Drone instability and loss of control in betaflight simulation

[sergii-bond]

I followed https://github.com/osrf/vehicle_gateway/blob/main/BETAFLIGHT_README.md to setup and launch, everything works, except after some time the drone response becomes worse and worse, eventually making it spin and crash. It happens in both angle and acro modes. The more aggressive the joystick controls are, the faster it comes to a spin and a crash. Is there an option I am missing? I tried setting the fastest PID loop frequency, disabling/enabling "Motor PWM speed Separated from PID speed" option, 3D ESC option, nothing helps. The RTF in gazebo GUI is over 80%. I also tried fixing betaflight SITL to version 4.5.0 and 4.5.0-RC1 in cmakelists, didn't help either. I also tried 4.4.0, but that one doesn't have support for udp port 9004, so RC controls didn't work there.