Simulation and hardware emulation software » mrsim-gazebo

Yes, the propeller speed limit is determined by the motor constants.
In particular, it's proportional to the voltage and related to the
motor torque constant, electric resistance and propeller drag (you can
easily solve the motor equations in libmrsim to compute the velocity
and curent at steady state).

The default values were chosen to empirically match the 12'' props on
the smaller mikrokopter motors we had, and this provides something
like 125Hz max speed and 40A current.

[There is currently a current limit hardcoded to 40A. While this should
not be an issue, I'll make it tunable as well.]

Reducing the propeller drag ('b') and the torque constant ('K') in the
simulation will increase max speed. There is one glitch though: you
have to specify separately the 'ct' parameters for the wrench
computation. I don't know if it could be deduced from the other
parameters, but I'd be interrested if you have some answer about that :)

Hello Anthony.

I should have updated you earlier, sorry.

I can now change the current limit and achieve higher speeds by increasing the Voltage.

However when I lower the propeller drag ('b') and the torque constant ('K') and make sure from the motor equations that I would achieve the speed limit I want, I still achieve higher speeds but I have a strange oscillating behavior of the UAV. So I think I need to carefully choose them to be physically meaningful.
I will create an issue later for this if I don't figure it out.

You can close this issue, thanks for your support.