PX4 + jMavSim + Offboard: Altitude sink speed limit?

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.


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: