Taxiing

Path manager goes into taxiing mode once roll out completes, after landing. And remains in taxiing mode until it’s time to takeoff again.

In taxiing mode, the state machine goes from the sensor fusion states to the taxiing states. This transition is done as soon as the airplane touches down.

The stages that are part of taxiing mode are:

• Orient

  • Based on compass readings + gps coordinates, turn the airplane in the direction of the tents

• Approach

  • Based on CV info (bearing + distance to tent), approach the tent, constantly making corrections.

• Disconnect

  • Once close enough to the tent, disconnect the autopilot, head back to manual control for package pickup/dropoff.

A note: Once we reengage the autopilot, it should be to takeoff.