d56e91bbe2 converted mode_poshold to metres and radians, changing
vel_right_cms/vel_fw_cms to vel_right_ms/vel_fw_ms at both sites which
compare them against POSHOLD_SPEED_0, but left the constant at 10. The
threshold silently went from 10cm/s to 10m/s.
That constant guards a shortcut which truncates the remaining braking
time to 0.5s once the vehicle has essentially stopped. At 10m/s it is
true at any speed a copter reaches in PosHold, so braking is always cut
short and PosHold hands over to loiter while still travelling.
AC_Loiter::init_target_m() sets the loiter target to the position at
handover, so the vehicle overshoots that target and then flies backwards
to reach it.
Rename to POSHOLD_SPEED_0_MS to match POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX_MS,
which the same commit did rescale and rename.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Peter BarkerandClaude Opus 5
f4a1826f3a