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.
WPNAV_SPEED is your friend
Also ANGLE_MAX for overall angle (and thus speed to some extent) and LOIT_SPEED and possibly LOIT_ANG_MAX could be useful.
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:
- In guided mode I could also use velocity setpoints instead of position setpoints. I guess the WPNAV_SPEED parameter would be ignored then?
- Can I set different speeds for other modes? E.g., would RTL be limited also by WPNAV_SPEED?
Setting the angle seems more complicated.
yes you can.
RTL uses AFAIK WPNAV_SPEED
RTL uses WPNAV speed if the RTL speed is not specifically set