Enable slower-than-realtime drift setups to achieve full accuracy in SITL #7716
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… the whole simulation a lot more stable
The simulation engine had the ability to pause already and properly handled load spikes, however, it was not hardened against constant drift. This addition enables it to run at a constant slower-than-realtime rate successfully.
LorenzMeier
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I've tested this on gazebo and jmavsim and the ekf2 performance has improved. I did notice when running on gazebo that the GPS data appears to have a 200msec arrival jitter which is not reflected in the time stamp which is evidenced as speed dependant noise on the position innovations and the timestamp field in vehicle_gps_position being regular. Here's a plot of the EKF's GPS position innovation and vehicle velocity*0.2
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@dagar @priseborough @bresch @Stifael @MaEtUgR @Tumbili I wanted to do this forever but only now got around to it: We had already a lockstep interface that would pause the simulation if the simulator paused, however, we did not have the ability to deal with constant drift (simulator running constantly at a slower rate). This fixes the simulation engine to properly deal with this and makes the whole simulation environment a lot easier to use.