Takeoff

Considerations:

• Spin up to takeoff speed (Reduce current spikes/easier on ESC & motors)

• Automated, but can be pilot overridden

• Transition to hover at set height (3-5m) if no pilot input

• If comms loss during takeoff transition to hover in place and if timeout passes transition to landing?

• Uneven takeoff surface

The Plan:

• Add a single takeoff state to path manager that calls the LandingTakeoffManager to figure out Path/speed targets

Path Manager Component:

Call the LandingTakeoffManager to calculate the velocity at the current height. Feed that data into the waypoint manager

Landing Takeoff Manager:

Calculate ascent speed using Gaussian Profile:

https://www.desmos.com/calculator/5pmkyu7h3t

To ascend to a set height (3-4m)