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Change the velocity 🚀 #85
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The UAV speed is defined by the system "constraints", which are managed by the ConstraintManager. The speed defined within the constraints is the "maximum limit", so the trackers should not allow you to fly faster. So those are the "limits". However, if you want to control the UAV by specifying the desired speed, please, use the control_manager/velocity_reference topic while the MpcTracker is active. |
I'm trying to set the speed by constrainst_manager.yaml setting the speed and acceleration to 4, and the jerk and snap to 50. But the maximum speed I get is 1.4, do you know why? MpcTracker is active by default, and even if you set it manually, the control_manager/velocity_reference topic doesn't exist. |
Please check the topic |
@klaxalk I am using MpcTracker and MpcController to fly. When I check
I am using RTK as odometry and setting the constraints to fast as follow in these config files (.yaml). And calling them in the start.sh How do I keep the fast constraints after the takeoff? |
Is it possible to change the UAV speed on this system? I'm using the F-450. By the calculations I made the default speed of the UAV is 1.6 m/s, but I would like to know if there is any parameter to increase or decrease this speed. Or a way to turn off control for the UAV to respond to cmd_vel.
Thanks in advance
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