From 107393e6ad4ab48124efbb8af81247c053833ae0 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 30 Jan 2026 13:27:34 +1300 Subject: [PATCH] simulator_sih: reduce drag According to Claude, the aerodynamic drag was way too high, and higher than e.g. Gazebo Classic. Another hint that it was too high is that the model 1102_tailsitter_duo_sih.hil had it at 0.2 as well. Reducing this, makes acceleration of the quadx more realistic and it starts passing CI tests where speed is checked. Without it, it tends to be too slow. --- src/modules/simulation/simulator_sih/sih_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/simulation/simulator_sih/sih_params.c b/src/modules/simulation/simulator_sih/sih_params.c index 25c9498e63..1f47383a02 100644 --- a/src/modules/simulation/simulator_sih/sih_params.c +++ b/src/modules/simulation/simulator_sih/sih_params.c @@ -212,7 +212,7 @@ PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f); * @increment 0.05 * @group Simulation In Hardware */ -PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f); +PARAM_DEFINE_FLOAT(SIH_KDV, 0.15f); /** * First order angular damper coefficient