Simulink C++ S-function for software-in-the-loop simulation with Pixhawk.
Requirements
Note: Tested extensively on Windows with MSVC C/C++ compiler.
Files
| SILConnector.h |
| pixhawk_sil_connector.cpp |
| make.m |
| includes.zip (contains the Asio C++ and MAVLink C libraries) |
Build instructions
Note: If you are using a compiler other than MSVC (e.g. MinGW64) you need to add the "-lws2_32" flag to the "mex" command in the "make.m" file.
Use instructions
git clone --recursive https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
git checkout v1.15.0
git submodule sync --recursive
git submodule update --init --recursive
make px4_sitl_default
https://docs.px4.io/master/en/dev_setup/building_px4.html
https://docs.px4.io/main/en/simulation/cd build/px4_sitl_default export PX4_SIM_HOST_ADDR=x.x.x.x #(the ip of the computer running the Simulink model) export PX4_SIM_MODEL=none_iris ./bin/px4 -s etc/init.d-posix/rcS
Example use of the Pixhawk SIL connector with PX4 Autopilot running under Windows Subsystem for Linux (WSL).
Pixhawk SIL setup.
Pixhawk SIL connector example.
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