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[BACKPORT 1.16] MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283) #25341

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Merged
merged 1 commit into from
Jul 30, 2025
Merged

[BACKPORT 1.16] MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283) #25341

merged 1 commit into from
Jul 30, 2025

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mahima-yoga
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Porting: #25283

@mahima-yoga @dakejahl
MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283)
ff25194 
* MulticopterPositionControl: Add timeout before triggering emergency setpoint on invalid TrajectorySetpoint

* Apply suggestions from code review

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* Cleanup & address review comments

* Safegaurd against using old setpoint if states aren't valid anymore

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
@mahima-yoga mahima-yoga requested a review from dakejahl July 30, 2025 15:30
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🔎 FLASH Analysis

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Updated: 2025-07-30T15:36:20

dakejahl
dakejahl approved these changes Jul 30, 2025
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Thank you!

@dakejahl dakejahl changed the title [RELEASE 1.16] MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283) [BACKPORT 1.16] MC PositionControl: Add timeout for invalid TrajectorySetpoint (#25283) Jul 30, 2025
@dakejahl dakejahl merged commit 740521a into release/1.16 Jul 30, 2025
66 of 67 checks passed
@dakejahl dakejahl deleted the backport-add-timeout-mpc-1.16 branch July 30, 2025 18:21
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@mahima-yoga @dakejahl