Logic modification of px4 firmware

The take-off phase encompasses a series of critical steps in the system’s initiation. Starting with the power-on sequence, the autopilot conducts essential calibrations and self-checks, including default sensor calibration and verification of the turbine’s status through ECU telemetry. Following the mission upload, the system enters Take-off Mode, initiating the turbine and performing an engine test, contingent on the absence of failsafe triggers. A successful engine test allows system arming from either the Ground Control Station (GCS) or Remote Control (RC). Once armed, the autopilot orchestrates the take-off sequence, gradually accelerating to a defined parameter value and sustaining it for a specified duration. The RPM and other parameters are rigorously monitored to ensure alignment with arming criteria. If all conditions are met, the system is armed, and the take-off sequence proceeds. Throughout this process, failsafe mechanisms promptly intervene in case of errors or deviations from set parameters, ensuring a secure and controlled take-off.