diff --git a/ja/airframes/airframe_reference.md b/ja/airframes/airframe_reference.md index 6ae73bce025e..3a0a37ac4947 100644 --- a/ja/airframes/airframe_reference.md +++ b/ja/airframes/airframe_reference.md @@ -702,7 +702,7 @@ div.frame_variant td, div.frame_variant th { SIH Standard VTOL QuadPlane - Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: + Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: diff --git a/ja/sim_sih/index.md b/ja/sim_sih/index.md index e9918d7a607b..6a3855a0e55a 100644 --- a/ja/sim_sih/index.md +++ b/ja/sim_sih/index.md @@ -168,6 +168,63 @@ export PX4_HOME_ALT=28.5 make px4_sitl sihsim_quadx ``` +## Adding New Airframes + +[Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. +You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. + +:::warning +Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +::: + +The specific differences for SIH simulation airframes are listed in the sections below. + +For all variants of SIH: + +- Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. + + ::: tip + Make sure that the `SIH_*` parameters and the `CA_*` parameters describe the same vehicle. + Note that some of these parameters are redundant! + +::: + +- `param set-default SYS_HITL 2` to enable SIH on the next boot. + + ::: info + This also disables input from real sensors. + For SIH on the FC (only), it also enables the simulated GPS, barometer, magnetometer, and airspeed sensor. + + For SIH on SITL you will need to explicitly enable these sensors as shown below. + +::: + +- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). + +For SIH on FC: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For SIH as SITL (no FC): + +- Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured as usual with `PWM_MAIN_FUNC*` and `PWM_MAIN_REV`. +- Additionally, set: + - `PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}` + - `PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}` (replacing `svtol` with the airframe model name) +- Enable the simulated sensors using [SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM), and [SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM) (this is only needed for SIH-as-SITL): + - `param set-default SENS_EN_GPSSIM 1` + - `param set-default SENS_EN_BAROSIM 1` + - `param set-default SENS_EN_MAGSIM 1` + - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) + +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). + ## Dynamic Models The dynamic models for the various vehicles are: diff --git a/ko/airframes/airframe_reference.md b/ko/airframes/airframe_reference.md index 0e2f21c712db..09e2b95016c6 100644 --- a/ko/airframes/airframe_reference.md +++ b/ko/airframes/airframe_reference.md @@ -706,7 +706,7 @@ div.frame_variant td, div.frame_variant th { SIH Standard VTOL QuadPlane - 유지보수: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: + 유지보수: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: diff --git a/ko/sim_sih/index.md b/ko/sim_sih/index.md index b2ca76ee5c2f..d1ef8b5d9a89 100644 --- a/ko/sim_sih/index.md +++ b/ko/sim_sih/index.md @@ -168,6 +168,63 @@ export PX4_HOME_ALT=28.5 make px4_sitl sihsim_quadx ``` +## Adding New Airframes + +[Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. +You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. + +:::warning +Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +::: + +The specific differences for SIH simulation airframes are listed in the sections below. + +For all variants of SIH: + +- Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. + + ::: tip + Make sure that the `SIH_*` parameters and the `CA_*` parameters describe the same vehicle. + Note that some of these parameters are redundant! + +::: + +- `param set-default SYS_HITL 2` to enable SIH on the next boot. + + ::: info + This also disables input from real sensors. + For SIH on the FC (only), it also enables the simulated GPS, barometer, magnetometer, and airspeed sensor. + + For SIH on SITL you will need to explicitly enable these sensors as shown below. + +::: + +- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). + +For SIH on FC: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For SIH as SITL (no FC): + +- Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured as usual with `PWM_MAIN_FUNC*` and `PWM_MAIN_REV`. +- Additionally, set: + - `PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}` + - `PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}` (replacing `svtol` with the airframe model name) +- Enable the simulated sensors using [SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM), and [SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM) (this is only needed for SIH-as-SITL): + - `param set-default SENS_EN_GPSSIM 1` + - `param set-default SENS_EN_BAROSIM 1` + - `param set-default SENS_EN_MAGSIM 1` + - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) + +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). + ## Dynamic Models The dynamic models for the various vehicles are: diff --git a/tr/airframes/airframe_reference.md b/tr/airframes/airframe_reference.md index 72a3d91b6ec4..5d8af1e0ba34 100644 --- a/tr/airframes/airframe_reference.md +++ b/tr/airframes/airframe_reference.md @@ -702,7 +702,7 @@ div.frame_variant td, div.frame_variant th { SIH Standard VTOL QuadPlane - Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: + Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: diff --git a/tr/sim_sih/index.md b/tr/sim_sih/index.md index e9918d7a607b..6a3855a0e55a 100644 --- a/tr/sim_sih/index.md +++ b/tr/sim_sih/index.md @@ -168,6 +168,63 @@ export PX4_HOME_ALT=28.5 make px4_sitl sihsim_quadx ``` +## Adding New Airframes + +[Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. +You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. + +:::warning +Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +::: + +The specific differences for SIH simulation airframes are listed in the sections below. + +For all variants of SIH: + +- Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. + + ::: tip + Make sure that the `SIH_*` parameters and the `CA_*` parameters describe the same vehicle. + Note that some of these parameters are redundant! + +::: + +- `param set-default SYS_HITL 2` to enable SIH on the next boot. + + ::: info + This also disables input from real sensors. + For SIH on the FC (only), it also enables the simulated GPS, barometer, magnetometer, and airspeed sensor. + + For SIH on SITL you will need to explicitly enable these sensors as shown below. + +::: + +- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). + +For SIH on FC: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For SIH as SITL (no FC): + +- Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured as usual with `PWM_MAIN_FUNC*` and `PWM_MAIN_REV`. +- Additionally, set: + - `PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}` + - `PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}` (replacing `svtol` with the airframe model name) +- Enable the simulated sensors using [SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM), and [SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM) (this is only needed for SIH-as-SITL): + - `param set-default SENS_EN_GPSSIM 1` + - `param set-default SENS_EN_BAROSIM 1` + - `param set-default SENS_EN_MAGSIM 1` + - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) + +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). + ## Dynamic Models The dynamic models for the various vehicles are: diff --git a/uk/airframes/airframe_reference.md b/uk/airframes/airframe_reference.md index 95eb7240ec01..1892e246feba 100644 --- a/uk/airframes/airframe_reference.md +++ b/uk/airframes/airframe_reference.md @@ -702,7 +702,7 @@ div.frame_variant td, div.frame_variant th { SIH Standard VTOL QuadPlane - Підтримувач: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: + Підтримувач: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: diff --git a/uk/sim_sih/index.md b/uk/sim_sih/index.md index c09d4efb7131..b16c99ab2df7 100644 --- a/uk/sim_sih/index.md +++ b/uk/sim_sih/index.md @@ -168,6 +168,63 @@ export PX4_HOME_ALT=28.5 make px4_sitl sihsim_quadx ``` +## Adding New Airframes + +[Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. +You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. + +:::warning +Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +::: + +The specific differences for SIH simulation airframes are listed in the sections below. + +For all variants of SIH: + +- Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. + + ::: tip + Make sure that the `SIH_*` parameters and the `CA_*` parameters describe the same vehicle. + Note that some of these parameters are redundant! + +::: + +- `param set-default SYS_HITL 2` to enable SIH on the next boot. + + ::: info + This also disables input from real sensors. + For SIH on the FC (only), it also enables the simulated GPS, barometer, magnetometer, and airspeed sensor. + + For SIH on SITL you will need to explicitly enable these sensors as shown below. + +::: + +- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). + +For SIH on FC: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For SIH as SITL (no FC): + +- Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured as usual with `PWM_MAIN_FUNC*` and `PWM_MAIN_REV`. +- Additionally, set: + - `PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}` + - `PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}` (replacing `svtol` with the airframe model name) +- Enable the simulated sensors using [SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM), and [SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM) (this is only needed for SIH-as-SITL): + - `param set-default SENS_EN_GPSSIM 1` + - `param set-default SENS_EN_BAROSIM 1` + - `param set-default SENS_EN_MAGSIM 1` + - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) + +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). + ## Dynamic Models Динамічні моделі для різних транспортних засобів: diff --git a/zh/airframes/airframe_reference.md b/zh/airframes/airframe_reference.md index 5b07490c5563..bebee64cdb0d 100644 --- a/zh/airframes/airframe_reference.md +++ b/zh/airframes/airframe_reference.md @@ -702,7 +702,7 @@ div.frame_variant td, div.frame_variant th { SIH Standard VTOL QuadPlane - Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: + Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 1103


Specific Outputs: diff --git a/zh/sim_sih/index.md b/zh/sim_sih/index.md index 29dea22e00e2..f6f9b43ddf2b 100644 --- a/zh/sim_sih/index.md +++ b/zh/sim_sih/index.md @@ -168,6 +168,63 @@ export PX4_HOME_ALT=28.5 make px4_sitl sihsim_quadx ``` +## Adding New Airframes + +[Adding a new airframe](../dev_airframes/adding_a_new_frame.md) for use in SIH simulation is much the same as for other use cases. +You still need to configure your vehicle type and [geometry](../config/actuators.md) (`CA_` parameters) and start any other defaults for that specific vehicle. + +:::warning +Not every vehicle can be simulated with SIH — there are currently [four supported vehicle types](../advanced_config/parameter_reference.md#SIH_VEHICLE_TYPE), each of which has a relatively rigid implementation in [`sih.cpp`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_sih/sih.cpp). +::: + +The specific differences for SIH simulation airframes are listed in the sections below. + +For all variants of SIH: + +- Set all the [Simulation In Hardware](../advanced_config/parameter_reference.md#simulation-in-hardware) parameters (prefixed with `SIH_`) in order to configure the physical model of the vehicle. + + ::: tip + Make sure that the `SIH_*` parameters and the `CA_*` parameters describe the same vehicle. + Note that some of these parameters are redundant! + +::: + +- `param set-default SYS_HITL 2` to enable SIH on the next boot. + + ::: info + This also disables input from real sensors. + For SIH on the FC (only), it also enables the simulated GPS, barometer, magnetometer, and airspeed sensor. + + For SIH on SITL you will need to explicitly enable these sensors as shown below. + +::: + +- `param set-default EKF2_GPS_DELAY 0` to improve state estimator performance (the assumption of instant GPS measurements would normally be unrealistic, but is accurate for SIH). + +For SIH on FC: + +- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters). + This is to avoid using the real actuator outputs in SIH. + Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`. + +For SIH as SITL (no FC): + +- Airframe file goes in `ROMFS/px4fmu_common/init.d-posix/airframes` and follows the naming template `${ID}_sihsim_${model_name}`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name. +- Add the model name in `src/modules/simulation/simulator_sih/CMakeLists.txt` to generate a corresponding make target. +- Actuators are configured as usual with `PWM_MAIN_FUNC*` and `PWM_MAIN_REV`. +- Additionally, set: + - `PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}` + - `PX4_SIM_MODEL=${PX4_SIM_MODEL:=svtol}` (replacing `svtol` with the airframe model name) +- Enable the simulated sensors using [SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM), and [SENS_EN_ARSPDSIM](../advanced_config/parameter_reference.md#SENS_EN_ARSPDSIM) (this is only needed for SIH-as-SITL): + - `param set-default SENS_EN_GPSSIM 1` + - `param set-default SENS_EN_BAROSIM 1` + - `param set-default SENS_EN_MAGSIM 1` + - `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor) + +For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC). + ## Dynamic Models The dynamic models for the various vehicles are: