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All direction commands sent to ZP are identical and include any direction in 3D space. The Jetson is responsible of keeping track of what general locations have been swept over using the position data, which includes altitude from the barometer or rangefinder.
Autonomous flight mode: Landing
Once the Jetson determines a suitable landing location, it will direct the drone to be centered above the landing pad and then drop the altitude to 2m above the landing pad in a controlled descent. At that point, if Jetson sends a message to ZP acknowledging the position is good to land, ZP will use a variety of sensor fusion algorithms & the optical flow sensor to descend vertically onto the pad. using a velocity controlled curve? Gordon Fountain (Deactivated) Auto-Land will be aborted after 3 failed communication cycles. At this stage, the drone shall return to a pre-determined height wherein landing requests will continue
Flight Control Modes
There will be a few distinct flight modes, each of which handles a portion of the flight. In each flight mode, the drone will process the controls differently.
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