Hey,
I am going through the PX4 autopilot version v1.13.2. The file PositionControl.cpp in /src/modules/mc_pos_control/PositionControl/PositionControl.cpp, has a term “_vel_sp” which is a feedforward term. I want to know where exactly is this term calculated in the codebase. I have tried but am not able to find where exactly is it coming from. I know that this setpoint is in the structure “vehicle_local_position_setpoint_s”, and the member vx,vy,vz of the struct gets a value of “_velocity_setpoint” in the file “FlighTask.cpp” located in src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp. Beyond this, I am not able to track where is “_velocity_setpoint” coming from.
Blockquote