Gazebo's drone is not working in an external HITL

PX4 Autopilot Simulation 🌍
1

Hi.
I want to simulate it on Gazebo in conjunction with the actual drone that removed the propeller.
The reason for using a real drone is to check with a simulator how the pixhawk 6c controls the drone when receiving low-quality GPS signals.

I found the document “HITL Simulation” and I followed the procedure
When the take-off order was issued, Gazebo’s drone did not move despite checking the “in flight” letters in QGroundControl and the real drone’s motor rotation.

This is my procedure.

  1. Ubuntu 20.04 install

  2. latest PX Autopilot install
    2-1. git clon GitHub - PX4/PX4-Autopilot: PX4 Autopilot Software --recursive
    2-2. bash ./Tools/setup/ubuntu.sh
    2-3. DON_T RUN=1 make px4_sitl gazebo
    2-4. changed “serialEnabled=1”, “hil_mode=1” in iris.sdf
    2-5. source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

  3. latest QGroundControl install
    3-1. changed “external HITL” in Hardware in the loop simulation Menu.
    3-2. Only checked one, UDP auto connect
    3-3. I chose a drone Quadroter generic
    3-4. Enable virtual joystick.

  4. After the installation, I closed all the programs and ran them again.
    4-1. gazebo Tools/simulation/gazebo-classic/sitl_gazebo_classic/world/hitl_iris.world
    4-2. I was able to confirm that it was connected to tty/ACM0 (my drone, 6c).
    4-3. QGroundControl executed.
    4-4. I checked the HITL activation message in the QGroundControl pop-up and confirmed that the instrument cluster and head move when the real drone is moved by hand.

  5. We ordered take-off via QGroundControl, and there was a problem
    5-1. Checked “in flight” green text on QGroundControl.
    5-2. If the battery was connected, the rotor of the real drone also rotated.
    5-3. Gazebo’s drone doesn’t move(rotor does not rotate).

I think I’m missing something. Can you give me some advice?
thank in advance for one’s reply