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- Add fixed-step RK4 integrator to Multirotor base class (7x faster than solve_ivp for small timesteps, identical accuracy at dt<=4ms). PX4Multirotor enables it by default. - Precompute IMU measurements once per step and pass to HIL messages, avoiding redundant computation. - Add configurable lockstep_timeout parameter (default 0.002s) with retry loop in _fetch_latest_px4_control. Allows DTPS bridge mode to use longer timeouts for higher-latency round trips. - Add per-step timing instrumentation (printed every 500 steps).
Tuxliri
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Add fixed-step RK4 integrator to Multirotor base class (7x faster than solve_ivp for small timesteps, identical accuracy at dt<=4ms). PX4Multirotor enables it by default.
Precompute IMU measurements once per step and pass to HIL messages, avoiding redundant computation.
Add configurable lockstep_timeout parameter (default 0.002s) with retry loop in _fetch_latest_px4_control. Allows DTPS bridge mode to use longer timeouts for higher-latency round trips.
Add per-step timing instrumentation (printed every 500 steps).