Hello i designed a controller using simulink pilot support package for px4 and i want to perform HITL test on the controller but the problem is that when i follow the instructions on the px4 website to operate the px4 in HITL mode but when i try to run the simulink app nothing happen and when press the top command i see that the app is running but it consumes 0 disk usage which i think means that it doesn’t run so if anyone knows anything it would great help to me
Thanks in advance
I have the same problem.
Also using ekf2 status I get
nsh> ekf2 status
WARN [ekf2] module locked, try again later
NuttShell (NSH) NuttX-11.0.0
nsh> dmesg
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V5
HW type: V500
HW version: 0x00000000
HW revision: 0x00000000
FW git-hash: 3e70c1fb50fa8c9058df231538f5a41107624e56
FW version: 1.12.3 0 (17564416)
FW git-branch: feature/PX4-Simulink-CTRL_1_12_3
OS: NuttX
OS version: Release 8.2.0 (134349055)
OS git-hash: bf660cba2af81f055002b3817c87b1f63a78fd09
Build datetime: Nov 16 2023 09:07:07
Build uri: localhost
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 00020000000038333933303851070028001a
MCU: STM32F76xxx, rev. Z
INFO [param] selected parameter default file /fs/mtd_params
INFO [parameters] BSON document size 1432 bytes, decoded 1432 bytes
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
ERROR [parameters] find: param SYS_RESTART_TYPE not found
ERROR [parameters] get: param 65535 invalid
Airframe is midiARTIS
INFO [uavcan] Node ID 1, bitrate 1000000
INFO [px4io] IO FW CRC match
ERROR [parameters] find: param TRIG_MODE not found
Starting MAVLink on /dev/ttyS1
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
Starting MAVLink on /dev/ttyS3
INFO [mavlink] mode: Custom, data rate: 50000 B/s on /dev/ttyS3 @ 57600B
RC_INPUT_FORCE_START: 1
Starting rc_input
VEHICLE_TYPE: simulink, starting ekf2 and setting mav type
ERROR [parameters] find: param FW_MAN_R_SC not found
ERROR [parameters] find: param FW_MAN_P_SC not found
ERROR [parameters] find: param FW_MAN_Y_SC not found
INFO [init] Mixer: /etc/mixers/IO_pass.main.mix on /dev/pwm_output0
INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50
INFO [init] Mixer: /etc/mixers/IO_pass.aux.mix appended to /dev/pwm_output0
INFO [init] setting PWM_AUX_OUT none
ekf2 [287:100]
ERROR [parameters] find: param CAM_CAP_FBACK not found
Logger mode 4
Starting Logger
INFO [logger] logger started (mode=all)
Starting px4_simulink_app
INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
before mavlink
Board extras: /etc/init.d/rc.board_mavlink
ERROR [mavlink] /dev/ttyACM0 already running
ERROR [parameters] find: param VT_B_DEC_MSS not found
ERROR [parameters] find: param VT_B_REV_DEL not found
Switching px4io safety off
NuttShell (NSH) NuttX-11.0.0
nsh> ERROR [parameters] find: param TRIG_MODE not found
ERROR [parameters] find: param TRIG_MODE not found
ERROR [parameters] find: param TRIG_MODE not found
ERROR [commander] No Estimator Update! Check Estimator Status
INFO [commander] Failsafe mode activated
WARN [PreFlightCheck] Preflight Fail: Compass Sensor 0 missing
WARN [PreFlightCheck] Preflight Fail: Accel Sensor 0 missing
WARN [PreFlightCheck] Preflight Fail: Gyro Sensor 0 missing
WARN [PreFlightCheck] Preflight Fail: Baro Sensor 0 missing
ERROR [uavcan] couldn't start parameter count: -2
ERROR [commander] No Estimator Update! Check Estimator Status
ERROR [commander] No Estimator Update! Check Estimator Status
ERROR [commander] No Estimator Update! Check Estimator Status
INFO [mavlink] Starting mavlink shell
#!/bin/sh
#
# @name midiARTIS
#
# @type Helicopter
# @class Copter
#
# @maintainer [Redacted]
#
# @output MAIN1 main servo 1
# @output MAIN2 main servo 2
# @output MAIN3 main servo 3
# @output MAIN4 main servo 4
# @output MAIN5 main servo 5
# @output MAIN6 main servo 6
# @output MAIN7 main servo 7
# @output MAIN8 main servo 8
# @output AUX1 servo RC AUX1 channel
# @output AUX2 servo RC AUX2 channel
# @output AUX3 servo RC AUX3 channel
# @output AUX4 servo RC AUX4 channel
# @output AUX5 servo RC AUX5 channel
# @output AUX6 servo RC AUX6 channel
# @output AUX7 servo RC AUX7 channel
# @output AUX8 servo RC AUX8 channel
#
# @board bitcraze_crazyflie exclude
#
set VEHICLE_TYPE simulink
# Configure as helicopter (number 4 defined in commander_helper.cpp)
set MAV_TYPE 4
set PWM_OUT 12345678
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
# Disable preflight disarm to not interfere with external launching
param set-default COM_DISARM_PRFLT -1
param set-default SDLOG_MODE 4
#0: Disabled, 6: UART 6, 101: TELEM1, 102: TELEM2, 103: TELEM3, 104: TELEM/SERIAL4,
#201: GPS1, 202: GPS2, 203: GPS3, 300: Radio Controller, 301: Wifi Port, 401: EXT2 1000: Ethernet
#Link to other vehicle on TELEM/SERIAL4
param set-default MAV_1_CONFIG 104
#COOP mode
param set-default MAV_1_MODE 1
param set-default MAV_1_RATE 50000
param set-default SER_TEL4_BAUD 57600
set PWM_AUX_OUT 12345678
set PX4IO_SAFETY_OFF 1
set RC_INPUT_FORCE_START 1
set START_FORCE_SENSOR 1
param set-default PXIO_PUB_PWM 1
echo "Airframe is midiARTIS"
set MIXER IO_pass
set MIXER_AUX IO_pass
#set MIXER AETRFG
nsh> top once
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD
0 Idle Task 443093 73.418 264/ 512 0 ( 0) READY 3
1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3
2 lpwork 0 0.000 332/ 1620 50 ( 50) w:sig 3
3 init 0 0.000 2132/ 2932 100 (100) w:sem 3
4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 4
287 ekf2 0 0.030 756/ 2028 100 (100) w:sig 3
26 wq:lp_default 1 0.159 1028/ 1924 205 (205) w:sem 4
28 wq:hp_default 7 0.604 1228/ 1900 237 (237) w:sem 4
33 dataman 0 0.000 796/ 1204 90 ( 90) w:sem 4
162 wq:uavcan 21 1.759 1868/ 3628 236 (236) w:sem 4
165 uavcan_fw_srv 18 1.527 1564/ 6004 120 (120) w:sem 4
174 wq:nav_and_controllers 4 0.402 1316/ 2244 242 (242) w:sem 4
175 wq:rate_ctrl 2 0.213 1300/ 1956 255 (255) w:sem 4
177 commander 14 1.196 1356/ 3212 140 (140) w:sig 5
251 mavlink_if0 22 1.898 1804/ 2740 100 (100) w:sig 4
252 mavlink_rcv_if0 3 0.293 1316/ 6124 175 (175) w:sem 4
265 mavlink_if1 15 1.301 1340/ 2740 100 (100) w:sig 4
266 mavlink_rcv_if1 3 0.297 1316/ 6124 175 (175) w:sem 4
272 wq:UART4 9 0.807 1032/ 1540 230 (230) w:sem 4
277 px4io 7 0.588 1040/ 1484 237 (237) READY 4
331 log_writer_file 0 0.000 388/ 1172 60 ( 60) w:sem 3
292 navigator 0 0.011 1068/ 1772 105 (105) w:sem 6
318 logger 4 0.334 2436/ 3644 230 (230) w:sem 3
327 px4_simulink_app_task 0 0.000 868/ 2020 205 (205) w:sem 15
328 mavlink_if2 96 8.026 1868/ 2788 100 (100) READY 6
337 mavlink_rcv_if2 5 0.429 1588/ 6124 175 (175) w:sem 6
338 <pthread> 68 5.676 612/ 8708 250 (250) w:sem 15
339 <pthread> 1 0.086 428/ 8708 249 (249) w:sem 15
340 mavlink_shell 0 0.000 972/ 2028 100 (100) w:sem 3
347 top 0 0.002 1964/ 4076 237 (237) RUN 3
Processes: 30 total, 4 running, 26 sleeping, max FDs: 25
CPU usage: 25.64% tasks, 0.93% sched, 73.42% idle
DMA Memory: 5120 total, 1024 used 1536 peak
Uptime: 595.435s total, 443.094s idle