FixedwingGNC model issue while limiting it to guided taxi mission

Problem: I am encountering an issue with the taxi-guided mission in the Fixedwing GNC Simulink model, where the aircraft is not performing the takeoff sequence but should only taxi on the ground. I want the plane to stay on the ground and follow the waypoints without initiating flight.

Hardware: I am using the Pixhawk 6C with Hardware-in-the-Loop (HITL) simulation to monitor the output and perform tuning.

Actions Taken:

I have assigned waypoints with an altitude of 0 to ensure the aircraft stays on the ground.

I have set the Takeoff IC to unit8(0) to skip the takeoff sequence and directly start the mission at the waypoints.

I have included parameters such as {airspeedAltitude, lateralGuidance, Control.L1, control.cruisespeed, control.climbalt, and state.course} in the waypoints to feed the required data to the model, similar to the information available in the Takeoff block.

Current Behavior:

The model progresses through the waypoints but fails to turn towards the next waypoints as expected. The aircraft continues moving straight without any directional correction.

The data at the [send to Actuator] output block is showing zero, but the aircraft still moves.

Attempts Made: I have tried several configurations and adjustments to achieve the desired result, but I have been unable to resolve the issue.

Kindly guide me with this.

Answer 1

[Ankur Bose]

Can you underline in your snapshot of the model where you have made the changes? OR you can share more zoomed in snapshots of the sections.

[Touha]

Thank you for your reply.

This is my mission for the plane to taxi.

Here, I assign the waypoint following the initial condition (2) to overwrite the takeoff.

In the waypoint block, I only provide the takeoff values, except for the takeoff command, to test the model. I also set the takeoff altitude to 0 and other takeoff parameters to 0.

Moreover, this block works perfectly as it sends the correct waypoints to the controller, and the waypoint follower provides the correct course commands to the controller.

The problem occurs when the controller does not send any commands to the actuators, so nothing happens—only the plane moves forward.

I appreciate If you help.

Thanks