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quadrotor_speed_tuning.md

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quadrotor_speed_tuning.md

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Speed Settings for Position Mode

  1. Velocity limits - Software speed caps
  2. Tilt angle limits - How much the quad can tilt forward
  3. Acceleration limits - How fast it reaches max speed
  4. Thrust limits - Motor power available

Key Parameters to Increase Speed

Parameter Default Default (km/h) Range Description
MPC_VEL_MANUAL 10 m/s 36 km/h 3-20 m/s Max speed in Position mode
MPC_XY_VEL_MAX 12 m/s 43 km/h 0-20 m/s Absolute max horizontal speed
MPC_MAN_TILT_MAX 35° - 1-70° Max tilt angle in manual modes
MPC_TILTMAX_AIR 45° - 20-89° Max tilt angle in flight
MPC_ACC_HOR_MAX 5 m/s² - 2-15 m/s² Max acceleration

Important relationships:

  • MPC_XY_VEL_MAX must always be greater than or equal to MPC_VEL_MANUAL
  • MPC_TILTMAX_AIR should be greater than MPC_MAN_TILT_MAX to give the flight controller reserve authority for wind compensation and corrections

Vertical Speed

Parameter Default Default (km/h) Range
MPC_Z_VEL_MAX_UP 3 m/s 11 km/h 0.5-8 m/s
MPC_Z_VEL_MAX_DN 1.5 m/s 5.4 km/h 0.5-4 m/s

Position Mode Behavior

Default: MPC_POS_MODE = 4 (Acceleration based)

How to Change Parameters

Using QGroundControl:

  1. Connect to drone
  2. Vehicle Setup → Parameters
  3. Search for parameter (e.g., MPC_VEL_MANUAL)
  4. Change value → Save