Simulink and PX4


The question is "How simulink works with PX4 position and attitude controls?

I have build up some PX4 firmware for my drone and application. I have added my geometry file as well as change the mc_pos_control and mc_att_control. I also added some new messages in Offboard control node. So everything is working in SITL GAZEBO ROS for me.

I am looking for a way to use simulink. I may add the px4 states and sensor modules in simulink but is there some way that I can use the position and attitude control written inside the PX4 direcly?

The other way is to write the same position and attitude control in simulink block and functions but its a bit time consuming and i am trying to avoid it.