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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/modules/mavlink/mavlink_receiver.cpp
+2 -1
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@@ -2738,7 +2738,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_local_pos.vxy_max = INFINITY;
hil_local_pos.vz_max = INFINITY;
hil_local_pos.hagl_min = INFINITY;
hil_local_pos.hagl_max = INFINITY;
hil_local_pos.hagl_max_z = INFINITY;
hil_local_pos.hagl_max_xy = INFINITY;
hil_local_pos.timestamp = hrt_absolute_time();
_local_pos_pub.publish(hil_local_pos);
}