SITL frequancy limit

PX4 Autopilot
1

Currently during a SITL simulation with Gazebo, the overall architecture (EKF, controllers, etc) frequency is 250Hz, is there any way to increase such frequency?

2

You can change it here: PX4-SITL_gazebo-classic/worlds/empty.world at f754540e714642fea897445e69a675245bc6306a · PX4/PX4-SITL_gazebo-classic · GitHub

3

Thanks for the fast reply, I set

     <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>

But all the controllers and estimators still run at 250Hz (checked with work_queue status command).

Update: disabling lockstep made the rate_ctrl work queue run at the desired frequency. however, the EKF and the other controllers are still at 250Hz