"Exceeded maximum number of file descriptors" error while running Quadcopter​_Controlle​rWithNavig​ation model in SITL

I am getting this error in NSH shell while running Quadcopter_ControllerWithNavigation model in SITL mode

ERROR [uORB] vehicle_global_position advertise failed (5)
WARN [cdev] : exceeded maximum number of file descriptors, accesing /obj/vehicle_status0

Answer 1

[Manoj Velmurugan]

PX4 PWM Output block was not releasing file descriptors correctly during the disarmed state in SITL mode. Hence it was exhausting all the available file descriptors and causing this issue.

As a workaround,

locate and open the support package root folder using the following command,

>>matlabshared.supportpkg.getSupportPackageRoot

Navigate to toolbox\target\supportpackages\px4\src folder and open MW_PX4_PWM.cpp

After the line 306,

orb_publish(ORB_ID(vehicle_status), vehicle_status_pub, &arm_vehicle_stat);

insert the following line,

orb_unsubscribe(vehicle_status_fd);

Redeploy the model from Simulink.