I’m currently doing some work using SITL to predict the behaviour of a hexacopter flying outdoors using an optic flow sensor and laser rangefinder (with EK2_GPS_TYPE set to 3).
In SITL, the copter is achieving a maximum forward velocity of 0.5-2m/s, which is somewhat less than ideal. WPNAV_SPEED is set to 12.5m/s, and EK2_RNG_USE_SPEED is set to 6m/s. Is there any information available on what factors will govern the speed of a copter given these constraints? Is there a more up-to-date guide on how I should be configuring this to acheive something closer to 10-12m/s?