From 2922d811d3c9310659deecc83ab3e5477986a4ac Mon Sep 17 00:00:00 2001
From: Breelyn Styler <breelyn.styler@picknik.ai>
Date: Tue, 11 Aug 2026 12:05:19 -0400
Subject: [PATCH] fix(hangar_sim): enable MPPI open_loop to restore nav speed

---
 src/hangar_sim/params/nav2_params.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/hangar_sim/params/nav2_params.yaml b/src/hangar_sim/params/nav2_params.yaml
index 2ccfc4ee2..d3ecf0af8 100644
--- a/src/hangar_sim/params/nav2_params.yaml
+++ b/src/hangar_sim/params/nav2_params.yaml
@@ -122,6 +122,10 @@ controller_server:
       vy_max: 0.5
       wz_max: 1.9
       iteration_count: 1
+      # Seed each rollout from the last commanded velocity instead of the
+      # reported odometry, which lags and otherwise pins the commanded speed
+      # near a third of vx_max on Jazzy (moveit_pro issue #21202).
+      open_loop: true
       prune_distance: 1.7
       transform_tolerance: 0.1
       temperature: 0.3