PX4
[Bug] Gazebo's drone is not working in an external HITL
Describe the bug
Hello. I want to simulate it on Gazebo in conjunction with the actual drone that removed the propeller. The reason for using a real drone is to check with a simulator how the pixhawk 6c controls the drone when receiving spoofing GPS signals.
I found the document “HITL Simulation” and I followed the procedure When the take-off order was issued, Gazebo’s drone did not move despite checking the “in flight” letters in QGroundControl and the real drone’s motor rotation.
To Reproduce
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Ubuntu 20.04 install
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latest PX Autopilot install 2-1. git clon GitHub - PX4/PX4-Autopilot: PX4 Autopilot Software --recursive 2-2. bash ./Tools/setup/ubuntu.sh 2-3. DON_T RUN=1 make px4_sitl gazebo 2-4. changed “serialEnabled=1”, “hil_mode=1” in iris.sdf 2-5. source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
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latest QGroundControl install 3-1. changed “external HITL” in Hardware in the loop simulation Menu. 3-2. Only checked one, UDP auto connect 3-3. I chose a drone Quadroter generic 3-4. Enable virtual joystick.
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After the installation, I closed all the programs and ran them again. 4-1. gazebo Tools/simulation/gazebo-classic/sitl_gazebo_classic/world/hitl_iris.world 4-2. I was able to confirm that it was connected to tty/ACM0 (my drone, 6c). 4-3. QGroundControl executed. 4-4. I checked the HITL activation message in the QGroundControl pop-up and confirmed that the instrument cluster and head move when the real drone is moved by hand.
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We ordered take-off via QGroundControl, and there was a problem 5-1. Checked “in flight” green text on QGroundControl. 5-2. If the battery was connected, the rotor of the real drone also rotated. 5-3. Gazebo’s drone doesn’t move(rotor does not rotate).
Expected behavior
real Drone, gazebo drone and QGroundControl must all operate. The gazebo drone takes off under take-off orders. (Probably, the real drone does not increase in altitude, so gazebo drone rises to infinity.)
Screenshot / Media
Flight Log
https://logs.px4.io/plot_app?log=35719951-d656-4938-9ed3-b431d7d19cb4
Software Version
v1.13.3
Flight controller
pixhawk 6c
Vehicle type
None
How are the different components wired up (including port information)
No response
Additional context
No response
I followed all your steps to recreate the issue using a Cube Orange FC, The drone flies in gazebo and it shows in QGC but the motor on the vehicle doesn't move. When I move the FC by hand, the instrument cluster and head doesn't move which makes me thing its not in HITL. Has this been solved?
