@Eric-Katzfey Thank you for such a quick response! Saved me a few hours down the wrong rabbit hole.

Hardware: Voxl2
System image: 1.7.4-m0054-14.1a-perf
voxl suite: 1.1.3-1
px4 version 1.14.0
vendor version(modalai): 2.0.73

I'm building voxl-px4 according to the instructions here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-px4

I've successfully built and deployed to the m0054 an unmodified instance of voxl-px4 and i'm running voxl-px4-hitl via adb shell, flying via udp using qgroundcontrol. I've got HITL traffic connected through a custom uart->usb bridge cable that is tested working. It is connected to gazebo (i've also used jmavsim and some custom simulation software with success). I'm now trying to enable lockstep HITL.

By default, voxl-px4-hitl claims lockstep simulation is disabled during build. I've force-enabled it by editing the cmake files simply because that was the fastest way. During build it reports that it is enabled, and all seems well during deployment and normal operation. However, it doesn't seem to respect the HITL setting. Specifically, when I change the physics rate in gazebo, px4 becomes unable to fly and I see timeout messages in px4 for mag and baro(HIL_SENSOR mavlink message).

I suppose my primary question, before I spend days trying to enable something unsupported, is "does voxl-px4-hitl support lockstep mode?", and if not, can it be made to through a simple set of instructions that i've just failed to locate thus far? If it could in theory be made to, but the effort is more extensive, that is acceptable and I would gladly take any direction provided.