PX4 Community Q&A: April 05, 2023

AWilkins_Ascend · April 4, 2023, 3:25pm

Hoping to talk about this PR, and how set speeds should be handled between switching flight modes

github.com/PX4/PX4-Autopilot

Speed reset when switching flight modes

PX4:main ← AscendEngineering:reset_cruise

opened 04:56AM - 03 Apr 23 UTC

afwilkin

+13 -1

### Solved Problem When I issued a DO_CHANGE_SPEED, and then changed flight modes, that speed continued over to the new flight mode. For example, if I issue a DO_CHANGE_SPEED in mission mode for 1 m/s, and then switch to Loiter mode, I am still restricted to 1 m/s. From the conversations that I have had with maintainers, this is not the behavior we want to have The only flight mode that this **does not** happen for is RTL, which has the following line `_navigator->reset_cruising_speed();` ### Solution I reset the cruising speed upon entering a new navigation mode. ### Alternatives We could also create a new module that keeps track of what mode we are in and changes speed limits from there ### Test coverage - Create a waypoint mission with a change speed waypoint item at 1 m/s. Mid-mission flip to HOLD mode and issue a do_relocate. Before the change: [log](https://review.px4.io/plot_app?log=784a1777-8dff-446c-989e-8bf3cc0210ec) ![image](https://user-images.githubusercontent.com/16963678/229414814-126a9520-6e09-45c8-9e83-ca82b665525d.png) After the change: [log](https://review.px4.io/plot_app?log=015494ff-ad95-498b-bfd3-b59632db3525) ![image](https://user-images.githubusercontent.com/16963678/229414936-f46b1814-8105-4f38-a5c5-cfbb1b980273.png)

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PX4 Community Q&A: April 05, 2023

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