Unable to run example PX4 in Hardware-in-the-Loop (HITL) Simulation with jMAVSim Simulator

Hello, when I run the example PX4 in Hardware-in-the-Loop (HITL) Simulation with jMAVSim Simulator - MATLAB & Simulink - MathWorks Italia I get the following error:

Top model targets built: Model Action Rebuild Reason ================================================================================== px4demo_QGCWaypointFollower_hitl Code generated. Incremental checksum changed. 1 of 1 models built (0 models already up to date) Build duration: 0h 3m 27.816s

action: EXT_INIT Creating Target Handler (XCP on Serial)... Build directory: C:\Users\paolo\OneDrive\Documenti\Tesi_magistrale\px4demo_QGCWaypointFollower_hitl_ert_rtw Serial Port Name: COM4 Baud Rate: 1152000 action: EXT_CONNECT Connecting to the target...

External Mode Open Protocol Connect command failed

Caused by:

• Could not connect to target application: XCP internal error: timeout expired, in response to XCP CONNECT command

Component:Simulink | Category:Block diagram error

Unable to connect to the 'PX4 Pixracer' target for 'px4demo_QGCWaypointFollower_hitl'.

And JMAVSim doesn't open.

The build is ok, but seems somthing is wrong with the connection. My setup is:

• Pixracer R15
• Serial-to-USB FTDI converter
• Micro USB type-B cable

The port setup is show in photo, I have serial port COM3 e COM4.

And this is my hardware settings:

• Build options > Automatically determine serial port for firmwareupload √
• Enable HITL Mode > Simulator: JMAVSim √
• External mode > Hardware board serial port: /dev/tty/S1
• External mode > Host serial port: COM4
• MAVLink > Enable MAVLink on /dev/ttyACM0 √
• /dev/ttyS1 > Baud rate : 1152000

Answer 1

[Arun Mathamkode]

MAVLink is enabled by default over TELEM1 (I am assuming /dev/tty/S1 is TELEM1 in your case) for QGC connectivity. This can cause conflict when we are trying to write data to same serial port from Simulink as well. Ensure MAV_0_CONFIG is set to 0 for disabling MAVLink over TELEM1 or consider using TELEM2 or any other free serial port.

[Paolo]

Hi Arun, thanks for the reply. Launching the example using TELEM2 seems to solve the problem, thanks!

I have noticed that I must launch JMAVSim manually beacuse it doesn't open automatically.