rflysim / rflyexpcode Goto Github PK

Multicopter Design and Control Experiments based on MATLAB and PixHawk

MATLAB 97.34% C++ 1.19% C 1.48%

rflyexpcode's Introduction

RflyExpCode

This is the instructional package for 'Multicopter Design and Control Practice'. Please see https://rflysim.com for detailed information.
You should download and install the RflySim Basic package to use the PPTs and codes, the download link is https://rflysim.com/download

Introduction

The model in "e0" is mainly used for the introduction of the experimental platform, corresponding to the relevant content in Chapters 3 and 4 of the book.
The last 8 chapters of the book correspond to 8 experiments, of which Propulsion System Design Experiment has no relevant instructional package. Experiments 2 to 8 correspond to the contents of Chapters 6 to 12, and the corresponding files are e2 to e8.
There are three sub-files in each folder, which correspond to the basic experiment, analysis experiment and design experiment in each experiment. Analysis experiment of chapter 2 has no source file package--"e2/e2.2",becasuse it mainly focus on theoretical calculation and analysis.

Details

The comparison between the instructional package and each experiment is as follows:
e2:Dynamic Modeling Experiment;
e3:Sensor Calibration Experiment;
e4:State Estimation and Filter Design Experiment;
e5:Attitude Controller Design Experiment;
e6:Set-point Controller Design Experiment;
e7:Semi-autonomous Control Model Design Experiment;
e8:Failsafe Logic Design Experiment.

Notice

We don't provid design experiment package for students, and the code begining with "%@ " should be compeleted to make it right to run.If you can be certified as a teacher, we will give you all the packages.

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rflyexpcode's Issues

3DD Resolution

Hello. I chose a bad resolution for my laptop, I chose 1024 instead 1920.
How can I to change the configuration? If I try deleting the installation folder
for 3DD the resolution don´t change. Thanks!

3D Display打开自动降低分辨率到1024*768,并且花屏

电脑系统win10，1607版，笔记本i3-8100 8g 1080p gtx1050

代码下载提示TypeError: 'str' object cannot be interpreted as an integer

Traceback (most recent call last):
File "C:\PX4PSP\Python38\px_uploader.py", line 731, in
main()
File "C:\PX4PSP\Python38\px_uploader.py", line 606, in main
fw = firmware(args.firmware)
File "C:\PX4PSP\Python38\px_uploader.py", line 128, in init
self.image.append('\xff')
TypeError: 'str' object cannot be interpreted as an integer

C:\Users\Administrator\Desktop\e3>
这个错误好像是Python38的问题该如何解决？

网站上e2_2模型文件动力学模型里面w*Jw前面为什么没有负号跟另外两个力矩是直接相加的而不是相减，而书上公式（6.13）中最后一个方程是有负号的

1 Building the Accelerator target for model: MavlinkCodeDecode

Code Generation 1
Elapsed: 5 sec

** Visual Studio 2017 Developer Command Prompt v15.9.26
** Copyright (c) 2017 Microsoft Corporation

[vcvarsall.bat] Environment initialized for: 'x64'
找不到网络名。

MavlinkCodeDecode.mk(141) : fatal error U1052: file '\rtw\c\tools\vctools.mak' not found
Stop.
The make command returned an error of 2

Build procedure for model: 'MavlinkCodeDecode' aborted due to an error.

Problem creating Accelerator MEX file for model 'MavlinkCodeDecode'.
To see the build output, use set_param('MavlinkCodeDecode','AccelVerboseBuild','on')
Caused by:
Error(s) encountered while building "MavlinkCodeDecode"
Component:Simulink | Category:Block diagram error

3D DISPLAY app is no displayed correectly

HIL simulation CH6 status

Hi All,
I am trying to simulate e7.3(HIL) and e8.1 (HIL) from prof. Quan book. Should I set CH6 as inactive(unassigned) and just
make CH5 active(assigned) ?
Any comment is very welcome.
Alexandre - Brazil

安装软件包出现错误提示，无法安装

首次安装为matlab2018b，安装以后，无法打开coptersim软件，然后更换为matlab2019b出现安装错误提示最初保存为codertarget.pixhawk.Cmake_Utiles.Px4PSP_CMake_Class的变量Px4PSP_CMakeInfo无法实例化对象，将以int32位西农港城读取

In PX4InstallScript
此类型的变量不支持使用点进行索引
出错PX4InstallScript
请问该如何解决

半实物仿真，姿态响应误差大的问题

请教大家一个问题，我用北航的coptersim半实物仿真出来的响应很差（有很大的误差），相同的参数做gazebo仿真，响应却很好，什么原因？

下面是gazebo的，上面是北航CopterSim的。

编译e0/1下的xls提示找不到buildInfo.mat

Build 1 6
08:07 PM Elapsed: 22 sec
Top Model Build 1
Elapsed: 13 sec
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/Battery Model/Battery Model_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\Battery_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。
Component:Simulink | Category:Block diagram error
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/Environment Model/Environment Model_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\Environment_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。
Component:Simulink | Category:Block diagram error
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/Fail Model/Fail Model_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\Fail_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。
Component:Simulink | Category:Block diagram error
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/Force and Moment Model/Force and Moment Model_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\Force_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。
Component:Simulink | Category:Block diagram error
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/Motor Model/Motor Model_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\Motor_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。
Component:Simulink | Category:Block diagram error
Error in 'CopterSim3DEnvironment/Quadcopter Dynamics/OutputPort/OutputPort_sfcn': Failed to evaluate mask initialization commands.
Caused by:
无法读取文件 'C:\PX4PSP\RflyExpCode-master\code\e0\1.SoftwareSimExps\icon\OutputPort_sfcn_rtw\buildInfo.mat'。没有此类文件或目录。

安装软件包报错

使用安装脚本时，安装失败，报错如下：
1.开始安装eclipse软件...
安装完毕.
2.开始安装FlightGear软件...
错误使用 unzip (line 84)
zip 文件 "D:\RFLYExpPspSoftwarePack\4.HILApps\FlightGear 2016.1.2.zip" 无效。
出错 PX4InstallScript

求助怎么解决？？

ADRC (active disturbance rejection control)?

Please at https://rflysim.com/en/6_CasesStudy/DevelepmentofaSimplifiedAutopilot.html
From where can I get the simulation file

生成的固件无法上传

@RflySim 你好，我按照第三讲PPT第33页的提示，希望把e0\2.PSPOfficialExps\px4demo_attitude_system.slx生成固件，并且上传到pixhawk上。我可以编译成功，但是我无法成功上传固件，请问我该如何解决。我的matlab是2019a，使用飞控板是pixhawk4.。ps
.我使用QGC可以自动下载官方固件。

e0/2.PSPOfficialExps/px4demo_input_rc编译成功，下载情况如下，不知是否属于下载成功，下载后灯不闪，重新上电也不闪，动遥控器没反应

Loaded firmware for 9,0, size: 1481437 bytes, waiting for the bootloader...
If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.
Found board 9,0 bootloader rev 5 on COM6
ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff ffffffff
Erase : [====================] 100.0%
Program: [====================] 100.0%
Verify : [ ] 1.0%
ERROR: timeout waiting for data (4 bytes)

条目受密码保护或已加密

What is the best solution that you offer for simulation and implementation of FORMATION TRACKING CONTROL OF MULTIPLE QUADROTOR UAVs?

Dear flyeval group,

First, I would like to say congratulation for the new website https://rflysim.com/en/0_Start/WhatIsRflysim.html. That is really useful and important.
Second, please I would like to ask about what is the best simulation and implementation method that you offer for academic research regarding FORMATION TRACKING CONTROL OF MULTIPLE QUADROTOR UAVs? We hope to implement and test a distributed formation tracking control protocol on a swarm of UAVs.

Thank you, keep doing nice work, we are following your updates...
Sincerely,

网站上e2_2模型刚体模型—计算旋转矩阵和欧拉角中的紫色边框里的四元数归一化中为什么没有开方

在刚体模型—计算旋转矩阵和欧拉角中的紫色边框里的四元数归一化中分母上是不是只有任意两个元素乘积的和，而没有再进行开方，为什么呢。四元数归一化不是除四元数的范数吗，是要开方的。

在MATLAB下运行完安装文件重启后，找不到PX4的功能包，其它功能一切正常，在simulink下能找到相关px4模块

安装完成后，打开管理附加功能，找不到PX4的相关安装包，但是能正常运行其余的程序，在matlab的simulink的lib中也有与四轴相关的遥控器、飞控、机架等模块。
不知道这样是否会影响之后的实验操作？

编译出错

Making Firmware
C: && cd C:\PX4PSP\PX4Msys2Toolchain && CALL setPX4Env.bat & C:\PX4PSP\PX4Msys2Toolchain\usr\bin\bash.exe -c 'echo Starting PX4 Build;cd /mnt/c/PX4PSP/Firmware;pwd;make px4fmu-v3_default'
/usr/bin/sh: C:PX4PSPPX4Msys2Toolchainusrbinbash.exe: command not found
/usr/bin/sh: C:: command not found
修复过编译环境，还是找不到编译指令

Unable to acquire the Hardware ID. Please rerun this installation script.

I tried to run PX4InstallScript.p file in matlam console butb it fail in my PC but work with my friend's laptop. it gives "Unable to acquire the Hardware ID. Please rerun this installation script." I can run the getGUID.exe and get the ID but I can not pass the value to the installer secript in case it fails to acquire it. I tried Matlab 2019a & b also with admin rights

regards

生成代码并编译的时候出错

Failed to generate all binary outputs.

Caused by:
Validation error(s):

Validating other build tools ...

Unable to locate build tool "Pixhawk Toolchain C Compiler": echo
Unable to locate build tool "Pixhawk ToolchainC Pre-Linker": echo
Unable to locate build tool "Pixhawk Toolchain Archiver": echo

可生成代码，编译出错。我安装完成之后，附加功能不显示PSP支持包，但可以使用。

遥控器试飞一切正常，编译结束后upload反复插拔仍然识别不到BootLoader

在进行硬件在环仿真时（Pixhawk2.4.8），按照流程配置，遥控器试飞，均正常，
但使用simulink编译成功，进行PX4Upload时，反复插拔多次仍然无反应。是否有解决方案

Loaded firmware for 9,0, size: 1481421 bytes, waiting for the bootloader...
If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.
Attempting reboot on COM5 with baudrate=57600...
If the board does not respond, unplug and re-plug the USB connector.

网站上e3.1代码中传感器的标定中求加速度计的参数是6个，而课件Lesson07Sensor and Measurement Model求解出的是9个参数，方便发一下求解9个参数实验代码和和参考的文章吗？

安装出错错误使用 PX4InstallScript No getGUID.exe file.

直接iso文件提取到自建的英文文件夹，包中压缩包没有解压，运行 PX4InstallScript显示如下错误
OS: Microsoft Windows [版本 10.0.17763.1217]
系统满足安装Win10WSL编译器条件（版本大于等于Windows10 1809）
MATLAB: R2017b
错误使用 PX4InstallScript
No getGUID.exe file.

chapter 8 - HIL -CH5 pwm levels

Hi All,
I am trying to simulate the HIL experiments from chapter 8 of prof. Quan book.
In the page 365, it is said :
"Simulation performance
Arm the quadcopter for manual control. Readers could pilot the quadcopter
to a certain altitude, as shown in Fig. 12.12. Then, push three-position switch
CH5 back (closest position from the user) to realize the RTL or push the
switch CH5 forward (farthest position from the user) to make the quadcopter
land."
However I am not having the expected behaviour as described above when I fly with the 3Ddisplay app.
My RC CH5 switch is configured with 1100 ms (farthest position from the user); 1500 ms (middle) ; 1900 ms(closest position from the user).
Any clue to solve the issue is very welcome.
Alex Costa - Brazil

无法将编译好的simulink程序添加进固件的build中

你好！
我在你们提供的1.7.3固件中自定义了一个uorb消息和mavlink消息，这时可以成功编译，并且能烧录进飞控中。可是当我在simulink中编译官方的程序时，它会显示生成了相应的代码和库，但是并没有屏蔽和替换掉固件中本来的控制代码。请问问题出在哪里？如何解决？
以下是diagnostics viewer的输出：

Generating code into build folder: D:\四旋翼\实验\RflyExpCode-master\code\e7\e7.3\HIL\leader_ert_rtw

Output port 6 of 'leader/Control System1' is not connected. [4 similar]
Component:Simulink | Category:Block warning
Source 'leader/localPosition 1/uORB Read Function-Call Trigger' specifies that its sample time (-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters dialog box.
Component:Simulink | Category:Block warning

Generated code for 'leader' is up to date because no structural, parameter or code replacement library changes were found.

Evaluating PostCodeGenCommand specified in the model

Nothing to remove from build output
Build path: D:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw
Removing Simulink module CMAKE source directory, adding new content..

Using toolchain: Pixhawk Toolchain v4.6.2 | gmake (64-bit Windows)

'D:\四旋翼\实验\RflyExpCode-master\code\e7\e7.3\HIL\leader_ert_rtw\leader.mk' is up to date

Building 'leader': "E:\matlab\bin\win64\gmake" -f leader.mk postdownload_preexecute all

D:\四旋翼\实验\RflyExpCode-master\code\e7\e7.3\HIL\leader_ert_rtw>cd .
D:\四旋翼\实验\RflyExpCode-master\code\e7\e7.3\HIL\leader_ert_rtw>if "" == "" ("E:\matlab\bin\win64\gmake" -f leader.mk postdownload_preexecute all ) else ("E:\matlab\bin\win64\gmake" -f leader.mk postdownload_preexecute )
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o leader.o leader.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o leader.o leader.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rtGetInf.o rtGetInf.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rtGetInf.o rtGetInf.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rtGetNaN.o rtGetNaN.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rtGetNaN.o rtGetNaN.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rt_nonfinite.o rt_nonfinite.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o rt_nonfinite.o rt_nonfinite.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o PX4_TaskControl.o C:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/src/PX4_TaskControl.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o PX4_TaskControl.o C:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/src/PX4_TaskControl.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o nuttxinitialize.o C:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/src/nuttxinitialize.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o nuttxinitialize.o C:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/src/nuttxinitialize.c
echo -MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o ert_main.o ert_main.c
-MD -c -std=gnu99 -Wall -Wextra -Wdouble-promotion -Wshadow -Wfloat-equal -Wframe-larger-than=1024 -Wpointer-arith -Wlogical-op -Wmissing-declarations -Wpacked -Wno-unused-parameter -Werror=format-security -Werror=array-bounds -Wfatal-errors -Wformat=1 -Wbad-function-cast -Wstrict-prototypes -Wold-style-declaration -Wmissing-parameter-type -Wmissing-prototypes -Wnested-externs -mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -ffixed-r10 -mfloat-abi=hard -DCONFIG_ARCH_BOARD_PX4FMU_V2 -fno-common -nodefaultlibs -nostdlib -Wframe-larger-than=2000 -fvisibility=hidden -include visibility.h -O0 -fno-builtin-printf -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DRT -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTERMFCN=1 -DONESTEPFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DTID01EQ=0 -DUSE_STDPERIPH_DRIVER -DPX4 -DCONFIG_ARCH_BOARD_PX4FMU_V2 -DGIT_VERSION=d3398270e101359de9687c2d077d991c9892f573 -D__DF_NUTTX -D__PX4_NUTTX -DARM_MATH_CM4=1 -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000 -DNULL=0 -DEXIT_FAILURE=1 -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLEPRINTF -DSTACK_SIZE=64 -DRT -DMODEL=leader -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DMODEL_HAS_DYNAMICALLY_LOADED_SFCNS=0 -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL -ID:/四旋翼/实验/RflyExpCode-master/code/e7/e7.3/HIL/leader_ert_rtw -IE:/matlab/extern/include -IE:/matlab/simulink/include -IE:/matlab/rtw/c/src -IE:/matlab/rtw/c/src/ext_mode/common -IE:/matlab/rtw/c/ert -IE:/matlab/rtw/c/src/ext_mode/serial -IC:/PX4PSP/src/lib/mathlib/CMSIS/Include -IC:/PX4PSP/lib/gcc/wingw32/4.6.2.include -IC:/PX4PSP/Firmware/src -IC:/PX4PSP/Firmware/build_px4fmu-v2_default -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src -IC:/PX4PSP/Firmware/src/modules -IC:/PX4PSP/Firmware/src/include -IC:/PX4PSP/Firmware/src/lib -IC:/PX4PSP/Firmware/src/platforms -IC:/PX4PSP/Firmware/src/drivers/boards/px4fmu-v2 -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules/px4_messages -IC:/PX4PSP/Firmware/build_px4fmu-v2_default/src/modules -IC:/PX4PSP/Firmware/mavlink/include/mavlink -IC:/PX4PSP/Firmware/src/lib/DriverFramework/framework/include -IC:/PX4PSP/Firmware/src/lib/matrix -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/include/cxx -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/chip -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/px4fmu-v2/NuttX/nuttx-export/arch/common -IC:/PX4PSP/Firmware/build/px4fmu-v2_default/external/Install/include -IC:/Users/Administrator/Documents/MATLAB/Add-Ons/Toolboxes/PX4PSP/code/include -o ert_main.o ert_main.c
"### Creating standalone executable "../leader.pre.o" ..."
echo -Ur -Map leader.pre.o.map -o ../leader.pre.o leader.o rtGetInf.o rtGetNaN.o rt_nonfinite.o PX4_TaskControl.o nuttxinitialize.o ert_main.o
-Ur -Map leader.pre.o.map -o ../leader.pre.o leader.o rtGetInf.o rtGetNaN.o rt_nonfinite.o PX4_TaskControl.o nuttxinitialize.o ert_main.o
"### Created: ../leader.pre.o"
"### Invoking postbuild tool "Invoke Make" ..."
"Making Firmware "
C: && cd C:\PX4PSP\PX4Msys2Toolchain && CALL setPX4Env.bat & C:\PX4PSP\PX4Msys2Toolchain\usr\bin\bash.exe -c 'echo Starting PX4 Build;cd /mnt/c/PX4PSP/Firmware;pwd;make px4fmu-v2_default'
Starting PX4 Build
/mnt/c/PX4PSP/Firmware
make[1]: Entering directory '/mnt/c/PX4PSP/Firmware'
ninja: no work to do.
make[1]: Leaving directory '/mnt/c/PX4PSP/Firmware'
"### Finished calling CMAKE build process ###"
"### Done invoking postbuild tool."
"### Successfully generated all binary outputs."

D:\四旋翼\实验\RflyExpCode-master\code\e7\e7.3\HIL\leader_ert_rtw>exit /B 0

Successful completion of build procedure for model: leader

Build process completed successfully

Advanced Version

Dear Sir
Does the advanced version support HIL for systems that include Aanalog to Digital signals beside the other sensors in the pixhawk autpilot.

3DDisplay.exe已停止工作

请问怎么解决？

解锁后3D Display 界面没反应

在进行硬件在环仿真时，在CpterSim平台下通过遥控器可以进行解锁，但是3D Display 界面看不到四轴起飞以及一些飞行姿态的信息。（3D Display 软件可以正常打开）

如果脚本提示快捷方式生成失败

GenerateShortcutCMD.bat 脚本路径错误导致的快捷方式生成失败
解决办法：用记事本打开或者其他编辑环境打开GenerateShortcutCMD.bat修改即可
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop &""\PX4Msys2Toolchain.lnk""):b.TargetPath=""C:\PX4PSP\PX4Msys2Toolchain\msys2.exe"":b.WorkingDirectory=""C:\PX4PSP\PX4Msys2Toolchain"":b.Save:close")
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\Python38Env.lnk""):b.IconLocation =""C:\PX4PSP\Python38\python.exe,0"":b.TargetPath=""C:\PX4PSP\Python38Env.bat"":b.WorkingDirectory=""C:\PX4PSP\Python38Scripts"":b.Save:close")
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\eclipse.lnk""):b.TargetPath=""C:\PX4PSP\eclipse\eclipse.exe"":b.WorkingDirectory=""C:\PX4PSP\eclipse"":b.Save:close")
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\FlightGear-F450.lnk""):b.TargetPath=""C:\PX4PSP\FlightGear 2016.1.2\FlightGear-F450.bat"":b.IconLocation =""C:\PX4PSP\FlightGear 2016.1.2\bin\fgfs.exe,0"":b.WorkingDirectory=""C:\PX4PSP\FlightGear 2016.1.2"":b.Save:close")
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\3DDisplay.lnk""):b.TargetPath=""C:\PX4PSP\3DDisplay\3DDisplay.exe"":b.WorkingDirectory=""C:\PX4PSP\3DDisplay"":b.Save:close")
if not exist %userprofile%\Documents\Ogre\Ghadamon\ md %userprofile%\Documents\Ogre\Ghadamon
copy C:\PX4PSP\3DDisplay\ogre.cfg "%userprofile%\Documents\Ogre\Ghadamon\ogre.cfg" /y
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\CopterSim.lnk""):b.TargetPath=""C:\PX4PSP\CopterSim\CopterSim.exe"":b.WorkingDirectory=""C:\PX4PSP\CopterSim"":b.Save:close")
mshta VBScript:Execute("Set a=CreateObject(""WScript.Shell""):Set b=a.CreateShortcut(a.SpecialFolders(""Desktop"") & strDesktop & ""\QGroundControl-4.0.5.lnk""):b.TargetPath=""C:\PX4PSP\QGroundControl\QGroundControl.exe"":b.WorkingDirectory=""C:\PX4PSP\QGroundControl"":b.Save:close")

安装报错

按照步骤安装，启动.IOS后安装完MSVCP，重启，输入命令：'PX4InstallScript'

正在校验文件完整性，请耐心等待 ...
文件校验通过
OS: Microsoft Windows [Version 10.0.18363.900]
系统满足安装Win10WSL编译器条件（版本大于等于Windows10 1809）
MATLAB: R2020a
错误: 索引超出数组元素的数目(37)。
错误: 安装前环境校验阶段出错，安装中止

External mode with the telemetry radios for Pixhawk autopilot?

Hello;
I have been reading this note from your awesome work:

Important Note: Recent testing has confirmed that external mode does not operate correctly with the telemetry radios. Data comes in very sporadically and in long intervals. We are looking into this and will provide an update to address the issue, in the mean-time, please use USB for serial connection for external mode.

Please, I would like to know if this problem has been solved or not yet. xie xie. If yes, please where can I find the updates?

Win10更新后编译环境出错

我的2017b的编译环境之前一直使用正常，windows更新过一次之后就出现了图示的错误，查了一些资料感觉是脚本的问题，但我没找到编译环境的脚本是哪一个，请问这个问题有办法解决吗？感谢！

Pixhawk faulty condition after unsuccessfull PX4 PSP:Upload code to Px4FMU

Hi All,
After a faulty upload of the code from the matlab menu (picture below) the Pixhawk
is in a faulty mode (the bigger led is dead like in the attached zip video).

faulty-pixhawk.zip

Any clue how to recover the board state is very welcome.

快捷方式coptersim有问题

安装后打开桌面工具包中的copetsim,会弹出错误提示框，提示coptersim.exe已经停止工作

HIL not working with 3DDisplay

Hi All,
Following the book guideline, I am uploading the firmware to the pixhawk board for the HIL simulation.
But the light keeps green blinking.
I am attaching an image of my screen. I am using a FUTABA T8J radio with the three position switch C configured according to the book.
Any comment would be very welcome.
Thanks
Alexandre - Brazil

Pixhawk 4 from Holybro

Dear Sir
I really appreciate your great effort and your valuable contribution to the UAV field
I was trying to work with Pixhawk 4 (fmu v5). I was able to build and upload the firmware for the example in 8.3 folder. I have changed the build command to (px4fmu v5_defualt)
However, the computer could not recgnize the pixhawk board after that until I launch the QGroundcontrol and replace teh custome made firmware by the original one.
Does your package work only with Pixhawk 1 (FMU v3).
I also wat to know the price of the advanced version of your package.
regards;

校准失败

使用1.7的固件版本做ADRC的实验，老报错说校准传感器失败，是不是固件的原因呢？
有没有基于更高版本固件的开发呢？比如1.10的。

Error in Building "AttitudeControl_FLY"

I got this error when I tried to build the model "AttitudeControl_FLY" in e5.4 folder
I followed your instructions and replaced the three files (costom_attctrl_e5, CMakeLists, and logger) by the given files in the folder "PSPfile" .
After that replacement, I got the same error when I tried to compile any other Hill model in your package..
Everything is OK when I returned to the original firmware files (CMakeLists, and logger)
I am using windows 10 with Matlab 2017 and your latest package (RflySim V2.29 - 2020/07/08), firmware 1.7

编译Exp4_AttitudeSystemCodeGen_old时出错

Starting build procedure for model: Exp4_AttitudeSystemCodeGen_old

Build procedure for model: 'Exp4_AttitudeSystemCodeGen_old' aborted due to an error.

The selected toolchain ('Pixhawk Toolchain') is not registered. It must be in the Toolchain registry in order to be valid. Check if this toolchain is supported.

安装错误问题

反馈一个安装中遇到的问题，我使用matlab版本是2018b，安装目录把默认C盘改为D盘，安装中发生错误终止。错误提示如下图：
想请教一下，是我哪里配置错了吗？

matlab提示：“
OS: Microsoft Windows [版本 6.3.9600]
系统不满足安装Win10WSL编译器（系统版本需要大于等于Windows10 1809）
MATLAB: R2018b
错误使用 copyfile
所有参数都必须为非空字符向量或字符串标量。
出错 PX4InstallScript
”

PX4版本

大家用的是哪个版本的PX4啊？我是在淘宝买的PX4 pixhawk2.4.8.可以用吗

评估数据差距大的问题

我在以下两个评测网站中输入相同飞机参数，https://flyeval.com/paper/和https://flyeval.com/index.html，但是评估的结果差距很多。
问题：
1）这两个网站是否有不同的适用领域？
2）应该信任哪个网站的数据？https://flyeval.com/paper/与计算结果更加贴近一些。

e8_1_HIL firmware not uploading to the PIXHAWK board

Hi All,
I am trying to upload the e_8_1_HIL example but the "PX4 PSP: Upload code to Px4FMU" script is only searching in the "COM3" port.
I was able to upload the e_7_3 example because the scripts searchs in a list of "COMX" ports.
I am attaching pictures to illustrate my issue.
Any guidance how to solve this issue is very welcome.
Alexandre Costa - Brazil.

标定过程为什么使用LM算法求解，其他方法求解呢？（可以提供LM算法参考的哪篇文献和书籍吗）

可以提供LM算法参考的哪篇文献和书籍吗？

3Ddisplay打开后闪退

在打开3Ddisplay这个软件的时候，还没有进去就会闪退。

coptersim打不开怎么办

我双击coptersim之后鼠标就是转一下圈，然后就没反应了，安装文件处点击exe文件也是一样的反应，我的系统是win10 64位操作系统，内存24G.

课程的八个实验,提供的源码和视频课程的代码有区别没有视频使用的代码完善。

仿真响应误差问题请教

你好。我们的模型是充分考虑风阻等因素的高逼真模型，正常情况下做姿态响应时，瞬间姿态可以调整过去，但随着速度的上升，机身会受到空气阻力，等到最终速度稳定时，飞机姿态才能达到受力平衡。Gazebo属于理想模型，没有空气阻力作用。我们的模型和实际实验结果更相近一点，你可以自行观察实飞数据。

首先非常感谢北航师兄的解答，但是我还是有个问题，百思不得其解，想请教师兄。

我去实际飞行后，看飞行日志确实有一些稳态误差，以下是实际飞行的响应

另外e0-1SoftwareSimExps的仿真程序和半实物仿真比较接近，但是做了mexw封装，没法查看，而且这个程序比半实物仿真超调大很多，需要把内环P调高才能抑制超调，不知道什么原因造成的。

而e5.1的仿真程序响应很好，是没有稳态误差的

其实，我还是不明白，产生这个响应“坑”的主要是啥原因。e5.1的模型是带了空气阻力模型的，如下图。

按理说，pid的I可以补偿稳态误差，仿真的时候增大I确实可以使“坑”变小，但是不能消除。有什么办法可以补偿这个稳态误差吗？

Originally posted by @superorange1 in #45 (comment)

e3.1中 acquire_data_ag.slx编译出现类 RGBLED_MODE_ENUM 没有名为 'MODE_BREATHE' 的常量属性或静态方法

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