I would like to ask if it is possible that, given a position setpoint, to be also able to adjust the flying velocity to that setpoint.
I use the following configuration to command a setpoint, but the drone flies there too aggressively and sometimes it crashes.
Code: Select all
static void positionSet(setpoint_t *setpoint, float x, float y, float z, float yaw)
{
memset(setpoint, 0, sizeof(setpoint_t));
setpoint->mode.x = modeAbs;
setpoint->mode.y = modeAbs;
setpoint->mode.z = modeAbs;
setpoint->position.x = x;
setpoint->position.y = y;
setpoint->position.z = z;
setpoint->mode.yaw = modeAbs;
setpoint->attitude.yaw = yaw;
setpoint->mode.roll = modeDisable;
setpoint->mode.pitch = modeDisable;
setpoint->mode.quat = modeDisable;
}
Thank you,
Vlad