Increase simulated quadcopter power to increase top speed?

ArduCopter Copter Simulation
1

Hi,

I am running an arducopter SITL simulation in a vagrant virtual machine and when I set the desired speed in my GCS (QGroundControl) to 20m/s for example it will top out at 15m/s. I was wondering if there’s any way to increase the amount of power the simulated vehicle has to allow it to fly faster?

I have looked throughout the GitHub and can’t seem to find where the motor power is set. I found in the SIM_Motor.cpp file there is a function called calculate_forces which has an input parameter of thrust_scale which multiplies the calculated thrust by a fixed value which may help to increase the aircraft power. However I don’t know where this function is called in the simulation.

Any help on this topic would be much appreciated.
Thanks

2

hello,

As you already found, the main parameters come from here https://github.com/ArduPilot/ardupilot/blob/master/libraries/SITL/SIM_Multicopter.cpp#L40
you can append -fast to the vehicle model to speed it up, otherwise you need to modify his thrust power

3

Hi khancyr, I’m having similar trouble. When I set a point for my simulated copter to fly to, it’s max speed is 10m/s. I would like to allow it to go faster. I don’t quite understand your suggestion. Can you elaborate? Thank you.