feat: PX4Multirotor performance and lockstep improvements - #41
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Add px4 support - DTSW-7150
- Send magnetometer and barometer data in HIL_SENSOR with correct fields_updated bitmask (ACCEL|GYRO|MAG|BARO = 7167) — previously only ACCEL+GYRO were sent, causing PX4 to time out on MAG and BARO and fall back to SIH internal sensors - Switch physics integrator from Radau (implicit, expensive) to RK45 with max_step=0.05 to avoid double-stepping at typical engine delta_times (~9ms) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
torch, torchdiffeq, roma, and opt-einsum are only required for the batched simulator (BatchedMultirotor, simulate_batch, BatchedSE3Control, etc.). Moving them to an optional extra avoids forcing all users to install PyTorch (~2 GB) when they only need the standard single-drone simulator. - pyproject.toml: remove the four packages from core dependencies and add a new `batched` extra; also include them in `all` - Wrap top-level torch/roma/torchdiffeq imports with try/except in every file that mixes batched and non-batched classes, so those modules remain importable without the extra installed Install the batched simulator with: pip install rotorpy[batched] Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Make PyTorch an optional dependency for the batched simulator
- 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).
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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).