Path manager goes into taxiing mode upon touchdownonce roll out completes, after landing. And remains in taxiing mode until it’s time to takeoff again.
In taxiing mode, the state machine goes from the sensor fusion states to the taxiing states. This transition is done as soon as the airplane touches down.
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The stages that are part of taxiing mode are:
Roll out
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set throttle to 0
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zero all control surfaces
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Orient
Based on compass readings + gps coordinates, turn the airplane in the direction of the tents
Approach
Based on CV info (bearing + distance to tent), approach the tent, constantly making corrections.
Disconnect
Once close enough to the tent, disconnect the autopilot, head back to manual control for package pickup/dropoff.
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