I would like to implement two improvements in the SIH.
have a replay mode, to replay a simulation from a real flight log.
EDIT: It seems that there is a replay in src/modules/replay. https://docs.px4.io/master/en/debug/system_wide_replay.html
I should start by exploring this functionality.
SIH in SITL
I would like to be able to run the SIH without a hardware, this becomes then an SITL setup. I want to be able to use the step by step debug tool and I want to be able to run the SIH faster than real time.
a. Where to start? I guess I need to cancel the calls to jMAVSim in SITL mode, because the simulation engine is part of PX4.
@dagar any tips?