How to limit velocity of the drone when offboard control - Position mode with ROS is being used

I am using drone offboard control with position mode with Iris quadcopter model in SITL mode with ROS

However, I’m unable to find a way to limit the velocity of the drone. (position mode is the desired mode for my project so I prefer to use position mode if there is a way to limit drone velocities).

You can try to set the maximum velocity using the param MPC_XY_VEL_MAX.

Thank you. It works.

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