SITL: handle 'make posix_sitl_shell' via unified rcS

The command is now: 'make posix none_shell'
which means: don't start a simulator and run a minimal shell only.

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -14,14 +14,13 @@ then
 	exit 0
 fi
 
-
-# TODO: In the future we want to share rc.autostart with NuttX
-#source rc.autostart
+RUN_MINIMAL_SHELL=no
 
 # Use the variable set by sitl_run.sh to choose the model settings.
-if [ "$PX4_SIM_MODEL" == "iris" ]; then
+if [ "$PX4_SIM_MODEL" == "shell" ]; then
+	set RUN_MINIMAL_SHELL yes
+elif [ "$PX4_SIM_MODEL" == "iris" ]; then
 	set REQUESTED_AUTOSTART 10016
-
 elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
 	set REQUESTED_AUTOSTART 6011
 else
@@ -35,6 +34,9 @@ then
 	param load
 fi
 
+# exit early when the minimal shell is requested
+[ $RUN_MINIMAL_SHELL == yes ] && exit 0
+
 if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
 then
 	set AUTOCNF no

cmake/configs/posix_sitl_shell.cmake

@@ -1,5 +0,0 @@
-include(cmake/configs/posix_sitl_default.cmake)
-
-set(config_sitl_rcS_dir
-	posix-configs/SITL/init/shell
-	)

platforms/posix/cmake/sitl_target.cmake

@@ -45,9 +45,9 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 	)
 
 # create targets for each viewer/model/debugger combination
-set(viewers none jmavsim gazebo replay)
+set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
+set(models none shell iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})

posix-configs/SITL/init/shell/iris

@@ -1,13 +0,0 @@
-#!/usr/bin/bash
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-source px4-alias.sh
-
-uorb start
-
-param load
-param set SYS_RESTART_TYPE 0
-
-dataman start
-
-tone_alarm start