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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/simulation/simulator_mavlink/SimulatorMavlink.cpp
+2 -1
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@@ -607,7 +607,8 @@ void SimulatorMavlink::handle_message_hil_state_quaternion(const mavlink_message
hil_lpos.vxy_max = std::numeric_limits<float>::infinity();
hil_lpos.vz_max = std::numeric_limits<float>::infinity();
hil_lpos.hagl_min = std::numeric_limits<float>::infinity();
hil_lpos.hagl_max = std::numeric_limits<float>::infinity();
hil_lpos.hagl_max_z = std::numeric_limits<float>::infinity();
hil_lpos.hagl_max_xy = std::numeric_limits<float>::infinity();
// always publish ground truth attitude message
_lpos_ground_truth_pub.publish(hil_lpos);