FlightTaskManualAltitude: Rename _min_speed_down -> _max_speed_down a…

…s it is the maximum allowed downward speed

src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -64,7 +64,7 @@ bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_s
 	_updateConstraintsFromEstimator();
 
 	_max_speed_up = _constraints.speed_up;
-	_min_speed_down = _constraints.speed_down;
+	_max_speed_down = _constraints.speed_down;
 
 	return ret;
 }
@@ -246,7 +246,7 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
 		// below the maximum, preserving control loop vertical position error gain.
 		if (PX4_ISFINITE(_constraints.max_distance_to_ground)) {
 			_constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_constraints.max_distance_to_ground - _dist_to_bottom),
-								-_min_speed_down, _max_speed_up);
+								-_max_speed_down, _max_speed_up);
 
 		} else {
 			_constraints.speed_up = _max_speed_up;
@@ -259,10 +259,10 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
 			// set position setpoint to maximum distance to ground
 			_position_setpoint(2) = _position(2) +  delta_distance_to_max;
 			// limit speed downwards to 0.7m/s
-			_constraints.speed_down = math::min(_min_speed_down, 0.7f);
+			_constraints.speed_down = math::min(_max_speed_down, 0.7f);
 
 		} else {
-			_constraints.speed_down = _min_speed_down;
+			_constraints.speed_down = _max_speed_down;
 
 		}
 	}

src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -126,7 +126,7 @@ class FlightTaskManualAltitude : public FlightTaskManual
 	float _yawspeed_filter_state{}; /**< state of low-pass filter in rad/s */
 	uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
 	float _max_speed_up = 10.0f;
-	float _min_speed_down = 1.0f;
+	float _max_speed_down = 1.0f;
 	bool _terrain_follow{false}; /**< true when the vehicle is following the terrain height */
 	bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */