Why the drone is drifting in HIL?

I am running the

PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics in Simulink

example，after the set-ups, I run the UAV_Dynamics_Autopilot_Communication model, the flying which should follow the waypoint is not act as I expected in QGC:

there are some warnings on the top and the drone was drifting after following the trajectory.

and a module called 6DOF Rigid body dynamics is in red:

except this two wierd things happen, everthing were fine. No Warning information from Simulink.

I am not sure the fact that 6DOF Rigid body dynamics is red is relative to the drifting, but they show up together makes me curious.

How can I fix the drifting? Why the module is in red?

Thanks for your answer.

Answer 1

[Ankur Bose]

Try disconnecting and reconnecting PX4 Autopilot hardware connected to your PC and then simulate the plat model again. Restart QGC and mission again. See if you see this issue again. If the plant model simulation runs slow due to limited computation power of PC, this issue can happen

[龙]

Indeed, after I uninstalled the pre-installed app which was control the balance of performance and energy, and set the computer to best performance condition, the drone doesn't drift anymore