Hi everyone and thank you a lot for your messages about "Embedded Coder Support Package for PX4 Autopilots". Regarding your comment about the possibility to connect an external sensor (I2C or analog (ADC) or serial) instead of an internal sensor and get access to that sensor in the model, could you tell me please how I can proceed and especially how I can block access to the internal sensors (Acceleromter, Gyroscope, barometer) inside Pixhawk to be sure that they will be not used ? Could I manage that by QGC? My project is to connect a Pixhawk (with the code generated from Simulink model integrated with PX4 Firmware) to a Hardware In the Loop test bench in real time. In this facility, the quadcopter X plant with its environnement and its sensors should be simulated. Thank you a lot for your help and advises.