How to limit acceleration in offboard mode?

PX4 Autopilot
1

I’m setting velocity in offboard mode with:
mavsdk.offboard.VelocityBodyYawspeed

This causes large jerks when velocity setpoint changes abruptly.
Is there some way to limit acceleration with PX4 parameters for the offboard mode so that the motion is less jerky?

2

I don’t know. I see params for limiting max velocity but not change in velocity (e.g. on MC Parameter Reference | PX4 Guide (main)).
You can’t smooth the setpoints yourself?

@MaEtUgR or @Benja Might have some advice. I wonder if we can write a guide on “using offboard mode” successfully :slight_smile: