The possible better approach is to obtain the FlightGear using an HLA interface. Random noise is added to the sensor data. The source-code implements artificial upsampling of sensor data to ~100Hz in the order to avoid stale sensor detection. So the PX4 gets the sensor data in frequency, depending on graphics resources and the current scene. The PX4 is connected to FlightGear thought " generic protocol", which is served synchronously to the simulator graphics engine frame rate. (vehicle name is the same name as the name of.
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