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Fix max-hagl restriction to position/altitude control (#23667)

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* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
This commit is contained in:
Marco Hauswirth
2025-01-20 15:50:21 +01:00
committed by GitHub
parent 0d22905558
commit 4a5aa1e947
15 changed files with 90 additions and 46 deletions
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src/drivers/ins/vectornav/VectorNav.cpp
+2 -1
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@@ -328,7 +328,8 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
local_position.vxy_max = INFINITY;
local_position.vz_max = INFINITY;
local_position.hagl_min = INFINITY;
local_position.hagl_max = INFINITY;
local_position.hagl_max_z = INFINITY;
local_position.hagl_max_xy = INFINITY;
local_position.unaided_heading = NAN;
local_position.timestamp = hrt_absolute_time();