SIH | Pavel Guzenfeld

PX4 SIH running on real flight controller hardware with Unity visualization

Running PX4 SIH on Real Hardware: Custom Firmware for In-the-Loop Flight Simulation

Getting PX4’s Simulation-In-Hardware (SIH) module running on a production flight controller — discovering the firmware doesn’t include SIH, building a custom PX4 with flash-trimming, fan-out routing serial MAVLink to both the simulator and ground station, and connecting it all to the Unity visualization pipeline.

Migrating PX4 ROS Tests from Gazebo Classic to SIH

Migrating PX4's ROS Integration Tests from Gazebo Classic to SIH

PX4’s MAVSDK tests were migrated to SIH but the ROS integration tests were left behind on Gazebo Classic. This post documents the complete migration — the config changes, the CI pipeline surgery, the parameter name pitfall that silently broke GlobalPositionInterfaceTest, and how to reproduce the full 14-test suite locally in Docker.