SITL: enable failure command (SYS_FAILURE_EN=1)

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -154,6 +154,8 @@ param set-default SDLOG_DIRS_MAX 7
 
 param set-default TRIG_INTERFACE 3
 
+param set-default SYS_FAILURE_EN 1
+
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)

test/mavsdk_tests/autopilot_tester.h

@@ -139,6 +139,11 @@ public:
 	// Blocking call to get the drone's current position in NED frame
 	std::array<float, 3> get_current_position_ned();
 
+	void set_param_int(const std::string &param, int32_t value)
+	{
+		CHECK(_param->set_param_int(param, value) == Param::Result::Success);
+	}
+
 protected:
 	mavsdk::Param *getParams() const { return _param.get();}
 	mavsdk::Telemetry *getTelemetry() const { return _telemetry.get();}

test/mavsdk_tests/test_multicopter_failure_injection.cpp

@@ -41,6 +41,7 @@ TEST_CASE("Failure Injection - Reject mid-air when it is disabled", "[multicopte
 	AutopilotTesterFailure tester;
 	tester.connect(connection_url);
 	tester.wait_until_ready();
+	tester.set_param_int("SYS_FAILURE_EN", 0);
 	tester.arm();
 	tester.takeoff();
 	tester.wait_until_hovering();