HLCmd: Avoid setpoint discontinuities #351
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The previous HLCmd frequently planned from the current state rather than the current setpoint. This can cause jumps in the setpoint, and, in case of a swarm, inconsistent behavior such as different flight heights across the CFs.
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The previous HLCmd frequently planned from the current state
rather than the current setpoint. This can cause jumps in the
setpoint, and, in case of a swarm, inconsistent behavior such
as different flight heights across the CFs.