Velocity limits during Offboard SET_ATTITUDE_TARGET control

Is it possible to constrain the velocity when using offboard mode to control attitude and thrust setpoints or is it only possible when controlling position and velocity setpoints?

If you are using attitude setpoints, the vehicle will try and follow the attitude and ignore all other constraints.

So the answer is no. You should do it from your controller which should level out the attitude when the velocity setpoint is reached

That’s what I suspected, thanks for verifying