Model Configuration Parameters

Update the configuration parameters for a Simulink^® model that you create, before simulating or deploying the model to the controller.

In the Simulink window, click Hardware Settings in the HARDWARE tab to open the Configuration Parameters dialog box and select the target hardware in the Hardware board field. You can also press Ctrl+E to open the Configuration Parameters dialog box.

Hardware Implementation Pane Overview

Default Hardware Implementation Pane

Configure ArduPilot^® flight controller to run Simulink models.

1. In the Simulink Editor, select Simulation > Model Configuration Parameters.

2. In the Configuration Parameter dialog box, click Hardware Implementation.

3. Set the Hardware board parameter to one of these, based on the board connected to the host computer:

   • ArduPilot Cube Blue H7

   • ArduPilot Cube Orange

   • ArduPilot Cube Orange +

   • ArduPilot Generic Board

   • ArduPilot Host Target

   • ArduPilot Pixhawk^® 4

   • ArduPilot Pixhawk 6c

   • ArduPilot Pixhawk 6x

   For more information, see Supported ArduPilot Autopilots.

   You can also select ArduPilot Host Target as the Hardware board to perform only simulation using the jMAVSim simulator.

4. The parameter values under Hardware board settings are automatically populated to their default values.

   You can optionally adjust these parameters for your particular use case.

5. To apply the changes, click Apply.

For more information on selecting a hardware support package and general configuration settings, see Hardware Implementation Pane (Simulink).

Build Options

Parameter	Description	Default Value
Build action	Option to specify whether you want only the build, or the build, load, and run actions during code generation	Build, load, and run
Board	Option to select the board configuration for the selected hardware board.	<empty>
Automatically determine serial port for firmware upload	Enables the automatic detection of the serial port for firmware upload, based on the hardware connections This parameter does not appear if you select the Hardware board as ArduPilot Host Target.	on
Serial port for firmware upload	Select the serial port of the host computer for firmware upload This parameter does not appear if you select the Hardware board as ArduPilot Host Target.	<empty>

Vehicle

Note

This tab does not appear if you select ArduPilot Host Target as the Hardware board.

Parameter	Description	Default Value
ArduPilot Vehicle Type	Indicates which ArduPilot vehicle type (ArduCopter /ArduPlane) is being simulated or selected as the target..	off
Change Vehicle Type	Simulation engine containing the physics for the UAV Dynamics	ArduCopter
Simulator	Select the simulation environment to run the vehicle model, such as SITL (Software In The Loop) or Simulink in the host target. This parameter appears only if you select the Hardware board as ArduPilot Host Target.	SITL in Host Target
Automatically Detect Host Computer IP Address	Automatically determines the host computer IP address. This parameter appears only if you select the Hardware board as ArduPilot Host Target.	on
Airframe	Select the airframe configuration for the ArduPilot Host Target.	quad
Launch MAVProxy Console	Enables the automatic launch of the MAVProxy command-line console for telemetry and control. This parameter appears only if you select the Hardware board as ArduPilot Host Target.	on
Launch MAVProxy Map	Enables the automatic launch of the MAVProxy map interface for visualizing vehicle position and mission planning. This parameter appears only if you select the Hardware board as ArduPilot Host Target.	on

Connected I/O

Note

This tab does not appear if you select ArduPilot Pixhawk Series as the Hardware board.

Parameter	Description	Default Value
Hardware Board Serial Port	Serial port number on the ArduPilot flight controller board for Connected I/O communication This parameter does not appear if you select the Hardware board as ArduPilot Host Target.	/dev/tty/ACM0
Automatically determine host serial port for Connected I/O	Sets the same host serial port for Connected I/O as the one used for firmware upload This parameter does not appear if you select the Hardware board as ArduPilot Host Target.	on
Host Serial Port	Serial port number on the host computer for External mode communication This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	<empty>

External mode

Parameter	Description	Default Value
Communication interface	Communication interface that is used to exchange data between host computer and ArduPilot flight controller board.	XCP on TCP/IP — For ArduPilot Host Target XCP on Serial — For all other ArduPilot boards
ArduPilot board serial port	Sets the same host serial port for External mode as the one used for firmware upload This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	on
Baudrate (bits/sec)	Defines the rate at which data is transferred over CAN network. (in bits/s).	921600
Automatically determine host serial port for Monitor and Tune simulation	Automatically determines the serial port for firmware upload, based on the hardware connections	on
Host Serial Port	Serial port number on the host computer for External mode communication This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	<empty>
Verbose	View External mode execution progress and updates	on
ArduPilot board serial port	Serial port number on the ArduPilot flight controller board for External mode communication This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	<empty>
Set logging buffer size automatically	Automatically set the number of bytes to preallocate for the buffer in the hardware during simulation. This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	on
Logging buffer size (in bytes)	Specify the memory buffer size for XCP-based External mode simulation. This parameter does not appear if you select ArduPilot Host Target as the Hardware board.	1024