# PX4 simulink model does not work in HITL mode

**URL:** <https://discuss.px4.io/t/px4-simulink-model-does-not-work-in-hitl-mode/11632>\
**Category:** Uncategorized\
**Created:** [June 26, 2019, 3:37pm UTC](https://discuss.px4.io/t/px4-simulink-model-does-not-work-in-hitl-mode/11632 "2019-06-26T15:37:36Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![Mo5tar97](https://discuss.px4.io/user_avatar/discuss.px4.io/mo5tar97/32/3967_2.png) [@Mo5tar97](https://discuss.px4.io/u/Mo5tar97)\
**Post date:** [June 26, 2019, 3:37pm UTC](https://discuss.px4.io/t/px4-simulink-model-does-not-work-in-hitl-mode/11632/1 "2019-06-26T15:37:36Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![jwil](https://discuss.px4.io/letter_avatar_proxy/v4/letter/j/94ad74/32.png) [@jwil](https://discuss.px4.io/u/jwil)\
**Post date:** [November 23, 2023, 10:53am UTC](https://discuss.px4.io/t/px4-simulink-model-does-not-work-in-hitl-mode/11632/2 "2023-11-23T10:53:10Z")

</div>

I have the same problem.  
Also using ekf2 status I get

```auto
nsh> ekf2 status
WARN [ekf2] module locked, try again later

```

> **DMESG Log**
>
> ```auto
> 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
> 
> ```

> **Custom airframe definition (ROMFS/px4fmu\_common/init.d/airframes/16002\_midiARTIS)**
>
> ```auto
> #!/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
> 
> ```

> **top system usage**
>
> ```auto
> 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
> 
> ```