sim: refactor startup scripts and fix gz sim standalone (#24600)

* sim: refactor px4-rc.simulator into sim specific startup scripts. Fix gz sim for standalone mode.

* shellcheck disable=SC2154

ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt

@@ -35,8 +35,11 @@ add_subdirectory(airframes)
 
 px4_add_romfs_files(
 	px4-rc.mavlink
-	px4-rc.params
 	px4-rc.simulator
+	px4-rc.gzsim
+	px4-rc.jmavsim
+	px4-rc.mavlinksim
+	px4-rc.sihsim
 	rc.replay
 	rcS
 )

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

@@ -0,0 +1,180 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] Gazebo simulator"
+
+# Enforce minimum gz version as Harmonic (gz-sim8)
+MIN_GZ_VERSION="8.0.0"
+GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
+
+if [ -z "$GZ_SIM_VERSION" ]; then
+    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+    exit 1
+fi
+
+# Use sort compare, check that MIN_GZ_VERSION is ordered last
+if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
+	gz_command="gz"
+	gz_sub_command="sim"
+
+	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
+	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
+	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
+		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
+		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
+	fi
+else
+    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    exit 1
+fi
+
+# If not standalone
+if [ -z "${PX4_GZ_STANDALONE}" ]; then
+
+	# Look for an already running world
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+	# shellcheck disable=SC2153
+	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+		# Setup gz environment variables
+		if [ -f ./gz_env.sh ]; then
+			. ./gz_env.sh
+
+		elif [ -f ../gz_env.sh ]; then
+			. ../gz_env.sh
+		fi
+
+		echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+
+		${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+
+		if [ -z "${HEADLESS}" ]; then
+			echo "INFO  [init] Starting gz gui"
+			${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
+		fi
+
+	else
+		# Gazebo is already running
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		PX4_GZ_WORLD=${gz_world}
+	fi
+
+else
+	echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
+fi
+
+# Wait for Gazebo world to be ready before proceeding
+check_scene_info() {
+	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
+	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
+		return 0
+	else
+		return 1
+	fi
+}
+
+ATTEMPTS=30
+while [ $ATTEMPTS -gt 0 ]; do
+	if check_scene_info; then
+		echo "INFO  [init] Gazebo world is ready"
+		break
+	fi
+	ATTEMPTS=$((ATTEMPTS-1))
+	if [ $ATTEMPTS -eq 0 ]; then
+		echo "ERROR [init] Timed out waiting for Gazebo world"
+		exit 1
+	fi
+	echo "INFO  [init] Waiting for Gazebo world..."
+	sleep 1
+done
+
+# Start gz_bridge - either spawn a model or connect to existing one
+if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	# Spawn a model
+	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
+	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
+
+	POSE_ARG=""
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pos_x=${pos_x:-0}
+		pos_y=${pos_y:-0}
+		pos_z=${pos_z:-0}
+
+		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
+		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+	fi
+
+	echo "INFO  [init] Spawning model"
+
+	# Spawn model
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
+			--reptype gz.msgs.Boolean --timeout 5000 \
+			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+
+	# Wait for model to spawn
+	sleep 1
+
+	# Start gz_bridge
+	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
+		echo "ERROR [init] gz_bridge failed to start and spawn model"
+		exit 1
+	fi
+
+	# Set physics parameters for faster-than-realtime simulation if needed
+	if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
+		echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
+		${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
+					--reptype gz.msgs.Boolean --timeout 5000 \
+					--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
+	fi
+
+	# Set up camera to follow the model if requested
+	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+
+		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
+
+		# Set camera to follow the model
+		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
+
+		# Set default camera offset if not specified
+		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
+		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
+		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
+
+		# Set camera offset
+		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
+				--reptype gz.msgs.Boolean --timeout 5000 \
+				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+
+		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
+	fi
+
+elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+	# Connect to existing model
+	echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+	if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
+		echo "ERROR [init] gz_bridge failed to start and attach to existing model"
+		exit 1
+	fi
+else
+	echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
+	exit 1
+fi
+
+# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
+# the magnetometer sensor in the model.sdf.
+if param compare -s SENS_EN_MAGSIM 1
+then
+	sensor_mag_sim start
+fi
+# NOTE: new gz has airspeed sensor, remove once added
+if param compare -s SENS_EN_ARSPDSIM 1
+then
+	sensor_airspeed_sim start
+fi

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

@@ -0,0 +1,14 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+echo "INFO  [init] jMAVSim simulator"
+
+if jps | grep -i jmavsim; then
+	kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
+	sleep 1
+fi
+
+param set IMU_INTEG_RATE 250
+./jmavsim_run.sh -l -r 250 &
+
+simulator_mavlink start -h localhost $((4560+px4_instance))

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

@@ -0,0 +1,27 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+# EKF2 specifics
+param set-default EKF2_GPS_DELAY 10
+param set-default EKF2_MULTI_IMU 3
+param set-default SENS_IMU_MODE 0
+
+simulator_tcp_port=$((4560+px4_instance))
+
+# Check if PX4_SIM_HOSTNAME environment variable is empty
+# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+# If both are empty use localhost for simulator
+if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
+		simulator_mavlink start -c $simulator_tcp_port
+	else
+		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
+		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
+	fi
+
+else
+	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
+	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
+fi

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

@@ -1,5 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250

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

@@ -0,0 +1,38 @@
+#!/bin/sh
+
+echo "INFO  [init] SIH simulator"
+
+if [ -n "${PX4_HOME_LAT}" ]; then
+	param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
+fi
+
+if [ -n "${PX4_HOME_LON}" ]; then
+	param set SIH_LOC_LON0 ${PX4_HOME_LON}
+fi
+if [ -n "${PX4_HOME_ALT}" ]; then
+	param set SIH_LOC_H0 ${PX4_HOME_ALT}
+fi
+
+if simulator_sih start; then
+
+	if param compare -s SENS_EN_BAROSIM 1
+	then
+		sensor_baro_sim start
+	fi
+	if param compare -s SENS_EN_GPSSIM 1
+	then
+		sensor_gps_sim start
+	fi
+	if param compare -s SENS_EN_MAGSIM 1
+	then
+		sensor_mag_sim start
+	fi
+	if param compare -s SENS_EN_AGPSIM 1
+	then
+		sensor_agp_sim start
+	fi
+
+else
+	echo "ERROR [init] simulator_sih failed to start"
+	exit 1
+fi

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

@@ -8,272 +8,18 @@ param set-default IMU_INTEG_RATE 250
 param set-default COM_MODE_ARM_CHK 1
 
 if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
-
+    # Run SIH
-	echo "INFO  [init] SIH simulator"
+    . px4-rc.sihsim
-
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIH_LOC_LON0 ${PX4_HOME_LON}
-	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi
-
-	if simulator_sih start; then
-
-		if param compare -s SENS_EN_BAROSIM 1
-		then
-			sensor_baro_sim start
-		fi
-		if param compare -s SENS_EN_GPSSIM 1
-		then
-			sensor_gps_sim start
-		fi
-		if param compare -s SENS_EN_MAGSIM 1
-		then
-			sensor_mag_sim start
-		fi
-		if param compare -s SENS_EN_AGPSIM 1
-		then
-			sensor_agp_sim start
-		fi
-
-	else
-		echo "ERROR [init] simulator_sih failed to start"
-		exit 1
-	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
-
+    # Run Gazebo (gz)
-	echo "INFO  [init] Gazebo simulator"
+    . px4-rc.gzsim
-
-	if [ -z "${PX4_GZ_STANDALONE}" ]; then
-
-		# Enforce minimum gz version as Harmonic (gz-sim8)
-		MIN_GZ_VERSION="8.0.0"
-		GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
-
-		if [ -z "$GZ_SIM_VERSION" ]; then
-		    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-		    exit 1
-		fi
-
-		# Use sort compare, check that MIN_GZ_VERSION is ordered last
-		if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
-			gz_command="gz"
-			gz_sub_command="sim"
-
-			# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
-			# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
-			if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
-				echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
-				gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
-			fi
-		else
-		    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-		    exit 1
-		fi
-
-		# Look for an already running world
-		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-		# shellcheck disable=SC2153
-		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-			# Setup gz environment variables
-			if [ -f ./gz_env.sh ]; then
-				. ./gz_env.sh
-
-			elif [ -f ../gz_env.sh ]; then
-				. ../gz_env.sh
-			fi
-
-			echo "INFO  [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
-
-			${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-			if [ -z "${HEADLESS}" ]; then
-				echo "INFO  [init] Starting gz gui"
-				${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
-			fi
-
-			# Wait for Gazebo world to be ready before proceeding
-			check_scene_info() {
-				SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
-				if echo "$SERVICE_INFO" | grep -q "Service providers"; then
-					return 0
-				else
-					return 1
-				fi
-			}
-
-			ATTEMPTS=30
-			while [ $ATTEMPTS -gt 0 ]; do
-				if check_scene_info; then
-					echo "INFO  [init] Gazebo world is ready"
-					break
-				fi
-				ATTEMPTS=$((ATTEMPTS-1))
-				if [ $ATTEMPTS -eq 0 ]; then
-					echo "ERROR [init] Timed out waiting for Gazebo world"
-					exit 1
-				fi
-				echo "INFO  [init] Waiting for Gazebo world..."
-				sleep 1
-			done
-
-		else
-			# Gazebo is already running
-			echo "INFO  [init] gazebo already running world: ${gz_world}"
-			PX4_GZ_WORLD=${gz_world}
-		fi
-
-	else
-		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
-	fi
-
-	# Start gz_bridge - either spawn a model or connect to existing one
-	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
-		# Spawn a model
-		MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
-		MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
-
-		POSE_ARG=""
-		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-			pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-			pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-			pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-			pos_x=${pos_x:-0}
-			pos_y=${pos_y:-0}
-			pos_z=${pos_z:-0}
-
-			POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-			echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
-		fi
-
-		echo "INFO  [init] Spawning model"
-
-		# Spawn model
-		${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
-
-		# Wait for model to spawn
-		sleep 1
-
-		# Start gz_bridge
-		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
-			echo "ERROR [init] gz_bridge failed to start and spawn model"
-			exit 1
-		fi
-
-		# Set physics parameters for faster-than-realtime simulation if needed
-		if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
-			echo "INFO  [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
-			${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
-						--reptype gz.msgs.Boolean --timeout 5000 \
-						--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
-		fi
-
-		# Set up camera to follow the model if requested
-		if [ -n "${PX4_GZ_FOLLOW}" ]; then
-
-			echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
-
-			# Set camera to follow the model
-			${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
-			# Set default camera offset if not specified
-			follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
-			follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
-			follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
-
-			# Set camera offset
-			${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-					--reptype gz.msgs.Boolean --timeout 5000 \
-					--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
-
-			echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
-		fi
-
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
-		# Connect to existing model
-		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
-		if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
-			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
-			exit 1
-		fi
-	else
-		echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
-		exit 1
-	fi
-	# Start the sensor simulator modules
-	if param compare -s SENS_EN_BAROSIM 1
-	then
-		sensor_baro_sim start
-	fi
-	if param compare -s SENS_EN_GPSSIM 1
-	then
-		sensor_gps_sim start
-	fi
-	if param compare -s SENS_EN_MAGSIM 1
-	then
-		sensor_mag_sim start
-	fi
-	if param compare -s SENS_EN_ARSPDSIM 1
-	then
-		sensor_airspeed_sim start
-	fi
-	if param compare -s SENS_EN_AGPSIM 1
-	then
-		sensor_agp_sim start
-	fi
 
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
-
+    # Run jMAVSim
-	echo "INFO  [init] jMAVSim simulator"
+    . px4-rc.jmavsim
-
-	if jps | grep -i jmavsim; then
-		kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
-		sleep 1
-	fi
-
-	param set IMU_INTEG_RATE 250
-	./jmavsim_run.sh -l -r 250 &
-
-	simulator_mavlink start -h localhost $((4560+px4_instance))
 
 else
-	# otherwise start simulator (mavlink) module
+    # Run simulator_mavlink module for interface with gazebo-classic
-
+    . px4-rc.mavlinksim
-	# EKF2 specifics
-	param set-default EKF2_GPS_DELAY 10
-	param set-default EKF2_MULTI_IMU 3
-	param set-default SENS_IMU_MODE 0
-
-	simulator_tcp_port=$((4560+px4_instance))
-
-	# Check if PX4_SIM_HOSTNAME environment variable is empty
-	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-	# If both are empty use localhost for simulator
-	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-
-		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-			echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
-			simulator_mavlink start -c $simulator_tcp_port
-		else
-			echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
-			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
-		fi
-
-	else
-		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
-		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
-	fi
-
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -227,9 +227,6 @@ then
 	exit 1
 fi
 
-#user defined params for instances can be in PATH
-. px4-rc.params
-
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time