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 assigning 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