Proper way to control velocity and position simultaneously in OFFBOARD


What is the proper way to set maximum copter velocity when using position control with SET_POSITION_TARGET_LOCAL_NED?

I mean, I want to fly to a specified position, but I also want to control the velocity at the same time.

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This was a question i asked last year also. only way is to set the max. speed in params. or you generate an interpolation with positions to your endposition.

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Which param has to be used?

you should search the MPC_XY_VEL_MAX param

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I found the MAVLink message PARAM_SET will allow you to programmically set the MPC_XY_VEL_MAX parameter. I’ve tested this in Gazebo and is working.

Yes, thanks I’ve also used this message (through MAVROS).

And what about MPC_XY_CRUISE parameter? What does it stand for?

Could you please give a guidance how to use MPC_XY_CRUISE in ROS node?!