Setting Speed Factor for PX4 SITL

junwoo0914 · May 31, 2022, 1:21pm

What I want to achieve

I want to run the PX4 SITL with a speed factor like 5x or 20x. How can I achieve this?

MAVSDK

This is supported in MAVSDK tests:

PX4/PX4-Autopilot/blob/1e88939605c99ebb056bb4e473ac076ef1d4aca7/test/mavsdk_tests/test_main.cpp#L108-L120

      
        
            void usage(const std::string &bin_name)
            {
            	std::cout << std::endl
            		  << "Usage : " << bin_name << " [--url CONNECTION_URL] [--speed-factor SPEED_FACTOR] [catch2 arguments]\n"
            		  << "\n"
            		  << "  --url          Connection URL format should be :\n"
            		  << "                   For TCP : tcp://[server_host][:server_port]\n"
            		  << "                   For UDP : udp://[bind_host][:bind_port]\n"
            		  << "                   For Serial : serial:///path/to/serial/dev[:baudrate]\n"
            		  << "                 For example, to connect to the simulator use URL: udp://:14540\n"
            		  << "\n"
            		  << "  --speed-factor Speed factor to compare against, for information only\n"
            		  << std::flush;

And it would be very nice to use it for regular PX4 SITLs!

Other

Another Discuss topic that was unanswered, which asks the same question:

wangww · July 21, 2022, 3:25am

Hello junwoo0914!
You can check this doc first if you only want to running SITL with a fixed speed factor.

junwoo0914 · July 21, 2022, 7:29am

PX4_SIM_SPEED_FACTOR=2 make px4_sitl jmavsim
This would do the job

Thank you