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fix(simulation): support Windows SITL transports

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Make MAVLink, uXRCE-DDS, and simulator_mavlink tolerate Windows socket and daemon semantics while preserving the existing POSIX transport behavior.

Update Gazebo Classic integration, SIH defaults, and multi-instance simulation scripts needed by the native Windows SITL workflow.
This commit is contained in:
Nuno Marques
2026-05-11 10:33:25 -07:00
parent 2e88fa46aa
commit 1f484eef07
14 changed files with 307 additions and 92 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+22 -1
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@@ -16,7 +16,8 @@ param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default SIH_T_MAX 6
param set-default SIH_F_T_MAX 8
param set-default SIH_F_CT0 0.16
param set-default SIH_MASS 0.3
param set-default SIH_IXX 0.00402
param set-default SIH_IYY 0.0144
@@ -65,3 +66,23 @@ param set-default FW_YR_I 3.0000
param set-default FW_YR_D 0.0000
param set-default FW_YR_FF 0.0000
param set-default FW_YR_IMAX 1.0000
# FW controller / TECS tuning for this 0.3 kg low-mass airframe.
# Default PX4 FW tuning is calibrated for 1-5 kg planes; this airframe needs
# specific tuning for the takeoff -> cruise handoff at 10 m/s trim with 8 N
# max thrust. Values verified by iterating against SIH dynamics.
param set-default FW_AIRSPD_STALL 6
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 10
param set-default FW_AIRSPD_MAX 12
param set-default FW_PSP_OFF 2.0
param set-default FW_THR_TRIM 0.9
param set-default FW_THR_MIN 0.5
param set-default FW_T_CLMB_MAX 2
param set-default FW_T_SINK_MIN 2
param set-default FW_T_SPDWEIGHT 2.0
param set-default FW_T_ALT_TC 3.0
param set-default FW_T_TAS_TC 3.0
param set-default FW_T_HRATE_FF 0.6
param set-default FW_T_THR_DAMPING 0.3
param set-default NAV_LOITER_RAD 30