How to limit acceleration in offboard mode?

I’m setting velocity in offboard mode with:

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?

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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:

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