Disabled Modules

[EL-Wadi]

In real flight what modules are disabled in your package? Can we use MAVROS with your package to do hill with Gazebo? Another question, if I generate a time based trajectory that is function of time, is the time is initiated (i.e. t=0) when the motors are armed or what?

[RflySim]

1. In real flight, we disable the pwm outputs in px4.io, and send pwm signals through pwm_out module.
2. We do have APIs in our advanced platform to do HIL simulation with Pixhawk and on-board computer (Linux/ROS/MAVRos). The HIL simulation with Gazebo is not tested by us.
3. The time is initiated when the Pixhawk bootup, and it won't be initiated when the motors armed. However, you can program in Simulink to record the time when PX4 is armed or CH5 is switched.