How to properly reset simulation with Betaflight?

[Swesser]

Hello

So when it runs with Betaflight SITL, I have noticed that if you use "Reset simulation" button in Gazebo GUI, the SITL itself will idle/wait, until the simulation time reaches the timestamp when it has been reset. Only then it connects to gz and works.

I have tried several workarounds, but to no success. Probably, due to the custom gros-gz bridge here.

Any ideas?
We test quadcopters in the simulation, and require LOTS of restarts.

[Swesser]

I have tried to create a node, that will remember the timestamp of "reset" pressed, and speed up the simulation to that timestamp. Did not work, again, probably because of this custom bridge.