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mtandJacob Dahl
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* fix(simulation): preserve gravity and step_size in px4-rc.gzsim set_physics The set_physics service call in px4-rc.gzsim sent only real_time_factor. Other fields in gz.msgs.Physics (gravity, max_step_size) defaulted to 0 per protobuf semantics, silently zeroing world gravity in the gz physics engine when PX4_SIM_SPEED_FACTOR was set. Vehicles became weightless while PX4's accelerometer (sourced from the gz IMU plugin's cached SDF gravity) continued to report -9.81 m/s², making the bug invisible from PX4's side. Resolve the values via the live gz physics topic, fall back to the world SDF, and finally to Earth gravity / gz-harmonic default step size, then include the full set in the set_physics request. Fixes #27480 Signed-off-by: Marko T <marko.tavcar@c-astral.com> * fix(simulation): resolve world name in standalone and drop dead physics topic The gz physics topic queried for gravity/max_step_size does not exist in gz Harmonic (only a write-only set_physics service), so that branch always timed out and fell through. Read both values directly from the world SDF, which is the source of truth at load time. Also resolve PX4_GZ_WORLD from the running gz instance (clock topic) inside the readiness check, so standalone launches — where the world name is not known up front — can find the scene and the world SDF. Signed-off-by: Marko T <marko.tavcar@c-astral.com> * Update ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Update ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * docs(simulation): clarify gravity-default fallback comment in px4-rc.gzsim Fix typo ("greavity") and reword the comment to clearly state that the hardcoded gravity/step-size defaults are only used when the world SDF cannot be located, and are wrong for custom-gravity worlds. Signed-off-by: Marko T <marko.tavcar@c-astral.com> --------- Signed-off-by: Marko T <marko.tavcar@c-astral.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>