Missing Parameters on switching to HITL with Pixhawk4 on PX4 v1.10.0

I have a fresh flash of PX4 v1.10.0 firmware on a brand new Pixhawk4 using QGC v3.5.6. Everything was set correctly with the calibrations done as shown in the following screenshot

I then enabled HITL and rebooted the vehicle and then got the following message for missing parameters and so, I cannot continue with the HITL simulation. This is shown in the following screenshot

Can anyone please help me with this?

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