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Implement simple HITL simulation PX4
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Hello, I'm trying to understand how to implement a simple HITL simulation using PX4 and UAV Toolbox Support Package for PX4 Autopilots. In particular I want to run the example Position Tracking for X-Configuration Quadcopter - MATLAB & Simulink Example - MathWorks Italia but instead of having a PX4 Host Target as hardware board I have a Pixracer R15. Is this possible?
If this isn't possible how can I implement a HITL simulation by specify with Simulink the reference trajectories for my quadcopter instead of usign QGroundControl and specify a simple trajectory to follow?
Thanks in advance.
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回答 (1 件)
Arun Mathamkode
2022 年 10 月 11 日
Specifying simple setpoints from Simulink is implemented in HITL with Simulink plant example. In the model 'Quadcopter_ControllerWithNavigation' open the Navigation subsystem. Different navigation logics are implemented here including the one with specifying setpoints from Simulink using variant subsystem.
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Enable the 'Manual Waypoints from Simulink Dashboard' subsystem by assigning guidanceType = 2. Now the controller will read setpoints from Simulink instead of QGC.
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MathWorks Embedded Coder Team
2022 年 12 月 1 日
Is HITL selected in HardwareSettings > Hardware Implementation > Target Hardware Resources > HITL? Are you using Model references?
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