mc_pos_control: immediately switch out of goto setpoint when receiving trajectory_setpoint #24917
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…g trajectory_setpoint Previously, when switching from a goto setpoint into a mode that publishes trajectory_setpoint, the previous goto setpoint was still used for 500ms, which then caused a setpoint jump. This change makes sure that when a trajectory_setpoint is received, any existing goto setpoint is marked as invalid immediately.
MaEtUgR
approved these changes
Jul 15, 2025
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Thank you @bkueng for fixing this.
Sorry for taking exorbitantly long! I got caught up in looking for a simpler way than setting the timestamp to 0 based on a parameter flag and then it fell through the cracks 🤦♂️
It's all correct in my eyes and we can look into a simpler implementation later on when adding tests and PX4 internal goto setpoint use 👍
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Previously, when switching from a goto setpoint into a mode that publishes trajectory_setpoint, the previous goto setpoint was still used for 500ms, which then caused a setpoint jump.
This change makes sure that when a trajectory_setpoint is received, any existing goto setpoint is marked as invalid immediately.
Tested in SITL and on a quad.
Before:
https://logs.px4.io/plot_app?log=f52fe94d-087d-489c-8ab9-412cd32c63c5
After:
https://logs.px4.io/plot_app?log=f09140a0-3ada-4e65-817c-a3d6189c8c72