Something that we'd really like to do is decouple the rosflight_sim package from Gazebo, and make it easy to add support for other simulation tools like HoloDeck, MATLAB, Airsim, etc.
The ideal way to do this would be to implement our own physics propagation so no part of the physics is being calculated within the simulator, and the simulation is used only for visualization and collision. However, this may be too difficult to do with certain simulators, so another option may be to use different board implementations for each simulator, where the simulator-specific board implementation only has the code needed to interface with the simulator. All else would reside in SIL_board, or somewhere similar.
Something that we'd really like to do is decouple the rosflight_sim package from Gazebo, and make it easy to add support for other simulation tools like HoloDeck, MATLAB, Airsim, etc.
The ideal way to do this would be to implement our own physics propagation so no part of the physics is being calculated within the simulator, and the simulation is used only for visualization and collision. However, this may be too difficult to do with certain simulators, so another option may be to use different board implementations for each simulator, where the simulator-specific board implementation only has the code needed to interface with the simulator. All else would reside in SIL_board, or somewhere similar.