I am an absolute newbie in PX4 development and I've been tasked with developing a driver for a rangefiner. There are plenty of examples in the source tree of PX4, however I'm more interesting in how does one go about testing the actual driver.
I've got Pixhawk 2.1 (Cube) flight controller and was thinking whether it's worthwhile to try and come up with some sort of HITL setup where the rangefinder is connected to one of the serial ports (as that is what I intend to use for the final driver) and everything else is simulated - has this been done before? I suspect it has, but as it's not the most common use case, I haven't come across it in the documentation so far.
Alternatively, maybe there is a simpler way/pattern for sensor driver development/testing than SITL/HITL testing?
Thank you in advance!