Add EKF2 config and startup option for jMAVSim

Makefile

@@ -148,6 +148,9 @@ posix_sitl_default:
 posix_sitl_lpe:
 	$(call cmake-build,$@)
 
+posix_sitl_ekf2:
+	$(call cmake-build,$@)
+
 ros_sitl_default:
 	$(call cmake-build,$@)
 

cmake/configs/posix_sitl_ekf2.cmake

@@ -0,0 +1,91 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/pwm_out_sim
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	platforms/posix/drivers/adcsim
+	platforms/posix/drivers/gpssim
+	platforms/posix/drivers/tonealrmsim
+	platforms/posix/drivers/accelsim
+	platforms/posix/drivers/airspeedsim
+	platforms/posix/drivers/barosim
+	platforms/posix/drivers/gyrosim
+	platforms/posix/drivers/rgbledsim
+	platforms/posix/drivers/ledsim
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/simulator
+	modules/mavlink
+	modules/dataman
+	modules/attitude_estimator_ekf
+	#modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/navigator
+	modules/commander
+	modules/vtol_att_control
+	modules/controllib
+	modules/ekf2
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_sitl_rcS
+	posix-configs/SITL/init/rcS_ekf2
+	CACHE FILEPATH "init script for sitl"
+	)
+
+set(config_sitl_viewer
+	jmavsim
+	CACHE STRING "viewer for sitl"
+	)
+set_property(CACHE config_sitl_viewer
+	PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger
+	disable
+	CACHE STRING "debugger for sitl"
+	)
+set_property(CACHE config_sitl_debugger
+	PROPERTY STRINGS "disable;gdb;lldb")
+
+
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")

posix-configs/SITL/init/rcS_ekf2_jmavsim_iris

@@ -0,0 +1,62 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.8
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a
+ekf2 start