From 0aff2e6c094bb8f56115086dd8a34596ca3aad2e Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 28 Jan 2016 15:53:00 +0100 Subject: [PATCH] limit takeoff and land velocity to max z velocity --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 1b8503a790..4a154ecf30 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -558,6 +558,10 @@ MulticopterPositionControl::parameters_update(bool force) param_get(_params_handles.mc_att_yaw_p, &v); _params.mc_att_yaw_p = v; + + /* takeoff and land velocities should not exceed maximum */ + _params.tko_speed = fminf(_params.tko_speed, _params.vel_max(2)); + _params.land_speed = fminf(_params.land_speed, _params.vel_max(2)); } return OK;