init.d-posix: support running SITL slower #12259
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This enables using a rational number for PX4_SIM_SPEED_FACTOR. This is required if the simulation is run slower than realtime, for instance 0.5 to simulate at half the speed. Since bash can't natively do floating point arithmetic, we need to use bc.
|
@dagar ok, so we just can't do it given the shellcheck. I suppose the possible solutions are:
I tend towards number 3 since that's the proper fix. |
When the simulation runs faster than realtime we need to relax the timeout checks. This was done using this hack to change the timeout parameters. In subsequent commits we will fix this properly by using the correct time source when checking timeouts of external messages.
When the simulation is running faster than realtime we sometimes need to use the actual host/environment time. This is for instance required to check for timeouts on external messages.
Heartbeats arriving are sent at a rate based on the normal system/environment time and not at the PX4 time which might run faster or slower in SITL. Therefore, we need to use the environment time when checking for timeouts of the heartbeats.
|
I went ahead with number 3. |
|
I'm not sure how I feel about making commander aware of what's really happening like this. |
|
Taking a step back I'm starting to think we'd specifically want these things interpreted in the vehicles reference timeframe (testing failsafes, etc). |
|
@dagar so we change the params as I suggested initially in this PR? |
|
Fixed by #12401. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This enables using a rational number for
PX4_SIM_SPEED_FACTOR.This is required if the simulation is run slower than realtime, for instance 0.5 to simulate at half the speed.
Since bash can't natively do floating point arithmetic, we need to use
bc.Please use PX4 Discuss or Slack to align on pull requests if necessary. You can then open draft pull requests to get early feedback.