This model epoch50.pth is trained in dense forests with 4 m spacing and can fly at 15 m/s. Reference video: Bilibili. Compared to the open-source parameters, a few minor modifications are required:

• Modify the speed and acceleration parameters in the traj_opt.yaml of YOPO as follows:

velocity: 15.0
vel_max_train: 15.0
acc_max_train: 8.0

• Recommended to modify the camera pitch angle in the config.yaml of Simulator to:

camera:
  pitch: -10.0

and adjust the settings in test_yopo_ros.py as follows:

'pitch_angle_deg': -10,

• Update the code and recompile the controller: a controller bug that occurred during high-speed flight was fixed in the 2025-11-19 update.

• Recommended to disable point cloud map and trajectory topics in RViz. The visualization of point cloud in RViz consumes significant computational resources (tested on WSL).