While trying to run HITL on CubeOrangePlus using the below command
# Firmware suitable for flashing into a CubeOrangePlus to experience Simulation-on-Hardware
include ../CubeOrangePlus/hwdef.dat
include ../include/SimOnHW.inc
undef INS_AUX_INSTANCES
define INS_AUX_INSTANCES 0
# short board name override (23 chars)
define CHIBIOS_SHORT_BOARD_NAME "CubeOrange+SimOnHW"
# bootloader embedding / bootloader flashing not available
define AP_BOOTLOADER_FLASHING_ENABLED 0
env SIM_ENABLED 1
AUTOBUILD_TARGETS plane
~
~
"./libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-SimOnHardWare/hwdef.dat"
./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board CubeOrangePlus-SimOnHardWare --vehicle plane --simclass QuadPlane --frame quadplane-tilttri --defaults ./Tools/autotest/default_params/quadplane-tilttri.parm --upload
- able to upload SimOnHardWare firmware
- while assinging mission from MP, sometimes the plane does not fly
or the mission fails as the plane moves randomly.
Could you please help in providing any missing steps