Pixhawk Pilot Support Package (PSP) Matlab

Hi!!, I am studying  about UAVs, I am designing differents types of controllers. I am using the IRIS+, this has the pixhawk, researching different options of how to program the pixhawk I found the PSP matlab and this option is interesting why can design my controller in simulink and then send it to pixhawk.

I have a problem, when i select the option "build model" in simulink, I got a error, My question is: Anyone know how to fix the error ?, second Can you recommend other options to program in the pixhawk? 

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