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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
Handling of fatal failures
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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To ascend to a set height (4m)
Code Prototype:
For calculating waypoint targets during Takeoff.
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| breakoutMode | wide |
|---|---|
| language | cpp |
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)
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Math Screenshots in case Desmos link fails
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Velocity-less design (Ideally not in use for 2023)
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https://www.desmos.com/calculator/kbamddthi9
Code Prototype:
For calculating waypoint targets during Takeoff.
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