Fix mission speed #11836
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Fix mission speed #11836
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It wasn't possible to fly faster than cruise speed even if planned in the mission. Limiting the planned cruise speed is necessary because the smoothed trajectory mission plans to the _mc_cruise_speed and if that's higher than the maximum it gets capped for safety by the position controller and the result is a jerky flight.
This fixes the issue where the DO_CHANGE_SPEED command was ignored and the drone always travelled at the MPC_XY_CRUISE velocity.
julianoes
approved these changes
Apr 11, 2019
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Hey guys, if I run a default SITL mission without the SDK, the drone still flies at max speed an not cruise speed... |
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Test data / coverage
I tested using the DronecodeSDK with command
make && build/default/integration_tests/integration_tests_runner --gtest_filter="SitlTest.MissionChangeSpeed"and the following configuration combinations:MPC_AUTO_MODE0 and 1 for default line tracking and jerk-limited trajectoryMPC_XY_VEL_MAXto 12m/s default (which is above the tested 8m/s) and on 6m/sThe speed gets correctly applied and correctly limited.
Describe problem solved by the proposed pull request
fixes #11764
Additional context
#11772, #11811