Copter speed not increasing in SITL

ArduCopter Copter 4.7
1

I want to achieve 50m/s speed in my SITl
i am using model X and multirotor
i have changed the WP_spd to 50, angle_max to 60, SIM_BATT_VOLTAGE
12.8V but it goes only 18m/s and it only achieving the lean angle of 53 degree

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if i increase the SIM_BATT_VOLTAGE to 25.6 the copter goes in roll from 0 to 10 degree below is the of the recorded video

and if i keep on increasing the voltage the copter start to behave strangly and roll also increase
@rmackay9 @Eosbandi

2

Hi @Jahanzaib_Aftab,

I’ve never tried to make a vehicle that fast in SITL but I suspect it can be done by adjusting the weight and thrust parameters:

There might be a drag parameter as well that could be reduced.

3

These paramters are not showing in the SITL my SITL is using 4.7.1 firmware version @rmackay9

and should i increase the default 12.8V bat_voltage paramter to increase speed also?

4

But they do in 4.8

5

So I managed to get the vehicle flying at 50m/s in SITL by setting these parameters:

  • ATC_ANGLE_MAX 80
  • WP_SPEED 50
  • WP_ACC 5
  • SIM_FRM_BBDRAG 0.1
  • SIM_FRM_MASS 1
  • SIM_FRM_MDRAG 0.1
  • SIM_FRM_HOVR_THR 0.2

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image1514×1071 555 KB

6

Thanks @rmackay9 for you help brother