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Add lockstep_timeout parameter (default 0.002s) to PX4Multirotor.__init__ and use a retry loop in _fetch_latest_px4_control instead of a single blocking recv. This allows DTPS bridge mode (with higher round-trip latency) to use a longer timeout (100ms) while keeping the default behavior unchanged for direct TCP connections. Also enable fixed-step RK4 integrator by default for faster physics. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Add lockstep_timeout parameter (default 0.002s) to PX4Multirotor.init and use a retry loop in _fetch_latest_px4_control instead of a single blocking recv. This allows DTPS bridge mode (with higher round-trip latency) to use a longer timeout (100ms) while keeping the default behavior unchanged for direct TCP connections.
Also enable fixed-step RK4 integrator by default for faster physics.