rpi: add HIL config

cmake/configs/posix_rpi_common.cmake

@@ -75,6 +75,7 @@ set(config_module_list
 	drivers/navio_sysfs_pwm_out
 	drivers/navio_gpio
 	drivers/navio_rgbled
+	drivers/pwm_out_sim
 
 	#
 	# Libraries

posix-configs/rpi/px4_hil.config

@@ -0,0 +1,24 @@
+# HITL configuration
+# connect to it with jMAVSim:
+# ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250
+
+uorb start
+param load
+param set SYS_AUTOSTART 1001
+param set MAV_BROADCAST 1
+param set MAV_TYPE 2
+param set SYS_MC_EST_GROUP 0
+sensors start -hil
+commander start -hil
+navigator start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -u 14577 -r 1000000
+navio_sysfs_rc_in start
+pwm_out_sim mode_pwm16
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+logger start -t
+mavlink boot_complete
+