{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7368","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7368/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7368/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7368/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/7368","id":279808108,"number":7368,"title":"Copter 3.5 modify SITL default behavior","user":{"login":"pmshopUSMC","id":14925732,"avatar_url":"https://avatars1.githubusercontent.com/u/14925732?v=4","gravatar_id":"","url":"https://api.github.com/users/pmshopUSMC","html_url":"https://github.com/pmshopUSMC","followers_url":"https://api.github.com/users/pmshopUSMC/followers","following_url":"https://api.github.com/users/pmshopUSMC/following{/other_user}","gists_url":"https://api.github.com/users/pmshopUSMC/gists{/gist_id}","starred_url":"https://api.github.com/users/pmshopUSMC/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pmshopUSMC/subscriptions","organizations_url":"https://api.github.com/users/pmshopUSMC/orgs","repos_url":"https://api.github.com/users/pmshopUSMC/repos","events_url":"https://api.github.com/users/pmshopUSMC/events{/privacy}","received_events_url":"https://api.github.com/users/pmshopUSMC/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":9,"created_at":"2017-12-06T16:03:30Z","updated_at":"2017-12-06T22:44:39Z","closed_at":"2017-12-06T21:17:30Z","author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/7368","html_url":"https://github.com/ArduPilot/ardupilot/pull/7368","diff_url":"https://github.com/ArduPilot/ardupilot/pull/7368.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/7368.patch"},"body":"SITL does not match what copter is capable of.\r\nThe simulator, based on 3.5.4 AC code limits the forward speed to 1000cm/s when using a max lean of 35°.\r\nHowever, anyone's copter based on 3.5.4 AC code can fly at a forward rate of 1500cm/s when using a max lean of 35°.\r\nI have even recorded 1965cm/s with max lean of 35°\r\nhttp://www.dronelogbook.com/flightDetailSharing.php?id=0369034C-E268-2841-1F35-3A4542EF3083\r\ntlog is all I have at the moment\r\nIn reviewing the tlog, I noted at many times the copter only needed 10° pitch to maintain 1500mc/s or near to.\r\n\r\nVersion\r\n3.5.4\r\n\r\nPlatform\r\n[ ] All\r\n[ ] AntennaTracker\r\n[X] Copter\r\n[ ] Plane\r\n[ ] Rover\r\n[ ] Submarine\r\n\r\nAirframe type\r\nAll\r\n\r\nHardware type\r\nAll\r\n\r\nLogs\r\n[2017-09-22 15-04-33.zip](https://github.com/ArduPilot/ardupilot/files/1536334/2017-09-22.15-04-33.zip)\r\n"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/349800007","html_url":"https://github.com/ArduPilot/ardupilot/pull/7368#issuecomment-349800007","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/7368","id":349800007,"user":{"login":"peterbarker","id":7077857,"avatar_url":"https://avatars0.githubusercontent.com/u/7077857?v=4","gravatar_id":"","url":"https://api.github.com/users/peterbarker","html_url":"https://github.com/peterbarker","followers_url":"https://api.github.com/users/peterbarker/followers","following_url":"https://api.github.com/users/peterbarker/following{/other_user}","gists_url":"https://api.github.com/users/peterbarker/gists{/gist_id}","starred_url":"https://api.github.com/users/peterbarker/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/peterbarker/subscriptions","organizations_url":"https://api.github.com/users/peterbarker/orgs","repos_url":"https://api.github.com/users/peterbarker/repos","events_url":"https://api.github.com/users/peterbarker/events{/privacy}","received_events_url":"https://api.github.com/users/peterbarker/received_events","type":"User","site_admin":false},"created_at":"2017-12-06T22:44:39Z","updated_at":"2017-12-06T22:44:39Z","author_association":"CONTRIBUTOR","body":"On Wed, 6 Dec 2017, pmshopUSMC wrote:\n\n> It is just an enhancement request to change the limitation of SITL max lean\n> angle to make top simulated speed of 2000cm/s possible when angle_max is\n> set to 35°.\n> When Angle_max is set to 35°, top forward speed in SITL is 1000cm/s\n> However, when a copter is loaded with the same firmware and same Angle_Max\n> of 35° as the SITL...max forward speed of the copter is up to 2000cm/s.\n\nThe model in SITL is approximately a 450-size Iris.  Not a speed demon. \nThe vehicle's thrust is probably what's limitting you, not the angle max. \nTry graphing the throttle-out and see if it is going to ~80% (some \nthrottle left over for stability).  My guess is as you increment angle-max \nyou will hit a point where it refuses to push the throttle higher.  You \ncan adjust that upper limit, but it won't push your vehicle much faster.\n\nPlease note that our SITL isn't really meant to be aerodynamically \naccurate.  It's comically bad in places.  If you want something \ncloser-to-truth then you can model vehicles in RealFlight8 quite well and \nfly them with ArduPilot.\n\nOf course, getting someone to pay for RealFlight8 is possibly an \ninsurmountable problem.\n\nIt would be nice to be able to say why the behaviour has changed between \n3.4 and master - but there's been a lot of change since then!"}}
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