fix(simulator_sih): restore xvert front transition (#28090)

* fix(simulator_sih): correct tailsitter pitot axis

Signed-off-by: jbotwina <jimbotwina16@gmail.com>

* fix(airframes/10042): tune xvert transition

Signed-off-by: jbotwina <jimbotwina16@gmail.com>

* test(mavsdk_tests): cover xvert transition

Signed-off-by: jbotwina <jimbotwina16@gmail.com>

* fix(airframes/10042): disable airspeed scaling

Signed-off-by: jbotwina <jimbotwina16@gmail.com>

---------

Signed-off-by: jbotwina <jimbotwina16@gmail.com>

.github/workflows/sitl_tests.yml

@@ -34,6 +34,7 @@ jobs:
         config:
           - {model: "quadx",         latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
           - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {model: "xvert",         latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "RelWithDebInfo" } # Zurich
     env:
       PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
       PX4_SBOM_DISABLE: 1

ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert

@@ -20,10 +20,13 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 
 param set-default VT_B_TRANS_DUR 5
+param set-default VT_ARSP_BLEND 6
+param set-default VT_ARSP_TRANS 7
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 0.3
+param set-default FW_ARSP_SCALE_EN 0
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 

src/modules/simulation/simulator_sih/sih.cpp

@@ -766,9 +766,9 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us)
 	airspeed_s airspeed{};
 	airspeed.timestamp_sample = time_now_us;
 
-	// pitot tube measures forward (body-x) airspeed
 	const Vector3f v_apparent_B = _q.rotateVectorInverse(_v_apparent_N);
-	airspeed.true_airspeed_m_s = fmaxf(0.1f, v_apparent_B(0) + generate_wgn() * 0.2f);
+	const float v_pitot = (_vehicle == VehicleType::TailsitterVTOL) ? -v_apparent_B(2) : v_apparent_B(0);
+	airspeed.true_airspeed_m_s = fmaxf(0.1f, v_pitot + generate_wgn() * 0.2f);
 	airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO);
 	airspeed.confidence = 0.7f;
 	airspeed.timestamp = hrt_absolute_time();

test/mavsdk_tests/CMakeLists.txt

@@ -32,6 +32,7 @@ if(MAVSDK_FOUND)
         test_multicopter_offboard.cpp
         test_multicopter_manual.cpp
         test_multicopter_rtl_with_geofence.cpp
+        test_sih_xvert_transition.cpp
         test_vtol_mission.cpp
         test_vtol_figure_eight.cpp
         test_vtol_loiter_reposition.cpp

test/mavsdk_tests/configs/sih-sitl.json

@@ -31,6 +31,11 @@
             "model": "standard_vtol",
             "test_filter": "[vtol]",
             "timeout_min": 10
+        },
+        {
+            "model": "xvert",
+            "test_filter": "[sih_xvert_transition]",
+            "timeout_min": 5
         }
     ]
 }

test/mavsdk_tests/test_sih_xvert_transition.cpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "autopilot_tester.h"
+
+#include <chrono>
+
+TEST_CASE("SIH XVert completes front transition", "[sih_xvert_transition]")
+{
+	AutopilotTester tester;
+	tester.connect(connection_url);
+	tester.wait_until_ready();
+
+	const float takeoff_altitude = 30.f;
+	tester.set_takeoff_altitude(takeoff_altitude);
+	tester.arm();
+	tester.takeoff();
+	tester.wait_until_hovering();
+	tester.wait_until_altitude(takeoff_altitude, std::chrono::seconds(30));
+	tester.transition_to_fixedwing();
+	tester.wait_until_fixedwing(std::chrono::seconds(15));
+	tester.sleep_for(std::chrono::seconds(10));
+	tester.wait_until_fixedwing(std::chrono::seconds(1));
+}