I’d like to simulate an additional delay in the attitude control loop. Like, for example, if the UAVCAN messages were much longer (or baudrate was much lower) and the ESCs received commands with ~1-2ms delay.
I’m not sure if I can do that by means of Gazebo/jmavsim only or should I modify the PX4 code?
If I should modify the firmware which module would it be?
Thank you in advance for any hint!