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Spin up to takeoff speed (Reduce current spikes/easier on ESC & motors)
Automated, but can be pilot overridden
Transition to hover at set height (3-5m4m) if no pilot input
If comms loss during takeoff transition to hover in place and if timeout passes transition to landing?
Uneven takeoff surface
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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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Variables owned by PM:
const double TAKEOFF_TARGET = 4.0;
const double LANDING_SPEED = 0.2;
const double MAX_VELOCITY = 1.0;
const double RANGE_CONSTANT = 2.48533973824; // See Desmos Graph for this calculation
double groundHeight = -1; // Set by takeoff and used by landing (Ideally later updated by sensors)
double startLat = -1; // Set at start of takeoff and landing reset by flight or hover
double startLong = -1; // Set at start of takeoff and landing reset by flight or hover
Variable that should be defined somewhere that this will need:
const int CONTROLLER_FREQ = ;
_PathData LandingTakeoffManager::createTakeoffWaypoint(const SFOutput_t & input)
{
// Set starting Lat/long on first loop
if (startLat == -1 and startLong == -1) {
startLat = input.latitude;
startLong = input.longitude;
}
// Save the starting ground height reading for landing.
if (groundHeight == -1) {
groundHeight = input.altitude;
}
_PathData desiredWaypoint;
desiredWaypoint.latitude = startLat;
desiredWaypoint.longitude = startLong;
desiredWaypoint.waypointType = TAKEOFF_WAYPOINT;
double curAltitude = input.altitude;
desiredWaypoint.velocity = getTakeoffVelocityTarget(curAltitude, groundHeight);
desiredWaypoint.altitude = curAltitude + desiredWaypoint.velocity * (1.0 / CONTROLLER_FREQ);
return desiredWaypoint;
}
double LandingTakeoffManager::getTakeoffVelocityTarget(double curAltitude)
{
double velocityTarget;
velocityTarget = MAX_VELOCITY * exp(-1.0 * (((curAltitude - groundHeight - (TAKEOFF_TARGET / 2))^2) / RANGE_CONSTANT))
return velocityTarget;
}
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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