Speedgoat and Simulink Real-Time Setup

This topic helps you with setting up Speedgoat^® and Simulink^® Real-Time™ for PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with Speedgoat in Simulink example. Hardware-in-the-loop simulation allows you to validate your controller design code running on an embedded system in normal and adverse real-world conditions.

The following image shows an overview of hardware connections and information flow between PX4 Autopilot, Speedgoat, and QGC.

In the PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with Speedgoat in Simulink example, a quadcopter plant model, along with its sensors, are modeled in Simulink. The generated code is deployed to Speedgoat Real-Time Target machines to perform HITL simulation. The example demonstrates the following workflows.

The plant model communicates with PX4 Autopilot to share the sensor and actuator data. The plant model additionally shares the UAV ground truth (position and orientation) to host PC running photorealistic simulation.

The photorealistic simulator provides a 3D visualization of the UAV’s movement along with simulating its depth camera. Depth data is sent over to a Jetson onboard computer running an obstacle avoidance algorithm, which corrects the path accounting for any obstacles and sends back corrected path over to PX4 Autopilot.

See Also

PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with Speedgoat in Simulink