The HITL example of UAV toolbox, there was a problem with QGC mission

Hello, everyone.

I'm Park, I have studied design drone's controller.

I'm following this example:

https://kr.mathworks.com/help/supportpkg/px4/ref/hitl-simulink-plant-example.html

and I followed step 3-5.

In step 3-6, I set mission and started flight.

It succeeded to take-off and move waypoint 2.

The problem occurred when drone had to go to the next waypoint.

As shown in the picture, as soon as Waypoint 2 was reached, the drone was disarmed, and it no longer flied normally.

I didn't change any values in the example and only changed the settings for the connection.

Seeing that it is flying to waypoint 2, the controller seems to be working properly, but I wonder how to solve the phenomenon of not specifying the next waypoint.

It seems to be a problem that occurs in UAV toolbox because it cannot be found in the PX4 community.

If anyone knows how to solve this problem, I'd really appreciate it if you could reply.

[John conner]

i have the same problem.

the drone fly as well as possible, but after 20-30 seconds controller failes. i thinks its due to loosing position several times.

Answer 1

[Arun Mathamkode]

Are you seeing any errors in the QGC or in NSH shell that why its disarming? without that it is bit difficult to understand whats happening here.

I can provide few generic pointers. Since the plant model is also running in the same PC as a Simulink Simulation, if the PC is getting busy with multiple applications and if your Simulink plant simulation slows down this can cause unexpected behaviours such a position or GPS loss etc. You might need to use a PC with better compute capability in this case.

You can also consider setting parameter COM_DISARM_LAND to -1. This disables the timeout for auto-disarm when QGC detects a landing. This helps in avoiding a potential PX4 failsafe when drone motors stops at highest take-off point momentarily.