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Navigator: Takeoff mode: add state 2-state takeoff for fixed-wing

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-07-14 14:29:59 +02:00
parent e9e5c45bf3
commit 782e510105
3 changed files with 124 additions and 20 deletions
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src/modules/navigator/navigator_main.cpp
+4
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@@ -640,6 +640,10 @@ void Navigator::run()
rep->next.valid = false;
// after the straight climbout the vehicle will establish on a loiter at this position
_takeoff.setLoiterPosition(matrix::Vector2d(cmd.param5, cmd.param6));
_takeoff.setLoiterAltitudeAmsl(cmd.param7);
// CMD_NAV_TAKEOFF is acknowledged by commander
#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF