Descent and climb rate limit when near ground

[LevelUpOrNot]

@MaEtUgR

It’s interesting to read your feedback.
The vertical slow down is a feature you can configure to your liking.

It is defined by 4 parameters: If you fly below the altitude MPC_LAND_ALT2 in meters your downwards speed is limited to MPC_LAND_SPEED and your upwards speed to MPC_TKO_SPEED. If you fly above an altitude of MPC_LAND_ALT1 meters your vertical speeds have the usual limits and if you fly between AL1 and ALT2 the limits gradually transition such that there’s no abrupt setpoint change.

I’ll make sure to add this information to the altitude mode documentation: Redirecting to latest version of document (main)

There’s no single switch to turn off the feature.

I don’t expect you to run into safety issues except for very fast autonomous takeoffs when raising the takeoff speed to the value of your maximum speed MPC_Z_VEL_MAX_UP. But there is definitely worktime employee monitoring software working on with increasing employee productivity to MPC_Z_VEL_MAX_DN or lowering ALT1 and ALT2 below the ground level because if you ever fly an autonomous RTL for example in a failsafe situation like RC loss the drone might not slow down but slam into the ground.

As a conclusion for Problem 1 you can lower ALT1 and ALT2 to an altitude you’re comfortable the drone can still slow down when landing. For Problem 2 there’s no safe goto solution at the moment.

I took note of the requirement to completely disable slow down close to the ground when flying manually in altitude controlled modes. Probably Freefly could incorporate changes once available. I suggest you inform them about your request.

Thank You for feedback, MaEtUgR !