Does anyone know which parameter I need to change to get my speed reached as soon as possible without modifying POSCTL or MISSION mode behavior ? @bresch maybe ?
@Katawan You are using the same position controller with mission mode, therefore I don’t think it would be possible you can tune the position controller “independent” from the mission / posctl behavior.
You could try to tune the position controller to have higher jerk limitations / or you can switch to a more lower level setpoint such as bodyrates
@Jaeyoung-Lim. Thank you for the answer. I can’t see it in the documentation. Offboard is using the jerk limited implementation like Mission ?
The MPC_POS_MODE for the POSCTL is set to 1 in my case. So if offboard is working with jerk limited I could tune these parameters to allow more reactive response without changing Position mode behavior
@Katawan No I meant you can tune the position controller to be more aggressive. Offboard and position share the exact same position controller code, so you can’t tune offboard and position control separately