How do I limit the maximum horizontal velocity?

ArduCopter
1

Is there any parameter to limit the maximum horizontal velocity? Preferably different velocities for different flight modes (loiter, auto, guided). I’m controlling the copter with position waypoints.

2

WPNAV_SPEED is your friend :slight_smile:

3

Also ANGLE_MAX for overall angle (and thus speed to some extent) and LOIT_SPEED and possibly LOIT_ANG_MAX could be useful.

4

Thanks! From what I understand, the maximum velocity can be limited with
WPNAV_SPEED in auto and guided mode
LOIT_SPEED in loiter mode

However, I have two more questions:

  1. In guided mode I could also use velocity setpoints instead of position setpoints. I guess the WPNAV_SPEED parameter would be ignored then?
  2. Can I set different speeds for other modes? E.g., would RTL be limited also by WPNAV_SPEED?

Setting the angle seems more complicated.

5

  1. yes you can.

  2. RTL uses AFAIK WPNAV_SPEED

6

RTL uses WPNAV speed if the RTL speed is not specifically set