("GROUND_TRUTH", 25.0f); 	// HIL_STATE_QUATERNION to display the SIH
+
+		} else {
+			configure_stream("GROUND_TRUTH", 0.0f);
+		}
 	}
 
 	/* disable HIL */
 	if (!hil_enabled && _hil_enabled) {
 		_hil_enabled = false;
 		ret = configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
+
+		configure_stream("GROUND_TRUTH", 0.0f);
 	}
 
 	return ret;

diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
@@ -642,7 +642,8 @@ class Mavlink : public ModuleParams
 		(ParamInt<px4::params::MAV_BROADCAST>) _param_broadcast_mode,
 		(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_hash_check_enabled,
 		(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_heartbeat_forwarding_enabled,
-		(ParamBool<px4::params::MAV_ODOM_LP>) _param_send_odom_loopback
+		(ParamBool<px4::params::MAV_ODOM_LP>) _param_send_odom_loopback,
+		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl
 	)
 
 	perf_counter_t		_loop_perf;			/**< loop performance counter */