Hi @mroberts,
Yes, we’ve mostly fixed the sudden deceleration after passing waypoints. There are still two situations where it accelerates or decelerates too quickly:
- if the vehicle is put into Auto mode while disarmed and then armed, the desired speed will immediately jump to the CRUISE_SPEED/WP_SPEED. The work around for this issue is to arm in another mode and then switch to Auto.
- at the end of a mission (when vehicle reaches the WP_RADIUS around the final waypoint), the vehicle switches into Hold mode and the throttle output is immediately set to zero. The vehicle will likely have slowed before reaching the waypoint but the vehicle will still likely come to a slightly sudden stop.
Both these issues are captured in this issue so I’m pretty sure we will fix them in a follow-up release. These issues are not new though.
Ah, thanks for the note on finding the code issue re the accel/decel. I’ll have a look at it or perhaps @Ammarf will.