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:
First use Passby control to “spin up” motors to 20% throttle before takeoff, this reduces current spikes and increases motor longevity.
Next, add a takeoff state to path manager that calls the
LandingTakeoffManagerto figure out Path/speed targetsPass vertical waypoint targets along at a set known frequency.
Reach takeoff end height and transition to either hover or follow next waypoints.
Path Manager Component:
Call the LandingTakeoffManager to calculate the waypoints to follow to get to the takeoff height. Feed that data into the waypoint manager.
Landing Takeoff Manager:
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.
The profile to be used can be seen below:
https://www.desmos.com/calculator/kbamddthi9
Future Idea (Not happening for 2022 competition)
Ideally calculate ascent speed using Gaussian Profile:
https://www.desmos.com/calculator/5pmkyu7h3t
To ascend to a set height (3-4m)
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