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

2026-05-21 21:55:34 +08:00 · 2025-07-10 21:16:11 +02:00
parent 140b426720
commit a4115db669
2 changed files with 3 additions and 3 deletions
@@ -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;

@@ -72,7 +72,6 @@ protected:
 private:
 	/* TODO: Should be controlled by params */
 	static constexpr float _radius_min = 1.f;
-	static constexpr float _velocity_max = 10.f;
 	static constexpr float _acceleration_max = 2.f;
 	static constexpr float _horizontal_acceptance_radius = 2.f;

@@ -149,6 +148,7 @@ private:
 		(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
 		(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
 		(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
-		(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn
+		(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
+		(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max
 	)
 };