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FW takeoff docs improvements #2232
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
@sfuhrer Excellent. I am very happy with the removal of the FW landing standalone doc and the integration into Takeoff mode doc.
I am not so sure about the mixing of mission mode takeoff information in the takeoff mode doc. It certainly isn't "clean" right now. From this I cannot tell
I think we at least need a "planning an FW mission takeoff" section to cover this, which we can cross link from mission mode, and which might cross link to the takeoff mode you have written - depending on how much duplication there is. I suspect that once you have created "planning a mission takeoff" that answers the above questions it will be obvious how mixed these should be. We can have a call to chat through if you want. |
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Yes agree that we need this section, where all the 4 points above should be addressed. And then link to the Takeoff section for details (I would keep configuration details in the Takeoff section, and focus on the interface differences in the Mission one). |
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
…d modes there Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
@hamishwillee I've added a mini section in the Mission section as well now, let me know if that makes the operation clearer. Maybe we can extend it a bit more. |
en/flight_modes/mission.md
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## Fixed-wing Mission Takeoff/Landing | ||
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Starting and ending flights with mission takeoff and landing is the recommended way of operating a plane autonomously. A detailed description of the executed logic during autonomous takeoffs and landings can be found | ||
in [Fixed-wing Takeoff](../config/flight_modes/takeoff.md#fixed_wing) and [Fixed-wing Takeoff](../config/flight_modes/land.md#fixed_wing). |
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Need to fix the link once we get the landing part merged #2245)
en/flight_modes/mission.md
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- On fixed-wing vehicles PX4 will not automatically take off (the autopilot will detect the lack of movement and set the throttle to zero). | ||
If the currently active waypoint is a Takeoff, the system will automatically takeoff (see [FW Takeoff/Landing in Mission](#fixed-wing-mission-takeoff-landing)). |
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@sfuhrer @tstastny Just to be very clear here:
- In takeoff mode a catapult launch is triggered by acceleration detection - either throwing or shaking to start the throttle ramping up.
- What this implies is that in a mission mode you do not need acceleration detection for catapult launch - is that correct? That does not make sense to me - I'd expect the vehicle to arm, but would still expect it to require throwing.
- However for runway mode I'd expect it to just take off. Can you still "nudge" as in takeoff mode?
- I assume all the parameter setup for catapult/runway are required whether using mission or takeoff?
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Actually the launch detection is only an additional feature, that's not necessary for hand-launch. If it's not enabled the motor will just immediately ramp up on arming.
What this implies is that in a mission mode you do not need acceleration detection for catapult launch - is that correct? That does not make sense to me - I'd expect the vehicle to arm, but would still expect it to require throwing.
Mission mode doesn't change the procedure - you arm the vehicle, and if launch detection is enabled it needs to detect an acceleration before it starts the motor.
However for runway mode I'd expect it to just take off. Can you still "nudge" as in takeoff mode?
You can only nudge if in runway takeoff mode.
I assume all the parameter setup for catapult/runway are required whether using mission or takeoff?
Correct, there is no difference in required params.
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### Land | ||
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Currently the only way to land a vehicle autonomously is through a mission landing. |
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Is this true? That's not what it says here: http://docs.px4.io/main/en/flight_modes/land.html#fixed-wing-fw
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Working on a fix, we should remove this line (or once the fix is in).
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Do you have a PR for this fix?
If possible, always plan the landing such that it does the approach into the wind. | ||
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## Multicopter Mission Takeoff/Landing |
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FYI, I added these bits for MC and VTOL takeoff landing for "symmetry". We could reasonably expand on them too.
In _Takeoff mode_ (non-mission takeoffs), the course is set to the vehicle heading on arming, and the clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT). | ||
Reaching the clearance altitude causes the vehicle to enter _Hold mode_. | ||
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In [Mission mode](../flight_modes/mission.md) the operator defines the takeoff course and clearance altitude in the Takeoff mission item. |
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FYI So here you see the mission mode all separated into own paragraph.
<a id="fixed_wing"></a> | ||
## Fixed-wing (FW) | ||
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Automatic takeoff has two modalities: *catapult/hand-launch* or *runway takeoff*. |
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@sfuhrer I'm going to merge this now - I think it is OK.
My main concern is that we are mixing the takeoff mode and mission mode takeoff, as discussed. I think we could do a better job here, but maybe as a post process.
What we could do is:
- Duplicate just this section in mission mode FW takeoff, and make it mission mode specific.
- Then reference the catapult and runway sections in takeoff mode for the "common stuff".
- Remove the mission mode specific stuff from here.
We might then put the stuff currently in mission mode into the "Planning" doc.
Let me know what you think?
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So where would the catapult and runway sections live? In the mission or the flight modes docs, or on a new, neutral ground?
* remove FW Takeoff 101, as duplicated info in flight mode Takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: rework FW takeoff docs Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Apply suggestions from code review * Update en/flight_modes/takeoff.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Apply small suggestions from code review Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> * Takeoff: remove confusing non-takeoff-specific parameters from list Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: small rewording and remove wront throttle ramp Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Mission: add fw takeoff/landing section and reference the takeoff/land modes there Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * minor subedit * Minor subedit --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
* remove FW Takeoff 101, as duplicated info in flight mode Takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: rework FW takeoff docs Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Apply suggestions from code review * Update en/flight_modes/takeoff.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Apply small suggestions from code review Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> * Takeoff: remove confusing non-takeoff-specific parameters from list Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: small rewording and remove wront throttle ramp Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Mission: add fw takeoff/landing section and reference the takeoff/land modes there Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * minor subedit * Minor subedit --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
* remove FW Takeoff 101, as duplicated info in flight mode Takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: rework FW takeoff docs Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Apply suggestions from code review * Update en/flight_modes/takeoff.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Apply small suggestions from code review Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> * Takeoff: remove confusing non-takeoff-specific parameters from list Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: small rewording and remove wront throttle ramp Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Mission: add fw takeoff/landing section and reference the takeoff/land modes there Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * minor subedit * Minor subedit --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
* Update px4_vision_kit.md (#2240) Auterion changed where the flash_emmc.sh file was located. I have updated the read me to show the correct location. \home\px4vision\catkin_ws\src\px4vision_ros\tools\flash_emmc.sh * Fix dependancy list and typos (#2246) Fix dependancy list and typos * Remove caveat that PX4 will create imu calib file if needed From #2231 (comment) - the file is created by default on systems that support it. * Updated ARK PAB and ARK V6X docs with updated product photos (#2244) * Remove MOT_ORDERING param (#2251) * IMU factory - how to test is supported * Add warning about invalid ROS2 docs (#2253) * Update PX4 Firmware metadata Thu Jan 26 05:53:34 UTC 2023 * FW land detector states (#2249) * FW takeoff docs improvements (#2232) * remove FW Takeoff 101, as duplicated info in flight mode Takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: rework FW takeoff docs Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Update en/flight_modes/takeoff.md * Apply suggestions from code review * Update en/flight_modes/takeoff.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Apply small suggestions from code review Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> * Takeoff: remove confusing non-takeoff-specific parameters from list Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Takeoff: small rewording and remove wront throttle ramp Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * Mission: add fw takeoff/landing section and reference the takeoff/land modes there Signed-off-by: Silvan Fuhrer <silvan@auterion.com> * minor subedit * Minor subedit --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> * update fixed-wing landing documentation (#2245) * Update PX4 Firmware metadata Thu Feb 2 02:29:25 UTC 2023 * Delete translated but removed fixed wing docs (#2260) * Summary - fixed wing landing doc is gone * Update ARK Flow parameter configuration (#2263) * Update PX4 Firmware metadata Wed Feb 8 01:35:30 UTC 2023 * Add details about using Gazebo depth cameras (#2264) * WSL: add a step to check BIOS virtualization setting (#2241) * Update PX4 Firmware metadata Thu Feb 9 03:20:35 UTC 2023 * Move gazebo files to gazebo_classic folder (#2268) * Gazebo classic move2 (#2269) * Fix up links to gazebo classic docs * Move gazebo ignition topics * Move links to gazebo ignition topics * Move gazebo entry points to readme name * Fix up readme links in docs --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Jeff - openSAR.net <jhiggy@gmail.com> Co-authored-by: Vasily Evseenko <svpcom@gmail.com> Co-authored-by: Braden Wagstaff <46809823+bradenwagstaff@users.noreply.github.com> Co-authored-by: PX4BuildBot <bot@px4.io> Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com> Co-authored-by: Alex Klimaj <alex@arkelectron.com> Co-authored-by: Daniel Mesham <DanMesh@users.noreply.github.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>
FW takeoff (and landing) docs are outdated. Major changes on the PX4 side came in lately through PX4/PX4-Autopilot#20537 and PX4/PX4-Autopilot#20557. This PR reflects the changes on the Takeoff side, the Landing side is still todo.
I've moved all the takeoff docs/hints/param description to the Takeoff mode section (currently have also a section under the "flying 101" that is to a big part duplicated info). Maybe we can make it even clearer that this section applies to both takeoffs via mission and without mission in manually entered Takeoff flight mode. Also up for other ideas on where to place it @hamishwillee.
@tstastny please check if the current controller logic is correctly resembled in the docs, and if you agree with the level of depth I propose here (there are ofc many more parameters that affect takeoffs, but listing them all removes focus from the important ones).