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Add MAVLink SITL sanity harness
Standalone 8-check pass/fail rig against a self-started SITL with the known-good multiport serial layout: MSP on UART1, MAVLink receiver telemetry and RC override on UART2, GCS heartbeat, mission upload and readback, stream-rate and message-rate control on UART3. Previously lived only in the development workspace and was never committed.
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‎src/test/mavlink/sanity/fc_diff.txt‎

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# Building AutoComplete Cache ... Done!
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#
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# diff all
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# version
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# INAV/SITL 9.1.0 Jul 10 2026 / 12:06:40 (abfc1f39)
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# GCC-13.4.0
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# start the command batch
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batch start
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# reset configuration to default settings
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defaults noreboot
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# resources
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# Timer overrides
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# Outputs [servo]
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# safehome
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# Fixed Wing Approach
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# geozone
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# geozone vertices
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# features
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feature TELEMETRY
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feature BLACKBOX
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feature PWM_OUTPUT_ENABLE
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# blackbox
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blackbox -NAV_ACC
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blackbox NAV_POS
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blackbox NAV_PID
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blackbox MAG
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blackbox ACC
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blackbox ATTI
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blackbox RC_DATA
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blackbox RC_COMMAND
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blackbox MOTORS
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blackbox -GYRO_RAW
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blackbox -PEAKS_R
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blackbox -PEAKS_P
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blackbox -PEAKS_Y
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blackbox SERVOS
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# Receiver: Channel map
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# Ports
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serial 1 1 115200 115200 0 2470000
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serial 2 256 115200 115200 460800 115200
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serial 3 256 115200 115200 115200 115200
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serial 6 33554432 115200 115200 0 115200
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serial 7 2 115200 115200 0 115200
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# Modes [aux]
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aux 0 0 0 1300 2100
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aux 1 1 1 1300 1700
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aux 2 53 3 1325 1725
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aux 3 11 1 1700 2100
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aux 4 10 2 1700 2100
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aux 5 28 3 1700 2100
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aux 6 31 2 1300 1700
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aux 7 3 6 1700 2100
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aux 8 27 4 1300 2100
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# Adjustments [adjrange]
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# Receiver rxrange
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# temp_sensor
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# Mission Control Waypoints [wp]
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#wp 7 valid
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wp 0 1 456392480 -743752489 5000 0 0 0 0
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wp 1 1 456445849 -743652167 5000 0 0 0 0
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wp 2 1 456443268 -743791597 5000 2100 0 0 0
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wp 3 1 456412128 -743773235 5000 1500 0 0 0
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wp 4 3 456400630 -743818396 15000 30 1500 0 0
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wp 5 1 456392518 -743756609 15000 1500 0 0 0
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wp 6 4 0 0 0 0 0 0 165
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# OSD [osd_layout]
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osd_layout 0 0 0 12 V
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osd_layout 0 1 2 1 V
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osd_layout 0 2 0 0 V
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osd_layout 0 3 8 6 V
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osd_layout 0 9 2 5 V
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osd_layout 0 13 23 7 V
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osd_layout 0 15 22 6 V
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osd_layout 0 23 24 1 V
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osd_layout 0 26 23 8 V
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osd_layout 0 32 2 2 V
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osd_layout 0 110 0 9 V
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osd_layout 0 129 10 1 V
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osd_layout 0 144 11 14 V
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osd_layout 0 145 22 2 V
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osd_layout 0 159 0 10 V
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# Programming: logic
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# Programming: global variables
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# Programming: PID controllers
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# OSD: custom elements
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# master
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set gyro_main_lpf_hz = 25
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set ins_gravity_cmss = 980.443
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set acc_hardware = FAKE
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set align_mag = CW270FLIP
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set mag_hardware = FAKE
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set baro_hardware = FAKE
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set pitot_hardware = VIRTUAL
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set receiver_type = SERIAL
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set serialrx_provider = MAVLINK
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set blackbox_rate_denom = 2
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set motor_pwm_protocol = STANDARD
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set small_angle = 180
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set applied_defaults = 3
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set airmode_type = STICK_CENTER_ONCE
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set nav_wp_radius = 800
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set nav_wp_max_safe_distance = 500
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set nav_rth_altitude = 5000
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set nav_fw_control_smoothness = 2
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set nav_fw_launch_motor_delay = 100
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set nav_fw_launch_max_altitude = 5000
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set nav_fw_launch_climb_angle = 25
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set mavlink_port1_ext_status_rate = 0
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set mavlink_autopilot_type = ARDUPILOT
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set mavlink_port1_rc_chan_rate = 0
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set mavlink_port1_pos_rate = 0
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set mavlink_port1_extra1_rate = 0
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set mavlink_port1_extra2_rate = 0
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set mavlink_port1_extra3_rate = 0
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set mavlink_port1_min_txbuffer = 0
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set mavlink_port2_min_txbuffer = 0
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set mavlink_port3_min_txbuffer = 0
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set mavlink_port4_min_txbuffer = 0
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set osd_video_system = PAL
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# control_profile
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control_profile 1
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set fw_p_pitch = 15
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set fw_i_pitch = 5
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set fw_d_pitch = 5
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set fw_ff_pitch = 80
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set fw_p_roll = 15
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set fw_i_roll = 3
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set fw_d_roll = 7
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set fw_p_yaw = 50
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set fw_i_yaw = 0
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set fw_d_yaw = 20
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set fw_ff_yaw = 255
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set dterm_lpf_hz = 10
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set fw_turn_assist_pitch_gain = 0.400
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set nav_fw_pos_z_p = 22
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set nav_fw_pos_z_i = 6
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set nav_fw_pos_z_d = 2
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set nav_fw_pos_xy_p = 55
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set d_boost_min = 1.000
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set d_boost_max = 1.000
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set tpa_rate = 80
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set rc_expo = 30
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set rc_yaw_expo = 30
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set roll_rate = 18
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set pitch_rate = 9
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set yaw_rate = 3
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# control_profile
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control_profile 2
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# control_profile
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control_profile 3
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# mixer_profile
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mixer_profile 1
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set platform_type = AIRPLANE
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set has_flaps = ON
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set model_preview_type = 14
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# Mixer: motor mixer
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mmix reset
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mmix 0 1.000 0.000 0.000 0.000
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# Mixer: servo mixer
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smix reset
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smix 0 1 1 100 0 -1
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smix 1 2 0 100 0 -1
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smix 2 3 0 100 0 -1
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smix 3 4 2 100 0 -1
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# mixer_profile
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mixer_profile 2
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# Mixer: motor mixer
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# Mixer: servo mixer
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# battery_profile
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battery_profile 1
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set throttle_idle = 5.000
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# battery_profile
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battery_profile 2
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# battery_profile
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battery_profile 3
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# restore original profile selection
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control_profile 1
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mixer_profile 1
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battery_profile 1
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# save configuration
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save

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