Ideation Code

Takeoff

Get our current altitude to see if we are taking off and set the ground height
Figure out the required takeoff speed
1. Ask about velocity and how the fixed-wing drone actually takes off
2. Ask about sensor fusion and how to obtain velocity
Compute the angle to obtain the altitude, longitude, and latitude of the way points
Reverse compute turning point and intersection point based on the required velocity to reach the requested altitude
Send to whoever is controlling the engines

Variables

Sensor fusion

struct SFPathOutput_t{
    float altitude; //m
    float rateOfClimb; //m/s
    long double latitude; //Decimal degrees
    float latitudeSpeed; //m/s
    long double longitude; //Decimal degrees
    float longitudeSpeed; //m/s
};

Attitude Manager Input

struct AttitudeManagerInput {
    float dist_forward; 
    float dist_right; 
    float dist_up; 
    float magnitude = 0;
    float heading = 0;
    double speed = 0;
};

Functions

Takeoff

AM::AttitudeManagerInput LandingTakeoffManager::createTakeoffWaypointFixedWing(const LOS::LosSFData & input)
{
    AM::AttitudeManagerInput desiredWaypoint;

    double currentSpeed = input.airspeed;

    // rolling stage
    if (currentSpeed < TAKEOFF_TARGET_SPEED_FIXED_WING) {
        desiredWaypoint.dist_forward = 1;
        desiredWaypoint.dist_right = 0;
        desiredWaypoint.dist_up = 0;

        desiredWaypoint.speed = TAKEOFF_TARGET_SPEED_FIXED_WING;
        desiredWaypoint.magnitude = 0; // Use velocity controller
    }
    // climbing stage
    else if(currentSpeed >= TAKEOFF_TARGET_SPEED_FIXED_WING){
        desiredWaypoint.dist_forward = 1; 
        desiredWaypoint.dist_right = 0;
        desiredWaypoint.dist_up = 1;

        desiredWaypoint.speed = input.rateOfClimb; // TODO: Figure out if this is correct
        desiredWaypoint.magnitude = 0; // Use velocity controller
    }

    return desiredWaypoint;
}

Landing

Compute a waypoint that is a certain height above the aiming point
Compute landing waypoint for the flaring state
1. Figure out the height and speed to start flaring
Compute stopping waypoint