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FlightTaskOrbit: replace hardcoded 10m/s maximum speed with multicopter speed configuration (#25192)

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Matthias Grob
2025-07-10 11:16:11 -08:00
committed by GitHub
parent 140b426720
commit a4115db669
2 changed files with 3 additions and 3 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+1 -1
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@@ -160,7 +160,7 @@ void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
{
// clip the radius to be within range
radius = math::constrain(radius, _radius_min, _param_mc_orbit_rad_max.get());
velocity = math::constrain(velocity, -fabsf(_velocity_max), fabsf(_velocity_max));
velocity = math::constrain(velocity, -fabsf(_param_mpc_xy_vel_max.get()), fabsf(_param_mpc_xy_vel_max.get()));
bool exceeds_maximum_acceleration = (velocity * velocity) >= _acceleration_max * radius;