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Transition to landing from any state
Automated with pilot override
Initiate constant speed gaussian profile for descent
If accurate GPS or Ground height sensor:
Gaussian profile/deceleration on approach to ground
velocity
Landing Detection
Emergency state (Can be automatically transitioned to on coms loss)
Considerations:
Spin up to takeoff speed (Reduce current spikes/easier on ESC & motors)
Automated, but can be pilot overridden
Transition to hover at set height (4m) if no pilot input
If comms loss during takeoff transition to hover in place and if timeout passes transition to landing?
Uneven takeoff surfaceUneven landing surface
Eg, Only half drone experiencing ground effect, try not to crash
Spin-down after landing is detected
The Plan:
MVP first:
At signal (Not when powered on) can descend using a state in path manager that passes targets to attitude manager
At another signal transitions out of landing state
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