Update moveToPosition to use setpoint control message instead of velocity control message #3545
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override moveToPosition() implementation to use MavLink setpoint and cruise velocity control messages for movement
zimmy87
changed the title
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Thanks, David! Let's see if someone wants to give it a try. @ahmed-elsaharti? |
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Testing ASAP and reporting back with results 👍 |
use MPC_XY_VEL_MAX parameter to control movement velocity instead of MPC_XY_CRUISE (MPC_XY_CRUISE controls velocity only during mission-based movement, not setpoint-based movement) and add logic for resetting MPC_VEL_MANUAL and MPC_XY_CRUISE parameters after setting MPC_XY_VEL_MAX (these parameters get capped if MPC_XY_VEL_MAX is set to a lower value than them)
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Thanks, David! You did an incredible job! |
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Fixes: #1677
About
Override moveToPosition() implementation in MavLinkMultirotorApi.hpp to use MavLink setpoint control messages for movement instead of velocity control messages. In place of velocity control messages, the MPC_XY_CRUISE parameter is set to the inputted velocity for the duration of the moveToPosition() call and then reset to its original value at the end of the call.
How Has This Been Tested?
tested with hello_drone3.py script in description of #1677
Screenshots (if appropriate):