I am seeing some "bouncy" depth hold behavior using SITL+Gazebo that I'm not seeing in the default SITL. It may be caused by the IMU simulation. With Release Sub-4.1 branch, release 4.1.0.
SITL without Gazebo, holding depth, about 30 seconds:
SITL with Gazebo, holding depth, about 30 seconds -- notice the IMU:
I am seeing some "bouncy" depth hold behavior using SITL+Gazebo that I'm not seeing in the default SITL. It may be caused by the IMU simulation. With Release Sub-4.1 branch, release 4.1.0.
SITL without Gazebo, holding depth, about 30 seconds:![SITL](https://github.com/clydemcqueen/bluerov2_ignition/assets/4961326/1e67417b-a4b7-44fb-97c8-f78dcd762df1)
SITL with Gazebo, holding depth, about 30 seconds -- notice the IMU:![Gazebo](https://github.com/clydemcqueen/bluerov2_ignition/assets/4961326/435f4278-bcef-4b2a-a436-b77c0752760c)