Questions about "UAV Toolbox Support Package for PX4 Autopilots" toolbox.

Recently, I use UAV Toolbox Support Package for PX4 Autopilots toolbox to design control algorithm using Matlab2023b and pixhawk1. After following the steps of toolbox, I successfully upload Firmware into my pixhawk1. However, when I get acceleration data, the output shows 0,0,0. Then I run the simulation, the situation is shown below:

There is no error when running, so where the problem comes from? Thanks!

Answer 1

[Arun Mathamkode]

This means that the sensor modules are not publishing the corresponding uORB message. For example, Accelerometer block reads 'sensor_accel' uORB message to get the accelerometer values. If that uORB messag is never published, then what you are seeing can happen. One possibility is that your Hardware is set to HITL mode and in HITL all sensor modules are disbaled.

[William Wang]

Thanks for your reply! However, after checking up HITL, I find that I am not opening "Enable HITL Mode". So the problem does not come from HITL. After times of trying, I find some errors related to "XCP". Could this lead to a non-zero Status? In addition, if, due to Internet issues, I did not successfully git the PX4 source code during the configuration steps of toolbox(I did not encounter any errors), would this result in an inability to read UORB data during verification?