[Feature Request]Dynamic ClockSpeed & Continue in Simulation Time

[wangwwno1]

What feature are you suggesting?

Overview:

• Allows the user to adjust ClockSpeed during simulation.
• Rename simContinueForTime to simContinueForWallClock as the original name is confusing(See #3206 #1719 #600 , for verification scripts see issue #3206 )
• Add new api simContinueForSimClock which enables the user to control the time elapsed in simulation without knowing current ClockSpeed(or raise a warning/exception at least if the elapsed time is not achievable with current ClockSpeed).

Smaller Details:

The Unreal Engine has a feature called TimeDilation to adjust clock speed during playing:

• This video demonstrate its effect
• UE's python API support set_global_time_dilation for world time and custom_time_dilation for individual actor.

Support of ArduPilot and PX4:

• ArduPilot support changing simulation speed through mavlink protocol.
• PX4 does NOT support this feature (by 2020.12.14). A warning or exception for unacceptable simulation interval would be welcomed.

Nature of Request:

• Addition
• Change

Why would this feature be useful?

• Simplified world/mission design: the user can skip redundant part(e.g. moving from one location to another) without sacrificing the simulation accuracy of critical process.
• Reduce ambiguity in existing APIs. (For example, moving the drone with 10m/s in X axis for 10 seconds in Simulator)
• Allow stable and precise control in milisecond scale (The argument duration in move API is inaccurate just as current simContinueForTime)

[stale[bot]]

This issue has been automatically marked as stale because it has not had activity from the community in the last year. It will be closed if no further activity occurs within 20 days.