PX4 Standard VTOL Gazebo Classic HITL Sensor Error

[Deltarr350]

Describe the bug

Hello I am currently trying to run a HITL simulation on Gazebo Classic 11 and Ubuntu 20.04 of the standard_vtol_hitl model. Following the instructions found here: https://docs.px4.io/main/en/simulation/hitl.html , I was able to launch my custom model on Gazebo and also start QGroundControl successfully. The QGroundControl was also able to connect to my Pixhawk 4 Mini Board. However, the status on QGroundControl is 'Not Ready', with the following errors:

1. Critical: Preflight Fail: Airspeed invalid
2. Critical: Preflight Fail: height estimate error
3. Critical: Preflight Fail: Found 0 compass (required: 1)
4. EMERGENCY: Baro sensor #0 failure: Timeout

Additionally, the side pane indicates Magnetometer and AHRS are showing error status

To Reproduce

Steps to reproduce the behavior:

1. Connect pixhawk board via usb
2. Modify the <serialDevice></serialDevice> field in the standard_vtol_hitl.sdf file accordingly
3. Set <hil_mode>1</hil_mode>
4. On terminal, run:

• cd PX4-Autopilot
• DONT_RUN=1 make px4_sitl_default gazebo-classic
• source Tools/simulation/gazebo-classic/setup_gazebo.bash $h $(pwd) $(pwd)/build/px4_sitl_default
• gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_standard_vtol.world

5. On a separate terminal window, run:

• ./QGroundControl.AppImage

Expected behavior

QGroundControl shows 'Ready' status, no sensor errors

Log Files and Screenshots

Drone (please complete the following information):

• Standard VTOL HITL

Additional context

N/A

[vacoff]

I also have the exact issue on my setup: gazebo and Ubuntu 22. Can't find any solution.

[NanyongGit]

Having this issue now on my jmavsim and Ubuntu 22

[FilBk]

I'm still facing the same issues on gazebo classic and ubuntu 22.0 I moved to HITL in matlab simulink instead and i'm finding similar problems with sensor fails being displayed and navigator therefore changing it's state leading to messy simulation.