HITL simulation with the latest PX4 firmware using Pixhawk4 mini does not work

[Mitchell-Lee-93]

Describe the bug
I was trying to do HITL simulation with jMAVSim using the latest version of px4.
The setting seemed to be fine but if I arm the vehicle and increase the thrust,
The quadcopter swings with respect to x-axis and fall.

To Reproduce
I followed the procedure below with the latest version of px4. The board was pixhawk4 mini.
I used real RC with position control
https://dev.px4.io/v1.9.0/en/simulation/hitl.html

Expected behavior
It should just go straight up and hold it's position since I only increased the thrust

Log Files and Screenshots
////// Boot and simulation log///////
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V5
HW type: V540
HW version: 0x00000004
HW revision: 0x00000000
FW git-hash: 0a7cde4
FW version: 1.11.0 0 (17498112)
FW git-branch: master
OS: NuttX
OS version: Release 8.2.0 (134349055)
OS git-hash: ec417d7466666801e911e50d72766225ca7790a1
Build datetime: Apr 15 2020 20:52:13
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 000200000000353338373138511400300019
MCU: STM32F76xxx, rev. Z
[hardfault_log] Fault Log is Armed
INFO [param] selected parameter default file /fs/mtd_params
INFO [tune_control] Publishing standard tune 1
Board defaults: /etc/init.d/rc.board_defaults
INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes
Board extras: /etc/init.d/rc.board_mavlink
INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting MAVLink on /dev/ttyS1
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
ERROR [mavlink] offboard mission init failed (-1)
INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0
INFO [logger] logger started (mode=all)

NuttShell (NSH)
nsh> INFO [ecl/EKF] reset position to last known position
INFO [ecl/EKF] reset velocity to zero
INFO [ecl/EKF] 244140069: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] reset position to GPS
INFO [ecl/EKF] reset velocity to GPS
INFO [ecl/EKF] commencing GPS fusion
INFO [logger] Start file log (type: full)
INFO [logger] Opened full log file: /fs/microsd/log/2020-04-15/11_58_05.ulg
INFO [logger] Start mavlink log
ERROR [logger] Ack timeout. Stopping mavlink log
WARN [mavlink] mavlink ulog stream update failed, stopping (-116)
INFO [commander] Takeoff detected
INFO [ecl/EKF] reset velocity to GPS
INFO [ecl/EKF] reset position to GPS
INFO [ecl/EKF] Emergency yaw reset - magnetometer use stopped
WARN [commander] Stopping compass use! Check calibration on landing
WARN [commander] Failsafe enabled: no local position
INFO [ecl/EKF] reset velocity to GPS
INFO [ecl/EKF] reset position to GPS
INFO [ecl/EKF] Emergency yaw reset - magnetometer use stopped
INFO [commander] Landing detected
ERROR [commander] Critical failure detected: lockdown
INFO [logger] Stop mavlink log
INFO [logger] closed logfile, bytes written: 1517140
WARN [commander] Manual control lost
//////////////////////////////////////////////////////////////

Flight log link
https://review.px4.io/plot_app?log=9fc1250e-afca-45bd-a8d0-f6daad584120

Drone (please complete the following information):

• Simulation(copter) HIL Quadcopter X
• All parameters are set to default

[Mitchell-Lee-93]

It was due to imu malfunction