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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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Calculate ascent speed using Gaussian Profile:
https://www.desmos.com/calculator/5pmkyu7h3ttjtx8ogtno
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)
Uses waypoints which cannot match the smoothness of a velocity profile.
Use waypoints as targets that the drone attempts to meet at a set frequency. As drone approaches target, shorten the distance to the next waypoint to slow down drone ascent.
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https://www.desmos.com/calculator/kbamddthi9
Code Prototype:
For calculating waypoint targets during Takeoff.
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