PX4 HIL with Pixhawk 6x : HIL with simulink plant dynamics using Sik Telemetry Radio. Could not connect to target application: XCP serial port error

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Salvatore Matteo Mennea 2023-10-13

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https://ww2.mathworks.cn/matlabcentral/answers/2033099-px4-hil-with-pixhawk-6x-hil-with-simulink-plant-dynamics-using-sik-telemetry-radio-could-not-conn

回答： Ankur Bose 2023-11-16

I want to perform HIL with pixhawk 6x using Telemetry radio(Holybro 100mW 433Mhz) instead of the FTDI converter. So I connect the pixhawk via USB type C to PC.One of the telemetry radio is connected to TELEM1 and the other one is connected to USB to PC.

The Pixhawk linked via USB type C is COM9 and the Telemetry radio is COM10 in my PC.

I want to perform HIL using the UAV dynamics on simulink via "Monitor and tune" (https://uk.mathworks.com/help/supportpkg/px4/ref/hitl-simulink-plant-example.html#responsive_offcanvas ) in Matlab 2023b on windows 11. In the setting QGC as the Mathworks documentation says:

Set HITL mode
Airframe HIL Quadcopter X
Set Flight mode
In the General tab of the settings menu, clear all AutoConnect options except Sik (should I select UDP instead of Sik?i've tried both)
Set MAV_0_CONFIG to disabled

I've set the following parameters too:

COM_RC_IN_MODE to Joystick only (virtual joystick option was selected too)
COM_DISARM_LAND set to -1
NAV_ACC_RAD set to 10
NAV_RCL_ACT to disabled

In the Hardware setting in Simulink in the external mode I've selected:

Hardware board serial port /dev/ttyS6 (TELEM1) (I've also set a band rate of 921600)
Host serial port : COM10

I've enabled the HIL mode and in the build option I've selected Automatically determine serial port for firmware upload.

When I run through "MONITOR AND TUNE", it displays this:

How can I solve this problem? Are some setting wrong?

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Ankur Bose 2023-10-16

Please note that from MATLAB & Simulink, the Wireless Monitor & Tune workflow has not been tested. This workflow sometimes works, but at other times due to data drop in wireless mode, the connection errors out. For running Monitor & Tune, we recommend wired connection.

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Answer 1

Ankur Bose 2023-11-16

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链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2033099-px4-hil-with-pixhawk-6x-hil-with-simulink-plant-dynamics-using-sik-telemetry-radio-could-not-conn#answer_1353697

Note that from MATLAB & Simulink, the Wireless Monitor & Tune workflow has not been tested. This workflow sometimes works, but at other times due to data drop in wireless mode, the connection errors out. For running Monitor & Tune, we recommend wired connection.