From 4cace1bbe9e72f8138e00e565c86d6066c2541a8 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 6 Feb 2019 16:28:58 +0100
Subject: [PATCH] Manual vel smooth - use speed_up and speed_down constraints
 to limit velocity target of the trajectory generator

---
 .../FlightTaskManualPositionSmoothVel.cpp                     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index 4b75221f09..d3ca17e4bd 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -95,11 +95,11 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 
 	if (_velocity_setpoint(2) < 0.f) { // up
 		_smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get());
-		_smoothing[2].setMaxVel(MPC_Z_VEL_MAX_UP.get());
+		_smoothing[2].setMaxVel(_constraints.speed_up);
 
 	} else { // down
 		_smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
-		_smoothing[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
+		_smoothing[2].setMaxVel(_constraints.speed_down);
 	}
 
 	float jerk[3] = {_jerk_max.get(), _jerk_max.get(), _jerk_max.get()};