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• First use Passby control to “spin up” motors to 20% throttle before takeoff, this reduces current spikes and increases motor longevity.

• Next, add a takeoff state to path manager that calls the LandingTakeoffManager to figure out Path/speed targets

• Either use waypoints or passby to set the throttle and move the drone

  Pass vertical waypoint targets along at a set known frequency.

• Reach takeoff end height and transition to either hover or follow next waypoints.

Path Manager Component:

Call the LandingTakeoffManager to calculate the velocity at the current waypoints to follow to get to the takeoff height. Feed that data into the waypoint manager.

Landing Takeoff Manager:

Use waypoints as targets that the drone attempts to meet at a set frequency. As drone approaches target, shorten the distance to the next waypoint to slow down drone ascent.

The profile to be used can be seen below:

https://www.desmos.com/calculator/kbamddthi9

Future Idea (Not happening for 2022 competition)

Ideally calculate ascent speed using Gaussian Profile:

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