HITL fixedwing and VTOL in fixedwing mode not working

[julianoes]

Describe the bug
It seems like HITL with fixedwing or VTOL in fixedwing is not working. Presumably, the actuator setpoints are not set/connected correctly.

To Reproduce
Steps to reproduce the behavior with fixedwing:

1. Connect Pixhawk over USB.
2. Set SYS_AUTOSTART to 2100 for fixedwing, reboot Pixhawk.
3. Edit Tools/sitl_gazebo/models/plane/plane.sdf and set serialEnabled and hil_mode to true.
4. Start Gazebo:

   source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
   gazebo --verbose Tools/sitl_gazebo/worlds/plane.world
   

5. Try flying using joysticks in QGC.

Expected behavior
I expect that I can fly the plane in Stabilized, and not crash.

[julianoes]

For fixedwing I found that it is a mixer issue. We'll need a specific mixer for the Gazebo HITL case.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[rahuldeo2047]

bump

[julianoes]

@rahuldeo2047 can you confirm this is still an issue? It might have been solved in the meantime with the mixer purge and control allocation introduction.

[rahuldeo2047]

Fixed wing.

Running via the documented make command for version v1.14.alpha.1 . That works for mission mode perfectly.

issue was
I was working with v1.12.3 (for Xplan, I guess have to shift to other sims) and running gazebo with v1.14.alpha.1 plane world. I did some temporary changes in the mixed files for my RC to work. The mission mode works, and manual mode doesn’t work. In the mission mode after launch and takeoff the plan behaves lost control and falls.

(Unrelated to the issue: My RC did not work with both the versions. Debugging)

[rahuldeo2047]

However, the gazebo and plane world did not work. Still debugging. I will confirm. v1.14.alpha.1