Simulink-PX4: Difference between R2022a R2022b (same simulink model does not work in R2022b)
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I have recently updated from R2022a to R2022b. I had a project, which essentially builds on top of the following example:
However, the simulink model no longer runs properly in R2022b, so I wonder if there are any noticiable differences (I suspect memmory-related)?
To be more specific:
- I am using default cmake for pixhawk 4
- The conversion from R2022a to R2022b project was done by simply dublicating the fully functioning project folder and opening it in R2022b. Then, I only have to correct one single bus entry (changed from "yaw" to "heading") and that is it. No other changes made anywhere else.
- The model does not run properly in R2022b: everything compiles and runs (in IO mode). In 2022a I can dispay almost anything by left clicking on the signal, which is the same in 2022b. However, the same signals (e.g. quaternian attitude, adc out) are now always zero (or -0), when they should not be. Note that some values are working/dispaying properly. More importantly, I have a sink (send to PWM) blocks at the end of the model and they no longer do anything (although I can clearly see I am trying to set a PWM value, but does not effect the physical actuators that are connected and powered).
- I have tested different systems and subsystems in a separate simulink model (much smaller of course) and everything works great (both in R2022a and R2022b) when separated, but not all together in one model. I am quite certain there is some limit which I am not aware of. Although, again, everything just worked in R2022a so I am confused.
- I know IO is slow, especially in large simulink models, but I would expect it to work in the same way as in previous version. I have also tried to compile and and run everyrhing on board, but with the same luck (nothing works). Again, everything works in R2022a with no change to the model or project.
- I know that R2022a uses PX4 v1.10.2 and R2022b uses v1.12.3. Unfortunately, I am not that familiar with PX4 to tell the difference, but there might be something in the firmware itself that can be adjusted to remove this. Let me know if changing the default .cmake file or startup routine can fix this issue.
Arun Mathamkode el 9 de Feb. de 2023
Connected I/O Simulation is not ideally designed for running controller kind of models where the model needs to run at a much higher rate. In Connected I/O every source/ sink block needs to communicate to the PX4 boards and thus there is a specific minimum time required for a block execution. As the number of Source/ Sink blocks increases, the simulation also gets much slower and performance will be impacted. Refer to this documentation for more details. I would recommend you run the model in Monitor and Tune simulation instead of Connected I/O in your case. I also would recommend you log the signal and observe it in the Simulink Data inspector, instead of the display block for better visibility.