I am testing the JSON interface for SITL with Copter. I successfully tested the Matlab physical model, but I noticed that the sensors are pretty noisy from the BIN file (if compared with the physical model that SITL runs by default). I am now wondering if it is possible to port the physical model that SITL is running natively and make it run via the JSON interface.
I have identified that the key functionalities for the physical simulation are in SITL/SIM_Multicopter.cpp but also see that there are a lot of dependencies with other libraries that make it hard to recompile and run the physical model outside SITL via JSON.
Any suggestion on how to port SIM_Multicopter.cpp outside SITL and run it via the JSON interface, and obtain a precise simulation as in native SITL?