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10d4c80551
* feat(navigator): precision takeoff with the vision target estimator * fix(navigator): only remove the liftoff freeze when an actual target is detected * feat(logger): log prec_takeoff_status as optional topic * chore(vte): minor format * fix(logger): move to topic behind CONFIG_MODULES_VISION_TARGET_ESTIMATOR * fix(navigator): preserve corrected position on takeoff handoff * docs(vte): rephrase VTE_AID_MASK * rework(vte): clarify that home is used as the pad's abs position during prec takeoff * fix(vte): clear cached relative mission position once task starts * fix(takeoff): keep xy freez until TAKEOFF_STATE_FLIGHT * feat(navigator): delay prec takeoff corrections by MIS_TKO_PREC_DLY --------- Co-authored-by: jonas <jonas.perolini@rigi.tech>
16 lines
800 B
Plaintext
16 lines
800 B
Plaintext
# Precision takeoff status.
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#
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# Published by: navigator (prec_takeoff.cpp).
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# Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).
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#
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# ONGOING while a vertical takeoff setpoint is active and MIS_TKO_PREC is set. DONE is published when the
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# takeoff altitude is reached, then STOPPED once the takeoff is no longer active. Published every Navigator cycle.
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uint64 timestamp # [us] Time since system start
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uint8 state # [@enum PREC_TAKEOFF_STATE] Current precision-takeoff state
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bool setpoint_adjusted # True after a valid target adjusted the horizontal setpoint
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uint8 PREC_TAKEOFF_STATE_STOPPED = 0 # Not active
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uint8 PREC_TAKEOFF_STATE_ONGOING = 1 # Takeoff active; the estimator may still be acquiring the target
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uint8 PREC_TAKEOFF_STATE_DONE = 2 # Takeoff altitude reached
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