Set Max Height

[lidiaxp]

Hi, I’m running the example from ctu-mrs/mrs_uav_gazebo_simulator – three_drones tmux session

When I send altitude commands (e.g., 20 m) through either /control_manager/reference or /control_manager/goto, the drone only climbs to about 12 m and then returns to 10 m.

• The safety area is already disabled in world_config.yaml.
• I’m using the MPC controller with GPS Garmin as the estimator.

Is there any altitude limit hardcoded elsewhere (e.g., in MPC parameters, UAV config, or control manager constraints)? What would be the correct way to allow higher flight altitudes in this setup?

[lidiaxp]

I noticed that the UAV couldn’t reach higher altitudes when Garmin was set as the main estimator. After switching to the barometer, it worked correctly. Thanks!

[klaxalk]

As @lidiaxp, the active estimators can constraint how high you fly. Since you probably fly using the gps_garmin estimator that fuses the range-finders AGL into the state estimate, the flight height is limited. You can switch to gps_baro that will impose no limit on the AGL height.