Motor PWM outputs not working in HIL

I am trying to understand how to make PWM outputs work in HIL mode because I am using external hardware to simulate the PWM outputs and do further analysis. So, I need to mirror the pwm_out_sim on the actual PWM pins in order to continue my work. I have tried disabling the armed lockdown but it did not work. Can you please help me?

Have you tried this?

Yes but I had to do an extra step of stopping px4io and restarting it with safety off. It kinda works now.

1 Like

Thanks alot @parakhm95 for your answer.
Your solution worked with little modification. This is what I did:

  1. I used the latest px4 firmware (v1.11.1 - also works on current master branch)
  2. I only changed one file (state_machine_helper.cpp): Commented the line armed->lockdown = true; inside if (hil_enabled) { block
  3. I compiled, built and then uploaded this firmware in QGC v3.5.6
  4. In QGC I disabled HITL then rebooted vehicle and then selected Standard-Plane as the airframe
  5. I pressed the safety switch to check if my servos are working as per the radio control.
  6. Then, I enabled HITL, again rebooted the vehicle and selected ‘HIL-Star’ as my airframe.

Note: At this point, the servos should still be active and controlled by radio.

  1. I launched XPlane-11 and started a flight
  2. In QGC, I opened the HIL widget to connect with X-Plane 11
  3. Then, I armed the vehicle

After arming; the real servos and the X-Plane aircraft wings should both be working and you should also be able to fly the plane using the radio.

I hope this helps someone