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Fix mission speed #11836

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Apr 12, 2019
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7 changes: 5 additions & 2 deletions src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -128,11 +128,14 @@ bool FlightTaskAuto::_evaluateTriplets()
// Always update cruise speed since that can change without waypoint changes.
_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed;

if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f) || (_mc_cruise_speed > _constraints.speed_xy)) {
// Use default limit.
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
// If no speed is planned use the default cruise speed as limit
_mc_cruise_speed = _constraints.speed_xy;
}

// Ensure planned cruise speed is below the maximum such that the smooth trajectory doesn't get capped
_mc_cruise_speed = math::min(_mc_cruise_speed, _param_mpc_xy_vel_max.get());

// Temporary target variable where we save the local reprojection of the latest navigator current triplet.
Vector3f tmp_target;

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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
Vector2f u_pos_traj_to_dest_xy(Vector2f(pos_traj_to_dest).unit_or_zero());

float speed_sp_track = Vector2f(pos_traj_to_dest).length() * _param_mpc_xy_traj_p.get();
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _param_mpc_xy_cruise.get());
speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);

Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;

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