Can the UAV Toolbox Support Package for PX4 Autopilots be used with px4 SITL?

I wanted to modify the code for PX4 controller and then use the build firmware with gazebo. Is it possible to do? So, can the UAV Toolbox Support Package for PX4 Autopilots be used with px4 SITL? Also, if yes, are there any tutorials for the same?

Answer 1

[Ankur Bose]

The UAV Toolbox Support Package for PX4 Autopilots supports PX4 SITL. See below MATLAB documentations and examples

• Deployment and Verification Using PX4 Host Target and jMAVSim
• Position Tracking for X-Configuration Quadcopter Using Rate Controller
• Monitor and Tune PX4 Host Target Flight Controller with Simulink-Based Plant Model

We support the low fidelity jMAVSim Simulator or you can use the plant designed in Simulink. If you need Gazebo,

• Build the Simulink model as documented above.
• Close jMAVSim
• Build the firmware with gazebo as input (make px4_sitl gazebo)

[fatih ozkan]

Hello,

When I execute make px4_sitl gazebo command the other terminal (which is running px4 and jmavsim) is closing and Simulink stops with error. Also I did it several times but I thought the best is trying it with clear ubuntu setup but after I formatted to Ubuntu 18.04 things got worse and now I can't open jmavsim now. Also the time that i could open i could only navigate the drone with manual modes?

I created a question about Gazebo-Px4-Simulink integration but couldn't get any answers. I think it must be made and documented.

So I would appreciated if you would help me.

[Apostel]

Hi,

I tried to read out uORB messages and faced @fatih ozkan's issue. I solved the problem by first launching the ROS/Gazebo environment, i.e,

make px4_sitl_default gazebo

and then (afterwards) starting the time unlimited simulation in Simulink. Apparently the start-up order is important here.

Best,

Apostel

[fatih ozkan]

Hello,

Thank you for your feedback. After trying few things i could run the gazebo model with simulink on px4. But i did it with just connecting option on Hardware section. Are you managing starting with Start button or Step by Step Connect button?

Regards,

Fatih

[Sebast]

@Ankur Bose do I build the gazebo build 'make px4_sitl gazebo' seperate? So I run the simulation with 'Run with IO' and then I open a terminal in enter there 'make px4_sitl gazebo'' or kann I manipualte the 'make' command in Matlab/Simulink so the Simulation will open at the start up?

[Ankur Bose]

@Sebast, Since R2024b, the SITL build from PX4 hardware support package by default uses SIH, which means that the physics is already contained inside the PX4 executable. If you want Gazebo, you need to run ''make px4_sitl gazebo' again in WSL after code-generation from Simulink is completed

Answer 2

[John conner]

yes it is possible.

[federico ciresola]

Can you provide an example how to use simulink wit gazebo garden in SITL?