sih remove gps and use standalone sensor_gps_sim

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -9,6 +9,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if simulator_sih start; then
 
 		sensor_baro_sim start
+		sensor_gps_sim start
 		sensor_mag_sim start
 
 	else

boards/airmind/mindpx-v2/default.px4board

@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -72,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/atl/mantis-edu/default.px4board

@@ -32,6 +32,7 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_GIMBAL=y

boards/av/x-v1/default.px4board

@@ -27,7 +27,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -69,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/beaglebone/blue/default.px4board

@@ -16,7 +16,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -33,6 +32,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -52,14 +52,15 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/cuav/nora/default.px4board

@@ -31,7 +31,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -76,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/cuav/x7pro/default.px4board

@@ -32,7 +32,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -77,6 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/cubepilot/cubeorange/default.px4board

@@ -28,13 +28,11 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-#CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -72,6 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -100,4 +99,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y

boards/cubepilot/cubeyellow/default.px4board

@@ -72,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/emlid/navio2/default.px4board

@@ -18,7 +18,6 @@ CONFIG_DRIVERS_IMU_ST_LSM9DS1=y
 CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -35,6 +34,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -54,14 +54,16 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/holybro/durandal-v1/default.px4board

@@ -69,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/kakuteh7/default.px4board

@@ -21,7 +21,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -64,6 +63,7 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/holybro/pix32v5/default.px4board

@@ -77,6 +77,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/modalai/fc-v1/default.px4board

@@ -30,10 +30,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -74,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/modalai/fc-v2/default.px4board

@@ -29,10 +29,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -72,6 +70,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-classic/default.px4board

@@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -69,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -26,7 +26,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -70,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -25,7 +25,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -70,6 +69,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -48,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -69,12 +68,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -49,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -70,12 +69,12 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y

boards/mro/pixracerpro/default.px4board

@@ -68,6 +68,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/x21-777/default.px4board

@@ -71,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/mro/x21/default.px4board

@@ -72,6 +72,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/fmuk66-e/default.px4board

@@ -28,7 +28,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -72,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/fmuk66-v3/default.px4board

@@ -32,7 +32,6 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
@@ -77,6 +76,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/nxp/fmurt1062-v1/default.px4board

@@ -19,7 +19,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y

boards/px4/fmu-v3/default.px4board

@@ -32,10 +32,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -45,6 +43,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -53,6 +52,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -68,22 +68,21 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/px4/fmu-v4/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/px4/fmu-v4pro/default.px4board

@@ -73,6 +73,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/px4/fmu-v6u/default.px4board

@@ -71,6 +71,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/px4/raspberrypi/default.px4board

@@ -14,7 +14,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPI_RC_IN=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -23,6 +22,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -31,6 +31,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -46,19 +47,20 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/scumaker/pilotpi/default.px4board

@@ -53,6 +53,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/sky-drones/smartap-airlink/default.px4board

@@ -75,6 +75,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

boards/spracing/h7extreme/default.px4board

@@ -15,7 +15,6 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y

boards/uvify/core/default.px4board

@@ -25,7 +25,6 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -59,6 +58,7 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
+CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

src/modules/simulation/simulator_sih/sih.cpp

@@ -73,7 +73,6 @@ void Sih::run()
 
 	const hrt_abstime task_start = hrt_absolute_time();
 	_last_run = task_start;
-	_gps_time = task_start;
 	_airspeed_time = task_start;
 	_dist_snsr_time = task_start;
 	_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
@@ -217,12 +216,6 @@ void Sih::sensor_step()
 
 	reconstruct_sensors_signals(now);
 
-	// gps published at 10Hz
-	if (now - _gps_time >= 100_ms) {
-		_gps_time = now;
-		send_gps(now);
-	}
-
 	if ((_vehicle == VehicleType::FW || _vehicle == VehicleType::TS) && now - _airspeed_time >= 50_ms) {
 		_airspeed_time = now;
 		send_airspeed(now);
@@ -266,8 +259,6 @@ void Sih::parameters_updated()
 	// guards against too small determinants
 	_Im1 = 100.0f * inv(static_cast<typeof _I>(100.0f * _I));
 
-	_gps_used = _sih_gps_used.get();
-
 	_distance_snsr_min = _sih_distance_snsr_min.get();
 	_distance_snsr_max = _sih_distance_snsr_max.get();
 	_distance_snsr_override = _sih_distance_snsr_override.get();
@@ -452,69 +443,6 @@ void Sih::reconstruct_sensors_signals(const hrt_abstime &time_now_us)
 	// update IMU every iteration
 	_px4_accel.update(time_now_us, acc(0), acc(1), acc(2));
 	_px4_gyro.update(time_now_us, gyro(0), gyro(1), gyro(2));
-
-	// GPS
-	_gps_lat_noiseless = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH);
-	_gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;
-	_gps_alt_noiseless = _H0 - _p_I(2);
-
-	_gps_lat = _gps_lat_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-	_gps_lon = _gps_lon_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;
-	_gps_alt = _gps_alt_noiseless + generate_wgn() * 0.5f;
-	_gps_vel = _v_I + noiseGauss3f(0.06f, 0.077f, 0.158f);
-}
-
-void Sih::send_gps(const hrt_abstime &time_now_us)
-{
-	device::Device::DeviceId device_id;
-	device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
-	device_id.devid_s.bus = 0;
-	device_id.devid_s.address = 0;
-	device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;
-
-	sensor_gps_s sensor_gps{};
-	sensor_gps.timestamp_sample = time_now_us;
-	sensor_gps.device_id = device_id.devid;
-	sensor_gps.lat = (int32_t)(_gps_lat * 1e7);       // Latitude in 1E-7 degrees
-	sensor_gps.lon = (int32_t)(_gps_lon * 1e7); // Longitude in 1E-7 degrees
-	sensor_gps.alt = (int32_t)(_gps_alt * 1000.0f); // Altitude in 1E-3 meters above MSL, (millimetres)
-	sensor_gps.alt_ellipsoid = (int32_t)(_gps_alt * 1000); // Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
-	sensor_gps.vel_ned_valid = true; // True if NED velocity is valid
-	sensor_gps.vel_m_s = sqrtf(_gps_vel(0) * _gps_vel(0) + _gps_vel(1) * _gps_vel(1)); // GPS ground speed, (metres/sec)
-	sensor_gps.vel_n_m_s = _gps_vel(0); // GPS North velocity, (metres/sec)
-	sensor_gps.vel_e_m_s = _gps_vel(1); // GPS East velocity, (metres/sec)
-	sensor_gps.vel_d_m_s = _gps_vel(2); // GPS Down velocity, (metres/sec)
-
-	// Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
-	sensor_gps.cog_rad = atan2(_gps_vel(1), _gps_vel(0));
-
-	if (_gps_used >= 4) {
-		sensor_gps.fix_type = 3;  // 3D fix
-		sensor_gps.satellites_used = _gps_used;
-		sensor_gps.heading = NAN;
-		sensor_gps.heading_offset = NAN;
-		sensor_gps.s_variance_m_s = 0.5f;
-		sensor_gps.c_variance_rad = 0.1f;
-		sensor_gps.eph = 0.9f;
-		sensor_gps.epv = 1.78f;
-		sensor_gps.hdop = 0.7f;
-		sensor_gps.vdop = 1.1f;
-
-	} else {
-		sensor_gps.fix_type = 0;  // 3D fix
-		sensor_gps.satellites_used = _gps_used;
-		sensor_gps.heading = NAN;
-		sensor_gps.heading_offset = NAN;
-		sensor_gps.s_variance_m_s = 100.f;
-		sensor_gps.c_variance_rad = 100.f;
-		sensor_gps.eph = 100.f;
-		sensor_gps.epv = 100.f;
-		sensor_gps.hdop = 100.f;
-		sensor_gps.vdop = 100.f;
-	}
-
-	sensor_gps.timestamp = hrt_absolute_time();
-	_sensor_gps_pub.publish(sensor_gps);
 }
 
 void Sih::send_airspeed(const hrt_abstime &time_now_us)
@@ -627,10 +555,10 @@ void Sih::publish_ground_truth(const hrt_abstime &time_now_us)
 		// publish global position groundtruth
 		vehicle_global_position_s global_position{};
 		global_position.timestamp_sample = time_now_us;
-		global_position.lat = _gps_lat_noiseless;
+		global_position.lat = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH);;
-		global_position.lon = _gps_lon_noiseless;
+		global_position.lon = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;;
-		global_position.alt = _gps_alt_noiseless;
+		global_position.alt = _H0 - _p_I(2);;
-		global_position.alt_ellipsoid = _gps_alt_noiseless;
+		global_position.alt_ellipsoid = global_position.alt;
 		global_position.terrain_alt = -_p_I(2);
 		global_position.timestamp = hrt_absolute_time();
 		_global_position_ground_truth_pub.publish(global_position);

src/modules/simulation/simulator_sih/sih.hpp

@@ -73,7 +73,6 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/distance_sensor.h>
-#include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -120,7 +119,6 @@ private:
 	// simulated sensors
 	PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	PX4Gyroscope     _px4_gyro{1310988};  // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
-	uORB::Publication<sensor_gps_s>       _sensor_gps_pub{ORB_ID(sensor_gps)};
 	uORB::Publication<distance_sensor_s>  _distance_snsr_pub{ORB_ID(distance_sensor)};
 	uORB::Publication<airspeed_s>         _airspeed_pub{ORB_ID(airspeed)};
 
@@ -158,7 +156,6 @@ private:
 
 	// reconstruct the noisy sensor signals
 	void reconstruct_sensors_signals(const hrt_abstime &time_now_us);
-	void send_gps(const hrt_abstime &time_now_us);
 	void send_airspeed(const hrt_abstime &time_now_us);
 	void send_dist_snsr(const hrt_abstime &time_now_us);
 	void publish_ground_truth(const hrt_abstime &time_now_us);
@@ -182,7 +179,6 @@ private:
 
 	hrt_abstime _last_run{0};
 	hrt_abstime _last_actuator_output_time{0};
-	hrt_abstime _gps_time{0};
 	hrt_abstime _airspeed_time{0};
 	hrt_abstime _dist_snsr_time{0};
 
@@ -251,12 +247,6 @@ private:
 	// 	AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f,  0.239f, TS_CM-0.083f), 0.0f, TS_AR)
 	// 	};
 
-	// sensors reconstruction
-	matrix::Vector3f    _gps_vel{};
-	double      _gps_lat, _gps_lat_noiseless;
-	double      _gps_lon, _gps_lon_noiseless;
-	float       _gps_alt, _gps_alt_noiseless;
-
 	// parameters
 	float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0, _T_TAU;
 	double _LAT0, _LON0, _COS_LAT0;
@@ -264,7 +254,6 @@ private:
 	matrix::Matrix3f _I;    // vehicle inertia matrix
 	matrix::Matrix3f _Im1;  // inverse of the inertia matrix
 
-	int _gps_used;
 	float _distance_snsr_min, _distance_snsr_max, _distance_snsr_override;
 
 	// parameters defined in sih_params.c
@@ -287,7 +276,6 @@ private:
 		(ParamInt<px4::params::SIH_LOC_LAT0>) _sih_lat0,
 		(ParamInt<px4::params::SIH_LOC_LON0>) _sih_lon0,
 		(ParamFloat<px4::params::SIH_LOC_H0>) _sih_h0,
-		(ParamInt<px4::params::SIH_GPS_USED>) _sih_gps_used,
 		(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _sih_distance_snsr_min,
 		(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
 		(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,

src/modules/simulation/simulator_sih/sih_params.c

@@ -284,15 +284,6 @@ PARAM_DEFINE_INT32(SIH_LOC_LON0, -737578370);
  */
 PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f);
 
-/**
- * Number of GPS satellites used
- *
- * @min 0
- * @max  50
- * @group Simulation In Hardware
- */
-PARAM_DEFINE_INT32(SIH_GPS_USED, 10);
-
 /**
  * distance sensor minimum range
  *