How to calculate the size of the group in the Streaming setpoint modes

I hope to control the crazyflies group in Streaming setpoint modes. I have a problem now. I don’t know what the maximum size of the group I can control.

1. My first question is how to calculate the maximum amount I can control based on the communication bandwidth.

Streaming setpoint modes simplify the process of developing new high-level planners, since the planner can run on the PC where it has access to more computational resources. However, they require more radio bandwidth, so they do not scale as well to large numbers of robots. Currently, we have not validated anything larger than 7 robots on 3 radios. I saw such a sentence on the wiki, but I want to know, at what frequency is it achieved?

1.1. Can I reduce the frequency of command transmission to achieve a larger cluster? 1.2. If I have more USB Radio, can I control a larger swarm?

2. My second question is, how realistic is the simulation in crazyswarm? Before using Streaming setpoint modes, I need to use simulation to verify my algorithm. In crazyswarm, we can add--simbefore running the program to realize the simulation of the program. For example, when sending the speed vector command to the crazyflie, the PID algorithm has a relaxation time, and it is impossible for the drone to reach the specified speed instantly. I want to know whether the simulation function in crazyswarm can truly simulate the characteristics of drones.

[whoenig]

There is no need to change any OS setting. This estimate is based on how frequently the user code using libUSB can exchange data over USB (active polling). You can measure this on your hardware using rosrun crazyflie_tools comCheck.

[whoenig]

Yes, no need to change anything on your side.