HITL debugging with lockstep

Dear all, @JulianOes, @bresch, @rroche

When the break point is caught during HITL simulation using Gazebo and Blackmagic probe, the QGC connection breaks and the airframe becomes unstable. I assume it is a lockstep related behaviour. I checked the aircraft *sdf file, and set the lockstep as:


Do you have any idea what might be the reason why it becomes unstable when paused at a break point?