Hi, I’m controlling a copter (with precise localization) in guided mode sending target position and velocity.
Looking at the code I’ve found a couple of things to ask clarification for:
The target velocity on the Z axis seems ignored,
set_desired_velocity_xy() is used.
In vel_control the 3-axis
set_desired_velocity() is used instead.
Is this an intended behaviour? Have I misunderstood the code?
WP_NAV_RADIUS cannot be set to less than 10 centimeters.
In some setups (vision, motion capture) this is way larger than the position accuracy.
By the way, in Guided this parameter is used only in POS CONTROL with
Probably this minimum can be lowered to 1cm or less…