SIH-as-SITL: add SVTOL Airframe #24210
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Not that it's a great name, but I would spell it out as "standard VTOL" everywhere rather than introduce yet another initialism. Maybe this is just me, but I initially thought it might have been a typo for STOVL. |
In PR PX4#24175 I changed the control surface deflection signs in generate_fw_aerodynamics to make the 1103 airframe work correctly. However, this breaks the 1101 airframe, introducing sing errors there. So, here the change in generate_fw_aerodynamics is reverted to the state before PR PX4#24175. Instead, the signs are set correctly by using the HIL_ACT_REV bitfield in the respective airframe config files.
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Solved Problem
We can now simulate all major airframes in SIH-as-SITL (meaning, both PX4 and PX4-internal sim running on PC). In the future this will allow for depreciation of gazebo in the context of automated tests, making them much faster and simpler.
Solution
Add new airframe file, and add it to build system in relevant places. New make target:
make px4_sitl sihsim_svtol.Changelog Entry
For release notes:
Test coverage
Context
Important note to reviewers: This change depends on the previous PR #24205. This branch inherits from the branch in that PR, and contains the fix therein as well. Feel free to do one of these at your discretion: