From 18f91cfa9f7ce64ecb12eb48201c153a4083ae5a Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Thu, 12 Feb 2026 13:00:21 +0000
Subject: [PATCH] Gazebo: add <no_time_sync> option to the ArduPilotPlugin XML

- Depends on https://github.com/ArduPilot/ardupilot_gazebo/pull/157

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Gazebo/models/alti_transition_quad/model.sdf     | 1 +
 Gazebo/models/alti_transition_quad/model.sdf.erb | 1 +
 Gazebo/models/bicopter_with_ardupilot/model.sdf  | 1 +
 Gazebo/models/blueboat/model.sdf                 | 1 +
 Gazebo/models/catamaran/model.sdf                | 1 +
 Gazebo/models/hexapod_copter/model.sdf           | 1 +
 Gazebo/models/mini_talon_vtail/model.sdf         | 2 +-
 Gazebo/models/omni3rover/model.sdf               | 1 +
 Gazebo/models/omni4rover/model.sdf               | 1 +
 Gazebo/models/quadruped/model.sdf                | 1 +
 Gazebo/models/r1_rover/model.sdf                 | 1 +
 Gazebo/models/sawppy/model.sdf                   | 1 +
 Gazebo/models/skycat_tvbs/model.sdf              | 1 +
 Gazebo/models/skywalker_x8/model.sdf             | 1 +
 Gazebo/models/skywalker_x8_quad/model.sdf        | 1 +
 Gazebo/models/swan_k1_hwing/model.sdf            | 1 +
 Gazebo/models/wildthumper/model.sdf              | 1 +
 Gazebo/models/wildthumper_with_lidar/model.sdf   | 1 +
 Gazebo/models/wsc_aircraft/model.sdf             | 1 +
 19 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/Gazebo/models/alti_transition_quad/model.sdf b/Gazebo/models/alti_transition_quad/model.sdf
index c7a64d3e..6a42057e 100644
--- a/Gazebo/models/alti_transition_quad/model.sdf
+++ b/Gazebo/models/alti_transition_quad/model.sdf
@@ -1092,6 +1092,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/alti_transition_quad/model.sdf.erb b/Gazebo/models/alti_transition_quad/model.sdf.erb
index 8920b4c7..96638191 100644
--- a/Gazebo/models/alti_transition_quad/model.sdf.erb
+++ b/Gazebo/models/alti_transition_quad/model.sdf.erb
@@ -1142,6 +1142,7 @@ DO NOT EDIT. This file is generated from an ERB template.
     <fdm_port_in><%= fdm_port_in %></fdm_port_in>
     <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
     <lock_step>1</lock_step>
+    <no_time_sync>1</no_time_sync>
 
     <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
     <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/bicopter_with_ardupilot/model.sdf b/Gazebo/models/bicopter_with_ardupilot/model.sdf
index 6531ac86..dfe37227 100644
--- a/Gazebo/models/bicopter_with_ardupilot/model.sdf
+++ b/Gazebo/models/bicopter_with_ardupilot/model.sdf
@@ -32,6 +32,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>0</have_32_channels>
 
       <!-- Frame conventions
diff --git a/Gazebo/models/blueboat/model.sdf b/Gazebo/models/blueboat/model.sdf
index 6fe1d572..67a5a825 100644
--- a/Gazebo/models/blueboat/model.sdf
+++ b/Gazebo/models/blueboat/model.sdf
@@ -398,6 +398,7 @@
       <fdm_port_in>9002</fdm_port_in>        
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <imuName>imu_link::imu_sensor</imuName>
diff --git a/Gazebo/models/catamaran/model.sdf b/Gazebo/models/catamaran/model.sdf
index a4571961..9c012e92 100644
--- a/Gazebo/models/catamaran/model.sdf
+++ b/Gazebo/models/catamaran/model.sdf
@@ -817,6 +817,7 @@
       <fdm_port_in>9002</fdm_port_in>        
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <imuName>imu_link::imu_sensor</imuName>
diff --git a/Gazebo/models/hexapod_copter/model.sdf b/Gazebo/models/hexapod_copter/model.sdf
index e30692b6..57c5add1 100644
--- a/Gazebo/models/hexapod_copter/model.sdf
+++ b/Gazebo/models/hexapod_copter/model.sdf
@@ -2638,6 +2638,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>1</have_32_channels>
 
       <!-- Transforms -->
diff --git a/Gazebo/models/mini_talon_vtail/model.sdf b/Gazebo/models/mini_talon_vtail/model.sdf
index 2ffd908f..3262337c 100644
--- a/Gazebo/models/mini_talon_vtail/model.sdf
+++ b/Gazebo/models/mini_talon_vtail/model.sdf
@@ -917,6 +917,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>0</have_32_channels>
 
       <!-- Frame transforms.-->
@@ -1082,4 +1083,3 @@
   gz topic -t /left_ruddervator_joint/cmd_pos -m gz.msgs.Double -p 'data: 1'
 
   -->
-
diff --git a/Gazebo/models/omni3rover/model.sdf b/Gazebo/models/omni3rover/model.sdf
index 51fc38c3..4676d997 100644
--- a/Gazebo/models/omni3rover/model.sdf
+++ b/Gazebo/models/omni3rover/model.sdf
@@ -158,6 +158,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>0</have_32_channels>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/omni4rover/model.sdf b/Gazebo/models/omni4rover/model.sdf
index b028ab74..e2c3ea44 100644
--- a/Gazebo/models/omni4rover/model.sdf
+++ b/Gazebo/models/omni4rover/model.sdf
@@ -188,6 +188,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>0</have_32_channels>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/quadruped/model.sdf b/Gazebo/models/quadruped/model.sdf
index 5659c9c9..1109c7b8 100644
--- a/Gazebo/models/quadruped/model.sdf
+++ b/Gazebo/models/quadruped/model.sdf
@@ -1333,6 +1333,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/r1_rover/model.sdf b/Gazebo/models/r1_rover/model.sdf
index 19ee0542..49e02c42 100644
--- a/Gazebo/models/r1_rover/model.sdf
+++ b/Gazebo/models/r1_rover/model.sdf
@@ -467,6 +467,7 @@
       <fdm_port_in>9002</fdm_port_in>        
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <imuName>base_link::imu_sensor</imuName>
diff --git a/Gazebo/models/sawppy/model.sdf b/Gazebo/models/sawppy/model.sdf
index 3b98d1f8..ea27c4ce 100644
--- a/Gazebo/models/sawppy/model.sdf
+++ b/Gazebo/models/sawppy/model.sdf
@@ -1507,6 +1507,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/skycat_tvbs/model.sdf b/Gazebo/models/skycat_tvbs/model.sdf
index 6c35fff9..2f8f9ff1 100644
--- a/Gazebo/models/skycat_tvbs/model.sdf
+++ b/Gazebo/models/skycat_tvbs/model.sdf
@@ -772,6 +772,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <!-- Frame conventions
         modelXYZToAirplaneXForwardZDown:
diff --git a/Gazebo/models/skywalker_x8/model.sdf b/Gazebo/models/skywalker_x8/model.sdf
index 32eea8ab..3bc01ca3 100644
--- a/Gazebo/models/skywalker_x8/model.sdf
+++ b/Gazebo/models/skywalker_x8/model.sdf
@@ -550,6 +550,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/skywalker_x8_quad/model.sdf b/Gazebo/models/skywalker_x8_quad/model.sdf
index 60490982..69ce4ba7 100644
--- a/Gazebo/models/skywalker_x8_quad/model.sdf
+++ b/Gazebo/models/skywalker_x8_quad/model.sdf
@@ -1015,6 +1015,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/swan_k1_hwing/model.sdf b/Gazebo/models/swan_k1_hwing/model.sdf
index a7cf1aa6..6986f888 100644
--- a/Gazebo/models/swan_k1_hwing/model.sdf
+++ b/Gazebo/models/swan_k1_hwing/model.sdf
@@ -963,6 +963,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
       <imuName>imu_sensor</imuName>
diff --git a/Gazebo/models/wildthumper/model.sdf b/Gazebo/models/wildthumper/model.sdf
index 6de60e68..623b0aac 100644
--- a/Gazebo/models/wildthumper/model.sdf
+++ b/Gazebo/models/wildthumper/model.sdf
@@ -1799,6 +1799,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
       <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
diff --git a/Gazebo/models/wildthumper_with_lidar/model.sdf b/Gazebo/models/wildthumper_with_lidar/model.sdf
index 0467004c..c9574a8d 100644
--- a/Gazebo/models/wildthumper_with_lidar/model.sdf
+++ b/Gazebo/models/wildthumper_with_lidar/model.sdf
@@ -1906,6 +1906,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <!-- Frame conventions
         modelXYZToAirplaneXForwardZDown:
diff --git a/Gazebo/models/wsc_aircraft/model.sdf b/Gazebo/models/wsc_aircraft/model.sdf
index bfb71eeb..0123d236 100755
--- a/Gazebo/models/wsc_aircraft/model.sdf
+++ b/Gazebo/models/wsc_aircraft/model.sdf
@@ -1477,6 +1477,7 @@
     <fdm_port_in>9002</fdm_port_in>
     <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
     <lock_step>1</lock_step>
+    <no_time_sync>1</no_time_sync>
 
     <!-- Frame conventions
       modelXYZToAirplaneXForwardZDown: