sitl-arm

INAV SITL arming via MSP automates the setup process by programmatically sending MSP commands to arm the simulator, bypassing manual configuration. This enables you to launch SITL, configure RX and mode ranges, and arm the instance in a single automated workflow for CI pipelines and scripted test scenarios.

MSP (Multiwii Serial Protocol) is a command protocol that communicates with flight controllers and simulators. For SITL, MSP commands like MSP_SET_RX_CONFIG and MSP_SET_MODE_RANGE configure receiver input and arming modes, enabling programmatic control without a physical radio transmitter.

Yes, INAV SITL with automated MSP arming is designed for CI pipelines and scripted test scenarios. It launches the simulator, arms it via MSP commands, and maintains continuous RC data transmission at 50 Hz, allowing you to test flight modes and navigation algorithms without physical hardware.

Before arming, you need INAV SITL installed and running, MSP connectivity configured, and RC input initialized. The Skill handles EEPROM writes, HITL enablement, and reboots; you must ensure MSP responses are consumed to prevent buffer overflow and maintain synchronization.

HITL (Hardware-In-The-Loop) mode in INAV SITL skips sensor calibration steps, allowing faster test setup. The Skill automatically enables HITL during the arming process, so you can move directly to testing flight logic without calibration overhead.