Sorry Matteo but in firmware v1.7.0 you could find in the sdf file the section with serial enable ??
Because I couldn't find in firmware v1.7.0.
Can i edit the sdf file and put the serial enable and serial device in it ?
"3.Under the mavlink_interface plugin section, change the serialEnabled and hil_mode parameters to true."-- in gazebo section https://dev.px4.io/en/simulation/hitl.html