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  • After ascent, transitions to a hover target

  • Update the target ground height with a sensor (Would be nice to stop assuming earth is flat)

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

  • Use optical Flow sensor to keep waypoint targets perfectly vertical

  • On Comms Loss transition to Landing

Path Manager Component:

Call the LandingTakeoffManager to calculate the waypoints to follow to get to the takeoff height. Feed that data into the attitude manager.

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