DO_CHANGE_SPEED not working on SITL

ArduPlane Plane 4.6
1

Hi, I am trying to change the speed on SITL. Although I receive COMMAD_ACK: ACCEPTED, I do not see the speed change. I tried on GUIDED mode. When it did not work with pymavlink, I tried to change the speed via APM Planner, but despite the approval, there was still no change. How do I solve this problem?

System Information:
Ubuntu 22.04
Gazebo Harmonic
ArduPlane 4.6.0 - dev

param show * results (for AIRSPEED, ARSPD and TRIM):
AIRSPEED_CRUISE 15.0
AIRSPEED_MAX 20.0
AIRSPEED_MIN 12.0
AIRSPEED_STALL 0.0

ARSPD2_TYPE 0.0 # None
ARSPD_OFF_PCNT 0.0
ARSPD_OPTIONS 11.0 # SpeedMismatchDisable|AllowSpeedMismatchRecovery|UseEkf3Consistency
ARSPD_PRIMARY 0.0 #FirstSensor
ARSPD_TYPE 0.0 # None
ARSPD_WIND_GATE 5.0
ARSPD_WIND_MAX 0.0
ARSPD_WIND_WARN 0.0

TRIM_THROTTLE 60.0

ArduPlane Console Output:

arduplane_console
arduplane_console805×333 84.7 KB

2

Without airspeed source enabled and used (preferably airspeed sensor) speed control only works in throttle mode.

3

How do I set this up? Can you help me?

4

IIRC for basic SITL it is enough to set airspeed type to any sensor and tell Ardupilot to use airspeed.

5

Do I need to add a sensor to the model sdf file? How do I tell Ardupilot to use the sensor?