SIM_STATE message in ArduCopter SITL testing

Hi all,

I'm running some tests using the SITL framework in ArduCopter, and injecting in faults to the GPS, barometer etc. For analysis, I need to get the simulation data about the position, altitude, vx, vy, vz etc. as the GLOBAL_POSITION message data and any sensor messages will necessarily be affected by the faults and not representative of the actual behaviour of the copter.

The log files contain the SIMSTATE message, which contains the latitude, longitude and some other useful information about the copter in the simulation, but doesn't have all of the data I need like the altitude or velocities. The MAVLink protocol specifies a SIM_STATE message in the common message set which includes all the variables I am interested in, but this message doesn't seem to be saved into the log files if indeed it is sent at all.

Is there any way to enable the SIM_STATE message so that it is included in the .tlog files? Or any other workaround that could get me access to the variables contained in the SIM_STATE message?

Thanks!

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