Similar to landing, the takeoff procedure is comprised of a couple of states in the path manager state machine. The takeoff sequence can be separated into the following stages:
Takeoff Roll
Takeoff Climb
These two stages are divided by a couple of important points:
The starting point
The rotation point
The intersection point
This picture summarizes the entire procedure and important points:
Steps to takeoff:
Line up the plane on the starting point, with the heading of the plane pointing in the direction of takeoff. Begin roll stage.
Calculate and set the takeoff path using the current starting position, takeoff direction, and certain constants (ex. distance of takeoff, exit takeoff altitude). Note that the path created does not have any vertical control component, as the plane will be using a set throttle percentage to climb.
Send a max throttle command to the attitude manager.
When the airspeed of the plane exceeds a predetermined rotation speed, the plane will progress into the climb stage.
In the climb stage, the throttle and airspeed are maintained to ensure safety. This accounts for the vertical and speed control of the plane. The horizontal position will then be controlled by the previously created path in the roll stage, using waypoint manager algorithms.
Once the plane has reached a predetermined safe altitude, the plane will then transition into the cruising stage, where it will fly to its first waypoint. Takeoff complete.
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