Velocity setpoints generation for mission mode

Hello, i would like to know how and where in the flight code is the velocity setpoints are generated from the given position setpoints to be fed later into the position controller.

Hi @eldewany ,

The high-level logic is here:

Then the trajectory generator class used before is defined here: PX4-Autopilot/src/lib/motion_planning at master · PX4/PX4-Autopilot · GitHub

Some documentation can be found here:

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Thanks for your reply, this is exactly what i was looking for.