worlds: for now we need to simulate at 250 Hz

Lockstep currently only works with 250 Hz, so we change it for now. If we find that the simulation fidelity is not enough, we can improve it and increase the rate later.
PX4 · Dec 11, 2018 · f7ac548 · f7ac548
1 parent dabfa26
commit f7ac548
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Showing 18 changed files with 36 additions and 36 deletions.
diff --git a/worlds/delta_wing.world b/worlds/delta_wing.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <!--

diff --git a/worlds/empty.world b/worlds/empty.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/hippocampus.world b/worlds/hippocampus.world
@@ -40,9 +40,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/iris.world b/worlds/iris.world
@@ -33,9 +33,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <gui fullscreen='0'>

diff --git a/worlds/iris_fpv_cam.world b/worlds/iris_fpv_cam.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <gui fullscreen='0'>

diff --git a/worlds/iris_irlock.world b/worlds/iris_irlock.world
@@ -32,9 +32,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
 

diff --git a/worlds/iris_opt_flow.world b/worlds/iris_opt_flow.world
@@ -33,9 +33,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <gui fullscreen='0'>

diff --git a/worlds/iris_rplidar.world b/worlds/iris_rplidar.world
@@ -32,9 +32,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <!--

diff --git a/worlds/iris_vision.world b/worlds/iris_vision.world
@@ -33,9 +33,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <gui fullscreen='0'>

diff --git a/worlds/matrice_100.world b/worlds/matrice_100.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/matrice_100_opt_flow.world b/worlds/matrice_100_opt_flow.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/rover.world b/worlds/rover.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <gui fullscreen='0'>

diff --git a/worlds/solo.world b/worlds/solo.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <!--

diff --git a/worlds/standard_vtol.world b/worlds/standard_vtol.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.00125</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>800</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
     <!--

diff --git a/worlds/tiltrotor.world b/worlds/tiltrotor.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.00125</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>800</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/typhoon_h480.world b/worlds/typhoon_h480.world
@@ -34,9 +34,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/uneven.world b/worlds/uneven.world
@@ -25,9 +25,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/warehouse.world b/worlds/warehouse.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.002</max_step_size>
+      <max_step_size>0.004</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
+      <real_time_update_rate>250</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>