HITL w/ jMavSim - Pitch Oscillations and Drifting


I am trying to do HITL simulation using jmavsim with Pixhawk Cube. I made a clean installation of Ubuntu and PX4 environment directly on top of that, and it gave no errors in the process. When I start the HITL simulation, there are violent pitch oscillations at takeoff. After takeoff, the quadcopter drifts slowly, and the oscillations continue at each command. I am using automatic modes (takeoff, position, land), no RC input is given. Default iris model is used in jmavsim and quadcopter airframe is selected in QGroundControl. SITL simulation is working correctly.

I am attaching a small recording of the screen at takeoff:


How can I solve this problem? Thank you so much.

Models and Versions of the tools I use:
FCC: Pixhawk 2.1 Cube Black
PX4 Firmware: v.1.11.2
QGroundControl: Daily Build Version 2020-11-14

I am using a virtual machine for Linux environment.
Guest VM: Ubuntu 20.04.1 LTS
Virtualization Tool: VirtualBox 6.1.12 r139181 (Qt5.6.2)
Host Machine: Windows 10 Pro

Ok, I noticed FPS was reduced to 5 when I had this problem, and with a little research, I came across to this: https://github.com/PX4/PX4-Autopilot/issues/10813

I changed the -r value to 150 as suggested in above thread and my problem was solved. Also, I changed to Cygwin toolchain on Windows instead of VM, and that increased the performance of simulation tremendously.

I’ll keep this thread here in case of someone else have a similar problem.