I’ve (mostly) integrated a custom sim as a new SIH, but since I like to debug is SITL, I’d like to run that way, first. Alas, modules init but never run. I believe the problem is SITL expects simulator_mavlink to be a lockstep time source. I’m not quite sure how SIH does it, but maybe expects a real timer, since it runs on HW, normally. ATM, my special config has neither.
I’ll just complete the integration on the HW, as SIH was intended. However, it seems like I’m close with the SIH-in-SITL config, if someone can give me a hint.