How to give the desired position and velocity together by Setpoint?

[Residualstress]

Hi, can the drone fly to the desired position with a given velocity?
I know how to use Absolute mode (modeAbs) and Velocity mode (modeVelocity) in the Setpoint to control the drone. But when I used position control, the drone moved too fast. Any hints on it? Thank you.

[gemenerik]

I recommend using the high level commander for something like this. crtpCommanderHighLevelGoTo2 has a duration input which will affect the velocity. If you want a constant velocity, you can use linear mode (recently introduced in bitcraze/crazyflie-firmware#1410). How you do this exactly depends on where you are implementing it (onboard or from the lib for example).

[Residualstress]

Thanks for the suggestion. Actually, I used setHoverSetpoint to control the drone in App layer. I learned this method from the push demo. Can I solve this problem with using setHoverSetpoint?
My idea is that there should be a parameter to set the velocity when we use Absolute mode (modeAbs). So if I can change that value, the velocity could be controled.

[gemenerik]

The controllers don’t support controlling both position and velocity at the same time; they can only handle one mode for each dimension. The setHoverSetpoint function you’re using creates setpoints fed into the controller. To handle simultaneous velocity and position goals, a higher-level layer like the High Level Commander is needed to calculate and provide setpoints accordingly.