Flight Stage Transitions

The following table outlines the various possible stages of flight and what triggers the drone to go from one flight stage to another.

Current State	Trigger	Transitioned Stage

Current State	Trigger	Transitioned Stage
Disarmed	Pilot	Takeoff
Takeoff	Height Reached	Hover/Flight
Takeoff	Hardfault TBD	Fatal Failure
Landing	Velocity below threshold for time.	Disarm
Landing	Hardfault TBD	Fatal Failure
Landing	Large Drift (not yet implemented)	Hover/Flight
Landing	Below landing altitude for a threshold of time	Landed

Embedded Flight Software