I have integrated my custom controller for a fixed wing rc plane into the px4 firmware. I have done HIL tests using X-plane 10 and QgroundControl. In parallel, I have a high-fidelity simulink model of the rc plane, which uses X-plane for visualization, but does not use X-plane’s physics engine. I would like to do an HIL simulation using my simulink model. Has anyone attempted this before? I know you can read/write UDP messages in simulink, which is the same protocol for the X-plane simulation, so I imagine it would be possible to swap in my simulink model instead of X-plane.
Any help or advice would be much appreciated.