From 6da282c6f2b89c19000cf1988d25a3dede801586 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 14 Jan 2025 10:33:24 +0100 Subject: [PATCH] Revert "FLightTaskAuto: limit nudging speed based on distance sensor" This reverts commit 97cb933cff6d837e59dd55123804cd78abdca22a. --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 834f79465fca..8e19ffd5a383 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -282,12 +282,6 @@ void FlightTaskAuto::_prepareLandSetpoints() sticks_xy.setZero(); } - // If ground distance estimate valid (distance sensor) during nudging then limit horizontal speed - if (PX4_ISFINITE(_dist_to_bottom)) { - // Below 50cm no horizontal speed, above allow per meter altitude 0.5m/s speed - max_speed = math::max(0.f, math::min(max_speed, (_dist_to_bottom - .5f) * .5f)); - } - _stick_acceleration_xy.setVelocityConstraint(max_speed); _stick_acceleration_xy.generateSetpoints(sticks_xy, _yaw, _land_heading, _position, _velocity_setpoint_feedback.xy(), _deltatime);