From f1262cbe84c0f1934e4bd85efa59ff03e1d6249a Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 31 Jan 2019 11:52:15 +0100
Subject: [PATCH] Manual Traj - Avoid velocity jumps due to a modification of
the constraints
---
.../FlightTaskManualPositionSmoothVel.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index 6da1b3e8d4..2dfea37f51 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -95,11 +95,11 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
if (_velocity_setpoint(2) < 0.f) { // up
_smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get());
- _smoothing[2].setMaxVel(_constraints.speed_up);
+ _smoothing[2].setMaxVel(MPC_Z_VEL_MAX_UP.get());
} else { // down
_smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
- _smoothing[2].setMaxVel(_constraints.speed_down);
+ _smoothing[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
}
Vector2f vel_xy_sp = Vector2f(&_velocity_setpoint(0));
--
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