From 06d25b9400ca50032143af417bd6df20b6872d11 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 17 Jul 2025 11:19:51 +1000 Subject: [PATCH] [Doc] FW Takeoff update for waypoint and position loss + relnote (#25226) * [Doc] FW Takeoff update for waypoint and position loss + relnote * Update docs/en/flight_modes_fw/takeoff.md Co-authored-by: Silvan Fuhrer * Update for clarity * Update docs/en/flight_modes_fw/takeoff.md --------- Co-authored-by: Silvan Fuhrer --- docs/en/flight_modes_fw/takeoff.md | 27 +++++++++++++++++++++------ docs/en/releases/main.md | 3 ++- 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/docs/en/flight_modes_fw/takeoff.md b/docs/en/flight_modes_fw/takeoff.md index bc39016b53..021a79df53 100644 --- a/docs/en/flight_modes_fw/takeoff.md +++ b/docs/en/flight_modes_fw/takeoff.md @@ -26,19 +26,34 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent). The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1. -To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle. +To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both). The acceleration of hand/catapult launch triggers the motors to start. For runway launch, motors ramp up automatically once the vehicle has been armed. Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined: - The starting point is the vehicle position when the takeoff mode is first entered. -- The course is set to the vehicle heading on arming -- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT). +- The course is set to the vehicle heading on arming by default. + If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint. +- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default. + If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude. -On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude. +By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude. Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md). -Special case for invalid local position: In case the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached. + +If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius). + +::: tip +If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached. +::: + +::: info + +- Takeoff towards a target position was added in . +- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in . +- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing). + +::: ### Parameters @@ -46,7 +61,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs: | Parameter | Description | | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. | +| [MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. takeoff. | | [FW_TKO_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW_AIRSPD_MIN][FW_AIRSPD_MIN] if not defined by operator) | | [FW_TKO_PITCH_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase | | [FW_T_CLMB_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. | diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md index f9fbad4f86..45c5ef51c6 100644 --- a/docs/en/releases/main.md +++ b/docs/en/releases/main.md @@ -80,7 +80,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide). ### Fixed-wing -- TBD +- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss. + A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)). ### Rover