Improve simulation speed during ROS and Px4 joint simulation

How to improve prometheus Simulation speed of ？

Recently, I have been using the prometheus Project development , Want to improve the simulation speed of UAV

I looked up the relevant information and found that there are two ways ：
1） One is to change PX4_sitl The speed of , That is, in the simulation launch Call at the beginning of the file PX4 Of rcs Parameters in the file PX4_SIM_SPEED_FACTOR, This should be related to computer performance , If the computer fails to drive the system, it will automatically lower ;

2） The other is to improve gazebo Simulation speed of , By modifying the world In the document <real_time_factor> and <real_time_update_rate>, As I understand it, this only modifies the refresh rate , It is still useless after modification , Because it is a lockstep mode , The overall simulation speed is still 1.

I think if you want to speed up the simulation, you should PX4_sitl Parameters of , Is there any problem with my understanding ？