PX4 + jMavSim + Offboard: Altitude sink speed limit?

MAVSDK
1

Hi there,

I’m running a SITL droneswarm(https://www.youtube.com/watch?v=uWuJ4zRYOa4) using vanilla PX4(px4_sitl_default) in Offboardmode & jMavSim and an external process that navigates via mavsdk::Offboard::set_velocity_ned.

In my simulations I noticed that during descends there seems to a limit(1m/s) on how fast a copter will go as compared to ascends.

This might be a long shot, but has anyone a clue where this limit is found and applied(PX4 or jMavSim) and if it’s configurable? I’d love to play with that particular setting.

Cheers

1 Like
2

Ok, after reviewing the code of PX4, namely the PositionControl, I found the velocity limits and identified the exposed parameter MPC_Z_VEL_MAX_DN. Awesome! :slight_smile:

1 Like