Add support for FlighGear SITL.

      Add flightgear_bridge submodule.
      Add traget px4_sitl_nolockstep with disabled  LOCKSTEP simulation.
      Add flightgear viewer targets and startup scripts
      Add a few posible vehicles plane (rascal), autogyro (tf-g1), and rover (tf-r1))

.gitmodules

@@ -45,3 +45,6 @@
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git
+[submodule "Tools/flightgear_bridge"]
+	path = Tools/flightgear_bridge
+	url = https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge.git

ROMFS/px4fmu_common/init.d-posix/1033_rascal

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1034_rascal-electric

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15
+
+	param set FW_L1_PERIOD 25
+
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/1061_tf-r1

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-R1 UAV Rover
+# @type Rover
+# @class Rover
+#
+# @url https://github.com/ThunderFly-aerospace/TF-R1/
+# @maintainer ThunderFly s.r.o.
+#
+
+sh /etc/init.d/rc.rover_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_IDLE 0
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0
+
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2
+
+	param set CBRK_AIRSPD_CHK 162128
+
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix

ROMFS/px4fmu_common/init.d-posix/17001_tf-g1

@@ -0,0 +1,64 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G1
+# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G1/
+#
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0
+
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1
+
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08
+
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3
+
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100
+
+	param set RWTO_TKOFF 1
+	param set MAV_BROADCAST 1
+
+	param set FW_ARSP_SCALE_EN 0
+
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15
+
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30
+
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi
+
+
+set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/mixers-sitl/autogyro_sitl.main.mix

@@ -0,0 +1,37 @@
+Mixer for SITL autogyro.
+=========================================================
+
+# 0 mixer for the rudder (Rotor roll)
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 2   10000   10000    0 -10000  10000
+
+# 1 mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# 2 mixer for the aileron
+M: 1
+O:      10000  10000   0 -10000  10000
+S: 0 0  -10000  -10000    0 -10000  10000
+
+# 3 mixer for the elevator (Rotor pitch)
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 1   10000   10000    0 -10000  10000
+
+# 4 mixer for the prerotator AUX1
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 5   10000   10000    0 -10000  10000
+
+# 5 mixer for the manual elevator AUX2
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 6   10000   10000    0 -10000  10000
+
+# 6 mixer for the release device AUX3
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 1 7   10000   10000    0 -10000  10000

Tools/setup/ubuntu.sh

@@ -6,7 +6,7 @@
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
+## - jMAVSim, Gazebo9 and FlightGear simulator (omit with arg: --no-sim-tools)
 ##
 ## Not Installs:
 ## - FastRTPS and FastCDR
@@ -109,7 +109,7 @@ fi
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-pip3 install --user -r ${DIR}/requirements.txt
+python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -200,6 +200,10 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		protobuf-compiler \
 		;
 
+	# FlightGear
+	sudo add-apt-repository -y -u ppa:saiarcot895/flightgear
+	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install flightgear
+
 fi
 
 if [[ $INSTALL_NUTTX == "true" ]]; then

Tools/sitl_run.sh

@@ -121,6 +121,13 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
+elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
+	echo "FG setup"
+    cd "${src_path}/Tools/flightgear_bridge/"
+    "${src_path}/Tools/flightgear_bridge/FG_run.py" ${model}.json 0
+    "${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py ${model}.json` &
+    FG_BRIDGE_PID=`echo $!`
+
 fi
 
 pushd "$rootfs" >/dev/null
@@ -171,4 +178,7 @@ elif [ "$program" == "gazebo" ]; then
 	if [[ ! -n "$HEADLESS" ]]; then
 		kill -9 $GUI_PID
 	fi
+elif [ "$program" == "flightgear" ]; then
+    kill $FG_BRIDGE_PID
+    kill -9 `cat /tmp/px4fgfspid_0`
 fi