How to Achieve Maximum Horizontal Speed in ArduPilot (QGroundControl, Simulation)?

ArduCopter
1

Hi everyone,

I’m trying to reach the maximum horizontal speed for my quadcopter in a simulation environment using ArduPilot, and I’m tuning the parameters in QGroundControl. So far, I have changed:

  • WPNAV_SPEED = 2000 cm/s (20 m/s)
  • ANGLE_MAX = 8000 cdeg (80°)

However, my drone only reaches 18.3 m/s instead of the expected 20 m/s. I also noticed a “Flight battery warning” message during the simulation.

Since this is happening, I’m wondering what could be limiting the speed. Could battery voltage settings, simulation constraints, or other parameters be affecting the throttle output?

Any advice on how to diagnose and fix this issue would be greatly appreciated!

Thanks in advance!

2

Look at the motor outputs in the simulation. You may be hitting the maximum output and therefore a (simulated) physical limit.