Speed reset when switching flight modes

[afwilkin]

Solved Problem

When I issued a DO_CHANGE_SPEED, and then changed flight modes, that speed continued over to the new flight mode.
For example, if I issue a DO_CHANGE_SPEED in mission mode for 1 m/s, and then switch to Loiter mode, I am still restricted to 1 m/s.

From the conversations that I have had with maintainers, this is not the behavior we want to have

The only flight mode that this does not happen for is RTL, which has the following line
_navigator->reset_cruising_speed();

Solution

I reset the cruising speed upon entering a new navigation mode.

Alternatives

We could also create a new module that keeps track of what mode we are in and changes speed limits from there

Test coverage

• Create a waypoint mission with a change speed waypoint item at 1 m/s. Mid-mission flip to HOLD mode and issue a do_relocate.
  Before the change: log
  

After the change: log

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-05-2023/31435/4

[junwoo091400]

@dagar we mentioned this during the call, and concluded that more discussion on the context of this problem is needed. So it would be nice to have your feedback on use-cases for this!

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-05-2023/31435/1

[sfuhrer]

This is good to go from my side. We've tested it a bit in SITL and real vehicles (VTOLs). Needs follow up #21503 to have effect immediately always and not just when you set a new loiter for example.

The speed interface / handling in Navigator is quite ugly so I hope we get to fix it more fundamentally after the release.