From b95784e8042176b15a082ad8b5e4ddf841d7c77e Mon Sep 17 00:00:00 2001
From: Jaeyoung Lim <jalim@ethz.ch>
Date: Fri, 10 Oct 2025 10:00:43 -0700
Subject: [PATCH] Consume speedweight from FW longitudinal config (#25709)

* Consume speedweight from longitudinal config

* Constrain speed weight
---
 .../FwLateralLongitudinalControl.cpp                        | 6 ++++++
 .../FwLateralLongitudinalControl.hpp                        | 1 +
 2 files changed, 7 insertions(+)

diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
index 73df2a8683..9c5647f1a5 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
@@ -827,6 +827,12 @@ void FwLateralLongitudinalControl::updateLongitudinalControlConfiguration(const
 	} else {
 		_long_configuration.sink_rate_target = _param_sinkrate_target.get();
 	}
+
+	if (PX4_ISFINITE(configuration_in.speed_weight)) {
+		_long_configuration.speed_weight = math::constrain(configuration_in.speed_weight, 0.f, 2.f);
+	} else {
+		_long_configuration.speed_weight = _param_t_spdweight.get();
+	}
 }
 
 float FwLateralLongitudinalControl::getLoadFactor() const
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
index 590054ae89..87b94b1bf3 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
@@ -157,6 +157,7 @@ private:
 		(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
 		(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
 		(ParamFloat<px4::params::FW_T_SEB_R_FF>) _param_seb_rate_ff,
+		(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_t_spdweight,
 		(ParamFloat<px4::params::FW_T_SPD_STD>) _param_speed_standard_dev,
 		(ParamFloat<px4::params::FW_T_SPD_DEV_STD>) _param_speed_rate_standard_dev,
 		(ParamFloat<px4::params::FW_T_SPD_PRC_STD>) _param_process_noise_standard_dev,