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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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