[Bug] Z speed limit in Trajectory constraints depends on the position of the origin rather than only on the triplet itself

[Luka-Filipovic]

Describe the bug

The problem is described here: #23971 (comment)_

I had to implement a similar feature on an older code base (PX4 version v1.11), so I tried retrofitting this logic as it seemed handy. Initially, it appeared to work well, but after further testing, I noticed that the trajectory sometimes produced excessively large setpoints in Vz, causing it to overshoot the mission path.

Upon closer inspection, I found that the problem is related to the origin's position, which can be unpredictable and dangerous if path needs to be tracked strictly.

To Reproduce

No response

Expected behavior

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Screenshot / Media

This should show how the origin placement can change the outcome for the same triplet

Flight Log

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Software Version

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Flight controller

No response

Vehicle type

Multicopter

How are the different components wired up (including port information)

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Additional context

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[bresch]

Thanks for reporting this, I'll propose a fix ASAP