Position Controller - Saturate the controllers using static parameters. Handle...

Position Controller - Saturate the controllers using static parameters. Handle saturations in the flight tasks only

src/modules/mc_pos_control/PositionControl.cpp

@@ -221,11 +221,11 @@ void PositionControl::_positionController()
 	// Constrain horizontal velocity by prioritizing the velocity component along the
 	// the desired position setpoint over the feed-forward term.
 	const Vector2f vel_sp_xy = ControlMath::constrainXY(Vector2f(vel_sp_position),
-				   Vector2f(_vel_sp - vel_sp_position), _constraints.speed_xy);
+				   Vector2f(_vel_sp - vel_sp_position), MPC_XY_VEL_MAX.get());
 	_vel_sp(0) = vel_sp_xy(0);
 	_vel_sp(1) = vel_sp_xy(1);
 	// Constrain velocity in z-direction.
-	_vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.speed_up, _constraints.speed_down);
+	_vel_sp(2) = math::constrain(_vel_sp(2), -MPC_Z_VEL_MAX_UP.get(), MPC_Z_VEL_MAX_DN.get());
 }
 
 void PositionControl::_velocityController(const float &dt)