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FW mode manager/Commander: hanlde invlaid pos in FW manager

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2025-06-16 11:53:20 +02:00
parent b1af09d391
commit e9e5c45bf3
4 changed files with 152 additions and 8 deletions
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docs/en/flight_modes_fw/takeoff.md
+5 -4
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@@ -9,10 +9,10 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
::: info
- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires at least a valid local position estimate (does not require a global position).
- Flying vehicles can't switch to this mode without valid local position.
- Flying vehicles will failsafe if they lose the position estimate.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- Mode requires at least a valid altitude estimation.
- Flying vehicles can't switch to this mode without valid altitude.
- Flying vehicles will failsafe if they lose the altitude estimate.
- Disarmed vehicles can switch to mode without valid altitude estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
@@ -38,6 +38,7 @@ Irrespective of the modality, a flight path (starting point and takeoff course)
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.
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.
### Parameters