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Docs: Prettier on takeoff and fix some links (#25218)
* Prettier on takeoff and fix some links * Fix flaw link
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Hamish Willee
@@ -44,22 +44,28 @@ Special case for invalid local position: In case the local position is invalid o
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Parameters that affect both catapult/hand-launch and runway takeoffs:
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| Parameter | Description |
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| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
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| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
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| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
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| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Climb rate setpoint during climbout to takeoff altitude. |
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| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
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| Parameter | Description |
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| ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
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| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW_AIRSPD_MIN][FW_AIRSPD_MIN] if not defined by operator) |
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| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase |
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| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. |
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| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL][FW_FLAPS_TO_SCL] | Flaps setpoint during takeoff |
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| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW_TKO_AIRSPD](#FW_TKO_AIRSPD) is below [FW_AIRSPD_MIN][FW_AIRSPD_MIN]. |
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[FW_AIRSPD_MIN]: ../advanced_config/parameter_reference.md#FW_AIRSPD_MIN
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[FW_FLAPS_TO_SCL]: ../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL
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[FW_AIRSPD_FLP_SC]: ../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC
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[FW_TKO_AIRSPD]: ../advanced_config/parameter_reference.md#FW_TKO_AIRSPD
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[MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
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[FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
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[FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
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::: info
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The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
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:::
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<a id="hand_launch"></a>
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## Catapult/Hand Launch
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## Catapult/Hand Launch {#hand_launch}
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In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
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On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
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@@ -85,9 +91,7 @@ The _launch detector_ is affected by the following parameters:
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| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
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| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
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<a id="runway_launch"></a>
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## Runway Takeoff
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## Runway Takeoff {#runway_launch}
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Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only).
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You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN).
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@@ -110,18 +114,18 @@ It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P
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Runway takeoff is affected by the following parameters:
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| Parameter | Description |
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| ----------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------- |
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| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
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| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
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| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
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| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
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| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
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| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
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| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
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| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
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| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
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| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------- |
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| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
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| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
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| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
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| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
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| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
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| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
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| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
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| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
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| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
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| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
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## See Also
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