            m = cv2.moments(mask, False)
            try:
                cx, cy = m['m10']/m['m00'], m['m01']/m['m00']
            except ZeroDivisionError:
                cy, cx = height/2, width/2

            error_x = cx - width / 2
            speed_cmd = Twist()
            speed_cmd.linear.x = 0.2
            speed_cmd.angular.z = -error_x / 100

            self.speed_pub.publish(speed_cmd)

    def main():

        rospy.init_node('line_following_node', anonymous=True)
        line_follower_object = LineFollower()

        try:
            rospy.spin()
        except KeyboardInterrupt:
            print("Shutting down")

    if __name__ == '__main__':
        main()


](/main/en/flight_controller/holybro_pix32.html)


](/main/en/msg_docs/GimbalManagerInformation.html)


](/main/en/frames_multicopter/omnicopter.html)


Connecting an RC Receiver to PX4 on Linux (Tutorial)


    >>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))
    True
    >>> qx = quaternion_about_axis(alpha, xaxis)
    >>> qy = quaternion_about_axis(beta, yaxis)
    >>> qz = quaternion_about_axis(gamma, zaxis)
    >>> q = quaternion_multiply(qx, qy)
    >>> q = quaternion_multiply(q, qz)
    >>> Rq = quaternion_matrix(q)
    >>> is_same_transform(R, Rq)
    True
    >>> S = scale_matrix(1.23, origin)
    >>> T = translation_matrix((1, 2, 3))
    >>> Z = shear_matrix(beta, xaxis, origin, zaxis)
    >>> R = random_rotation_matrix(numpy.random.rand(3))
    >>> M = concatenate_matrices(T, R, Z, S)
    >>> scale, shear, angles, trans, persp = decompose_matrix(M)
    >>> numpy.allclose(scale, 1.23)
    True
    >>> numpy.allclose(trans, (1, 2, 3))
    True
    >>> numpy.allclose(shear, (0, math.tan(beta), 0))
    True
    >>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))
    True
    >>> M1 = compose_matrix(scale, shear, angles, trans, persp)
    >>> is_same_transform(M, M1)
    True

_class_ ` tf.transformations. ` ` Arcball ` (  _initial=None_ )  Â¶

Virtual Trackball Control.

    >>> ball = Arcball()
    >>> ball = Arcball(initial=numpy.identity(4))
    >>> ball.place([320, 320], 320)
    >>> ball.down([500, 250])
    >>> ball.drag([475, 275])
    >>> R = ball.matrix()
    >>> numpy.allclose(numpy.sum(R), 3.90583455)


CUAV Nora


](/main/en/contribute/support.html)


[ PX4 ](http://px4.io/)


Remote ID


](/main/en/test_cards/mc_04_failsafe_testing.html)


](/main/en/frames_plane/wing_wing_z84.html)


TeraRanger


](/main/en/complete_vehicles_mc/intel_aero.html)


###  Parameters (Runway Takeoff)


Flight Modes


Satellite Comms (Iridium/RockBlock)


](/main/en/msg_docs/VehicleTrajectoryWaypoint.html)


#####  Setpoint Tuning (Trajectory Generator)


Hello,


X500 v2 (Pixhawk 5X)


Magnetometer


Holybro Pixhawk 6X Wiring Quickstart


](/main/en/frames_multicopter/holybro_s500_v2_pixhawk4.html)


](/main/en/advanced_config/static_pressure_buildup.html)


MessageFormatRequest


FrSky Telemetry


](/main/en/airframes/index.html)


](/main/en/msg_docs/DatamanResponse.html)


](/main/en/frames_multicopter/dji_f450_cuav_5plus.html)


VehicleThrustSetpoint


](/main/en/advanced/computer_vision.html)


](/main/en/gps_compass/rtk_gps_trimble_mb_two.html)


####  Magnetometer (Compass)


    #!/usr/bin/env python

    import rospy
    from sensor_msgs.msg import Image
    from cv_bridge import CvBridge, CvBridgeError
    import cv2
    import numpy as np
    from geometry_msgs.msg import Twist

    class LineFollower(object):

        def __init__(self):

            self.image_sub = rospy.Subscriber(
                "/camera/rgb/image_raw", Image, self.camera_callback)
            self.bridge_object = CvBridge()
            self.speed_pub = rospy.Publisher("/cmd_vel", Twist, queue_size=1)

        def camera_callback(self, data):
            try:
                # We select bgr8 because its the OpenCV encoding by default
                cv_image = self.bridge_object.imgmsg_to_cv2(
                    data, desired_encoding="bgr8")
            except CvBridgeError as e:
                print(e)

            height, width, channels = cv_image.shape
            descentre = 160
            rows_to_watch = 60
            crop_img = cv_image[(height)/2+descentre:(height) /
                                2+(descentre+rows_to_watch)][1:width]
            hsv = cv2.cvtColor(crop_img, cv2.COLOR_BGR2HSV)
            upper_yellow = np.array([70, 48, 255])
            lower_yellow = np.array([50, 28, 245])

            # Threshold the HSV image to get only yellow colors
            mask = cv2.inRange(hsv, lower_yellow, upper_yellow)


[ Toto  ](https://discuss.px4.io/u/Toto) April 28, 2023, 2:12pm  2


](/main/en/flight_controller/autopilot_pixhawk_standard.html)


Obstacle Avoidance


PositionControllerLandingStatus


    >>> q = random_quaternion()
    >>> numpy.allclose(1.0, vector_norm(q))
    True
    >>> q = random_quaternion(numpy.random.random(3))
    >>> q.shape
    (4,)

` tf.transformations. ` ` random_rotation_matrix ` (  _rand=None_ )  Â¶

Return uniform random rotation matrix.
rnd: array like
     Three independent random variables that are uniformly distributed between 0 and 1 for each returned quaternion.

    >>> R = random_rotation_matrix()
    >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
    True

` tf.transformations. ` ` random_vector ` (  _size_ )  Â¶

Return array of random doubles in the half-open interval [0.0, 1.0).

    >>> v = random_vector(10000)
    >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0)
    True
    >>> v0 = random_vector(10)
    >>> v1 = random_vector(10)
    >>> numpy.any(v0 == v1)
    False

` tf.transformations. ` ` reflection_from_matrix ` (  _matrix_ )  Â¶

Return mirror plane point and normal vector from reflection matrix.

    >>> v0 = numpy.random.random(3) - 0.5
    >>> v1 = numpy.random.random(3) - 0.5
    >>> M0 = reflection_matrix(v0, v1)
    >>> point, normal = reflection_from_matrix(M0)


AirSim Simulation


](/main/en/frames_vtol/standardvtol.html)


Main Navigation


](/main/en/msg_docs/RegisterExtComponentReply.html)


INS


](/main/en/sim_gazebo_classic/worlds.html)


Continuous Integration


ADSB/FLARM/UTM (Traffic Avoidance)


To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
The acceleration of hand/catapult launch triggers the motors to start. For
runway launch, motors ramp up automatically once the vehicle has been armed.


](/main/en/flight_controller/modalai_voxl_flight.html)


Barometers


Multi-Vehicle Sim with FlightGear


Rotoye Batmon Battery Smartification Kit


ModalAI VOXL Flight


####  Pixhawk Autopilot Bus (PAB) & Carriers


Cpuload


](/main/en/assembly/quick_start_cuav_v5_plus.html)


Flight Log Analysis


](/main/en/msg_docs/AutotuneAttitudeControlStatus.html)


](/main/en/dev_setup/generic_dev_tools.html)


](/main/en/msg_docs/SensorsStatusImu.html)


](/main/en/telemetry/telemetry_wifi.html)


Port-Configurable Serial Drivers


HoverThrustEstimate


Hold Mode (FW)


](/main/en/flight_controller/modalai_fc_v1.html)


](/main/en/flight_controller/index.html)


](/main/en/test_and_ci/maintenance.html)


](/main/en/flight_controller/pixhawk-2.html)


ROS/MAVROS Offboard Example (C++)


](/main/en/msg_docs/YawEstimatorStatus.html)


PositionSetpoint


ArmingCheckRequest


CAN Peripherals


sorry for the long question! please do suggest me with some solution for
this!(Note iam working in my ROS Kinetic and gazebo 7 vesrion in my Ubuntu
16.04!)


PositionControllerStatus


](/main/en/test_cards/mc_01_manual_modes.html)


###  Getting Started


###  Parameters


    <launch>
        <node name="interface" pkg="ardrone_autopilot" type="interface.py" output="screen">
            <remap from="/in/image/" to="/ui/image/"/>
            <param name="swap_red_blue" value="True" />
        </node>
        <node name="controller" pkg="ardrone_autopilot" type="controller" output="screen">
        </node>
        <node name="imgHandler" pkg="ardrone_autopilot" type="imgHandler" output="screen">
        </node>
    </launch>


Femtones MINI2 Receiver


Mission Mode (MC)


](/main/en/dev_setup/dev_env_windows_cygwin_packager_setup.html)


Black Magic/DroneCode Probe


](/main/en/config/airframe.html)


](/main/en/complete_vehicles_mc/index.html)


](/main/en/peripherals/frsky_telemetry.html)


GotoSetpoint


###  Multicopters


####  Configuration/Tuning


UavcanParameterValue


](/main/en/sim_gazebo_gz/gazebo_models.html)


](/main/en/msg_docs/DifferentialPressure.html)


](/main/en/hardware/reference_design.html)


After a positive rate of climb is established, and the airplane has accelerated to VY, the pilot should retract the landing gear and flaps,
if equipped. If departing from an airstrip with wet snow or slush on the takeoff surface, the gear should not be retracted immediately
so that any wet snow or slush can be air-dried. In the event an obstacle needs to be cleared after a soft-field takeoff, the pilot should
perform the climb-out at VX until the obstacle has been cleared. The pilot should then adjust the pitch attitude to VY and retract the
gear and flaps. The power can then be reduced to the normal climb setting.
Common errors in the performance of soft/rough field takeoff and climbs are:
6-13
⦁ Failure to review AFM/POH and performance charts prior to takeoff.
⦁ Failure to adequately clear the area.
⦁ Insufficient back-elevator pressure during initial takeoff roll resulting in inadequate AOA.
⦁ Failure to cross-check engine instruments for indications of proper operation after applying power.
⦁ Poor directional control.
⦁ Climbing too high after lift-off and not levelng off low enough to maintain ground effect attitude.
⦁ Abrupt and/or excessive elevator control while attempting to level off and accelerate after liftoff.
⦁ Allowing the airplane to "mush" or settle resulting in an inadvertant touchdown after lift-off.
⦁ Attempting to climb our of ground effect area before attaining sufficient climb speed.
⦁ Failure to anticipate an increase in pitch attitude as the airplane climbs our of ground effect.
Rejected Takeoff/Engine Failure
Emergency or abnormal situations can occur during a takeoff that require a pilot to reject the takeoff while still on the runway.
Circumstances such as a malfunctioning powerplant, inadequate acceleration, runway incursion, or air traffic conflict may be reasons
for a rejected takeoff.
Prior to takeoff, the pilot should identify a point along the runway at which the airplane should be airborne. If that point is reached
and the airplane is not airborne, immediate action should be taken to discontinue the takeoff. When properly planned and executed,
the airplane can be stopped on the remaining runway without using extraordinary measures, such as excessive braking that may result
in loss of directional control, airplane damage, and/or personal injury. The POH/AFM ground roll distances for take-off and landing
added together provide a good estimate of the total runway needed to accelerate and then stop.
In the event a takeoff is rejected, the power is reduced to idle and maximum braking applied while maintaining directional control. If
it is necessary to shut down the engine due to a fire, the mixture control should be brought to the idle cutoff position and the magnetos
turned off. In all cases, the manufacturer’s emergency procedure should be followed.
Urgency characterizes all power loss or engine failure occurrences after lift-off. In most instances, the pilot has only a few seconds
after an engine failure to decide what course of action to take and to execute it.
In the event of an engine failure on initial climb-out, the pilot’s first responsibility is to maintain aircraft control. At a climb pitch
attitude without power, the airplane is at or near a stalling AOA. At the same time, the pilot may still be holding right rudder. The
pilot should immediately lower the nose to prevent a stall while moving the rudder to ensure coordinated flight. The pilot should
establish a controlled glide toward a plausible landing area, preferably straight ahead. Attempting to turn back to the takeoff runway
should not be attempted unless the pilot previously trained for an emergency turn-back and sufficient altitude exists.
Noise Abatement
Aircraft noise problems are a major concern at many airports throughout the country. Many local communities have pressured
airports into developing specific operational procedures that help limit aircraft noise while operating over nearby areas. As a result,
noise abatement procedures have been developed for many of these airports that include standardized profiles and procedures to


](/main/en/msg_docs/VehicleAttitudeSetpoint.html)


](/main/en/telemetry/microhard_serial.html)


A repo created to simulate a line following turtlebot in Gazebo environment
using ROS - GitHub - sudrag/line_follower_turtlebot: A repo created to
simulate a line following turtlebot in Gazebo envi...


TFSlot Airspeed Sensor


](/main/en/flight_modes_mc/position_slow.html)


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.html#FW_T_CLMB_MAX) ) until
reaching the clearance altitude. Reaching the clearance altitude causes the
vehicle to enter [ Hold mode ](./../flight_modes_fw/takeoff.html) .


](/main/en/msg_docs/SensorCombined.html)


](/main/en/sensor/tfmini.html)


hello there, i have a simulation where iam trying to work on line following
drone! for that i have used the environment of the line following turtlebot
from this git down bellow;


NavigatorMissionItem


](/main/en/middleware/index.html)


###  Modules & Commands


](/main/en/telemetry/index.html)


[ Documentation ](https://www.dronecode.org/documentation/)


](/main/en/debug/system_wide_replay.html)


](/main/en/msg_docs/FigureEightStatus.html)


CollisionReport


](/main/en/config_fw/trimming_guide_fixedwing.html)


](/main/en/advanced_features/satcom_roadblock.html)


CUAV Pixhawk V6X Wiring QuickStart


Wing Wing Z84 (Pixracer)


I’m not using gazebo, but jmavsim, and for me everything work fine so far.
I would suggest to have a better look to the message definition in the message
reference, because depending on the used command you need to set up to seven
parameters, maybe that’s why it isn’t working.


](/main/en/msg_docs/ParameterResetRequest.html)


](/main/en/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html)


](/main/en/test_and_ci/integration_testing.html)


#####  UART/Serial Ports


Baro


](/main/en/sim_gazebo_classic/vehicles.html)


ButtonEvent


](/main/en/config_mc/pid_tuning_guide_multicopter_basic.html)


LedControl


MAVLink Telemetry (OSD/GCS)


Lumenier QAV-R 5" Racer (Pixracer)


](/main/en/ros2/px4_ros2_navigation_interface.html)


](/main/en/frames_plane/diy_builds.html)


Simulate Failsafes


GIT Examples


Position Slow Mode (MC)


](/main/en/flight_controller/pixhawk_autopilot_bus.html)


VehicleGlobalPosition


RcChannels


DatamanResponse


Docker Containers


Controllers


##  Development


Worlds


![](https://get-
help.robotigniteacademy.com/uploads/default/optimized/2X/4/4e9ee4f5083b90307137239b7a751595ba0ca8ad_2_690x345.png)


VehicleMagnetometer


](/main/en/msg_docs/DistanceSensor.html)


](/main/en/companion_computer/video_streaming_wfb_ng_wifi.html)


Manual Flying


[ BadhriROS  ](https://get-help.theconstruct.ai/u/BadhriROS) March 26, 2022,
8:23pm  1


[ QGroundControl Guide  ](https://docs.qgroundcontrol.com/master/en/qgc-user-
guide/)


EstimatorSelectorStatus


](/main/en/contribute/notation.html)


1 Like


TBS Crossfire (CRSF) Telemetry


](/main/en/computer_vision/visual_inertial_odometry.html)


OrbTestMedium


####  Flight Modes


EstimatorEventFlags


##  Vehicle Types & Setup


Manual Mode (FW)


#####  Vehicles


](/main/en/msg_docs/MessageFormatRequest.html)


](/main/en/flight_modes_mc/manual_stabilized.html)


](/main/en/flight_modes_mc/throw_launch.html)


](/main/en/peripherals/gripper.html)


VehicleAttitude


](/main/en/msg_docs/TrajectoryWaypoint.html)


](/main/en/advanced_config/parameters.html)


](/main/en/flight_modes_vtol/return.html)


Gripper


###  Middleware


LandingGear


Zubax Orel


](/main/en/telemetry/crsf_telemetry.html)


Flight Controller/Sensor Orientation


FailsafeFlags


](/main/en/msg_docs/ConfigOverrides.html)


](/main/en/sim_gazebo_classic/index.html)


###  Vehicle Status Notifications


[ Support ](http://discuss.px4.io/)


BatteryStatus


Airframe


](/main/en/msg_docs/ManualControlSetpoint.html)


](/main/en/flight_controller/kakutef7.html)


#  [ Cannot takeoff using VEHICLE_CMD_NAV_TAKEOFF ](/t/cannot-takeoff-using-
vehicle-cmd-nav-takeoff/31991)


](/main/en/flight_controller/pixhawk_series.html)


####  Debugging with GDB


RateCtrlStatus


ActuatorServosTrim


](/main/en/advanced/index.html)


](/main/en/msg_docs/TrajectorySetpoint.html)


System-wide Replay


](/main/en/assembly/vibration_isolation.html)


    <launch>
    	<!-- Launches the AR.Drone driver -->
    	<node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
    	    <param name="outdoor" value="0" /> <!-- If we are flying outdoors, will select more aggressive default settings -->
    	    <param name="flight_without_shell" value="0" /> <!-- Changes internal controller gains if we are flying without the propeller guard -->

    	    <param name="altitude_max" value="3000" /> <!-- in millimeters = 3 meters = 9' -->
            <param name="altitude_min" value="50" /> <!-- in millimeters = 5cm = 2" -->
            <param name="euler_angle_max" value="0.1" /> <!-- maximum allowable body angle in radians = 5 degrees -->
            <param name="control_vz_max" value="200" /> <!-- maximum z velocity in mm/sec = 0.2m/sec -->
    	    <param name="control_yaw" value="0.7" /> <!-- maximum rotation rate in radians/sec = 40 degrees per second (1/9 rev/sec) -->
    	</node>

    	<!-- Launches the keyboard controller -->
    	<node name="keyboard_controller" pkg="ardrone_tutorials" type="keyboard_controller.py" required="true"/>
    </launch>


S500 V2 (Pixhawk 4)


####  Flight Modes


GimbalControls


](/main/en/flying/pre_flight_checks.html)


](/main/en/flight_modes_fw/takeoff.html)


##  Catapult/Hand Launch


mRo (3DR) Pixhawk Wiring Quickstart


OneShot ESCs and Servos


](/main/en/msg_docs/CollisionConstraints.html)


MissionResult


](/main/en/flight_modes_fw/stabilized.html)


Version


Safety Point Planning


Updating Firmware


](/main/en/frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.html)


Another interesting thing: I changed the script with VEHICLE_CMD_NAV_LAND
instead of VEHICLE_CMD_NAV_TAKEOFF.


](/main/en/msg_docs/CanInterfaceStatus.html)


](/main/en/debug/profiling.html)


#  Takeoff Mode (Fixed-Wing)


](/main/en/complete_vehicles_mc/crazyflie2.html)


[ Support  ](https://docs.px4.io/main/en/contribute/support.html)


[ marco.nc.arruda  ](https://get-help.theconstruct.ai/u/marco.nc.arruda) March
28, 2022, 2:41pm  2


](/main/en/flight_controller/mro_x2.1.html)


DifferentialPressure


MacOS Setup


](/main/en/advanced/out_of_tree_modules.html)


Vertiq


](/main/en/complete_vehicles_mc/px4_vision_kit.html)


](/main/en/dronecan/pomegranate_systems_pm.html)


](/main/en/config/safety_simulation.html)


[ MatteoAlbi  ](https://discuss.px4.io/u/MatteoAlbi) June 5, 2023, 9:23am  3


[ QGroundControl ](http://qgroundcontrol.com/)


  1. Ardrone_autopilot- [ https://github.com/Barahlush/ardrone_autopilot.git ](https://github.com/Barahlush/ardrone_autopilot.git) \- “roslaunch ardrone_autopilot autopilot.launch”
autopilot.launch


Holybro H-RTK-M8P


](/main/en/complete_vehicles_mc/holybro_kopis2.html)


Servo Gripper


OnboardComputerStatus


[ MAVLink ](https://mavlink.io/en/)


ActuatorMotors


](/main/en/flight_controller/pixhawk4.html)


SensorGyro


DistanceSensor


Hex Cube Black (FMUv3)


RegisterExtComponentReply


[ MAVSDK  ](https://mavsdk.mavlink.io/)


ActuatorTest


Flight Controller Reference Design


](/main/en/msg_docs/ActuatorMotors.html)


The _Takeoff_ flight mode causes the vehicle to take off to a specified height
and then enter [ Hold mode ](./../flight_modes_fw/takeoff.html) .


AirspeedValidated


](/main/en/advanced_config/prearm_arm_disarm.html)


    auto timer_callback = [this]() -> void {

    			if (offboard_setpoint_counter_ == 10) {

    				// Arm the vehicle
    				this->arm();

    				this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_NAV_TAKEOFF);

    			}

    			// stop the counter after reaching 11
    			if (offboard_setpoint_counter_ < 11) {
    				offboard_setpoint_counter_++;
    			}
    		};


SensorAccelFifo


Ubuntu Setup


CollisionConstraints


Holybro PM03D (digital)


](/main/en/dronecan/index.html)


MavlinkLog


Raspberry Pi 2/3 Navio2


###  Debugging/Logging


](/main/en/msg_docs/VehicleOpticalFlowVel.html)


Manufacturer’s Board Support Guide


Build: Convergence Tiltrotor (Pixfalcon)


CameraStatus


Multi-Vehicle Sim


](/main/en/modules/modules_communication.html)


](/main/en/contribute/index.html)


Flight Modes


](/main/en/msg_docs/VehicleOpticalFlow.html)


Windows VM Toolchain


InputRc


SensorCorrection


](/main/en/msg_docs/GimbalDeviceInformation.html)


GimbalDeviceInformation


VehicleAngularVelocity


Land Mode (MC)


](/main/en/msg_docs/GimbalControls.html)


####  Telemetry Radios


](/main/en/config/radio.html)


AirMind MindPX


](/main/en/ros/mavros_custom_messages.html)


>
>
> _Axes 4-tuple_ : e.g. (0, 0, 0, 0) or (1, 1, 1, 1)
>
>   * inner axis: code of axis (‘x’:0, ‘y’:1, ‘z’:2) of rightmost matrix.
>   * parity : even (0) if inner axis ‘x’ is followed by ‘y’, ‘y’ is followed
> by ‘z’, or ‘z’ is followed by ‘x’. Otherwise odd (1).
>   * repetition : first and last axis are same (1) or different (0).
>   * frame : rotations are applied to static (0) or rotating (1) frame.
>
##  References  Â¶
  1. Matrices and transformations. Ronald Goldman. In “Graphics Gems I”, pp 472-475. Morgan Kaufmann, 1990.
  2. More matrices and transformations: shear and pseudo-perspective. Ronald Goldman. In “Graphics Gems II”, pp 320-323. Morgan Kaufmann, 1991.
  3. Decomposing a matrix into simple transformations. Spencer Thomas. In “Graphics Gems II”, pp 320-323. Morgan Kaufmann, 1991.
  4. Recovering the data from the transformation matrix. Ronald Goldman. In “Graphics Gems II”, pp 324-331. Morgan Kaufmann, 1991.
  5. Euler angle conversion. Ken Shoemake. In “Graphics Gems IV”, pp 222-229. Morgan Kaufmann, 1994.
  6. Arcball rotation control. Ken Shoemake. In “Graphics Gems IV”, pp 175-192. Morgan Kaufmann, 1994.
  7. Representing attitude: Euler angles, unit quaternions, and rotation vectors. James Diebel. 2006.
  8. A discussion of the solution for the best rotation to relate two sets of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828.
  9. Closed-form solution of absolute orientation using unit quaternions. BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642.
  10. Quaternions. Ken Shoemake. [ http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf ](http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf)
  11. From quaternion to matrix and back. JMP van Waveren. 2005. [ http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm ](http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm)
  12. Uniform random rotations. Ken Shoemake. In “Graphics Gems III”, pp 124-132. Morgan Kaufmann, 1992.
##  Examples  Â¶

    >>> alpha, beta, gamma = 0.123, -1.234, 2.345
    >>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)
    >>> I = identity_matrix()
    >>> Rx = rotation_matrix(alpha, xaxis)
    >>> Ry = rotation_matrix(beta, yaxis)
    >>> Rz = rotation_matrix(gamma, zaxis)
    >>> R = concatenate_matrices(Rx, Ry, Rz)
    >>> euler = euler_from_matrix(R, 'rxyz')
    >>> numpy.allclose([alpha, beta, gamma], euler)
    True
    >>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')
    >>> is_same_transform(R, Re)
    True
    >>> al, be, ga = euler_from_matrix(Re, 'rxyz')


](/main/en/advanced/gimbal_control.html)


](/main/en/flight_controller/durandal.html)


####  Flight Modes


SensorBaro


Generic Actuator Control


InternalCombustionEngineStatus


Advanced Linux Installation Cases


](/main/en/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.html)


](/main/en/gps_compass/gps_cuav_neo_3.html)


    	# Firstly we setup a ros node, so that we can communicate with the other packages
    	rospy.init_node('ardrone_keyboard_controller')

    	# Now we construct our Qt Application and associated controllers and windows
    	app = QtGui.QApplication(sys.argv)
    	controller = BasicDroneController()
    	display = KeyboardController()

    	display.show()

    	# executes the QT application
    	status = app.exec_()

    	# and only progresses to here once the application has been shutdown
    	rospy.signal_shutdown('Great Flying!')
    	sys.exit(status)


Holybro M8N & M9N GPS


[ 한국어 (Korean)  ](/main/ko/flight_modes_fw/takeoff.html)


](/main/en/frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.html)


Holybro Durandal Wiring Quickstart


](/main/en/msg_docs/VehicleRatesSetpoint.html)


Airspeed Sensor


[ Previous page  Manual Mode (FW)  ](/main/en/flight_modes_fw/manual.html)


Hi [ @BadhriROS ](/u/badhriros) ,


Out-of-Tree Modules


Altitude/Position Controller Tuning Guide


SensorUwb


VehicleControlMode


](/main/en/flight_controller/nxp_rddrone_fmuk66.html)


Package Delivery Mission


Cable Wiring


](/main/en/config_vtol/vtol_back_transition_tuning.html)


Gimbal (Mount) Configuration


](/main/en/contribute/licenses.html)


](/main/en/flight_controller/mro_pixhawk.html)


[ ROS / MAVROS / MicroDDS  ](/c/ros/38)


](/main/en/msg_docs/VehicleImuStatus.html)


Falcon Vertigo QuadPlane (Dropix)


](/main/en/actuators/index.html)


](/main/en/power_module/holybro_pm07_pixhawk4_power_module.html)


Application/Module Template


](/main/en/msg_docs/VehicleAcceleration.html)


####  Kits


](/main/en/msg_docs/RcParameterMap.html)


](/main/en/msg_docs/EstimatorSensorBias.html)


NanoMind 110


[ ![](https://github.com/Dronecode/dronecode-wordpress-
theme/raw/master/dronecode-salient-
child/images/dronecode_top_bar_logo_small.png) ](https://www.dronecode.org/)


Aerotenna OcPoC-Zynq Mini


Multicopter Racer Setup


](/main/en/gps_compass/u-blox_f9p_heading.html)


[ v1.11  ](https://docs.px4.io/v1.11/en/)


](/main/en/complete_vehicles_mc/mindracer210.html)


The _runway takeoff mode_ has the following phases:


](/main/en/msg_docs/GimbalDeviceSetAttitude.html)


####  Video Streaming


Path Planning Interface


](/main/en/concept/events_interface.html)


](/main/en/config_mc/mc_jerk_limited_type_trajectory.html)


Advanced Lift Drag Tool


  * [ Takeoff Mode (MC) ](./../flight_modes_mc/takeoff.html)
  * [ Planning a mission takeoff ](./../flight_modes_fw/mission.html#mission-takeoff)


](/main/en/msg_docs/LandingTargetInnovations.html)


](/main/en/sim_gazebo_classic/multi_vehicle_simulation.html)


Flight Reporting


Simulations


EstimatorStatusFlags


](/main/en/flight_controller/mro_control_zero_f7.html)


Grow your robotics skills with a full-scale curriculum and real practice


EstimatorSensorBias


Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued


EstimatorInnovations


main


](/main/en/companion_computer/pixhawk_rpi.html)


IrlockReport


Silicon Errata


TiltrotorExtraControls


](/main/en/flight_controller/auav_x2.html)


](/main/en/config/firmware.html)


VtolVehicleStatus


MountOrientation


Throw Launch


](/main/en/msg_docs/PositionSetpoint.html)


###  Parameters (Launch Detector)


](/main/en/concept/control_allocation.html)


ThunderFly TFRPM01 Tachometer Sensor


Sky-Drones SmartAP GPS


](/main/en/assembly/quick_start_cube.html)


ARK Electronics ARKV6X


EstimatorGpsStatus


LED Meanings


[ Next page  Land Mode (FW)  ](/main/en/flight_modes_fw/land.html)


The _launch detector_ is affected by the following parameters:


Holybro H-RTK Unicore UM982 GPS


](/main/en/modules/modules_simulation.html)


System Console


GpioIn


](/main/en/sim_gazebo_gz/multi_vehicle_simulation.html)


](/main/en/msg_docs/OnboardComputerStatus.html)


](/main/en/test_cards/mc_02_full_autonomous.html)


](/main/en/msg_docs/SensorHygrometer.html)


    >>> v / v[3]
    array([ 1.,  1., -1.,  1.])

` tf.transformations. ` ` compose_matrix ` (  _scale=None_ , _shear=None_ ,
_angles=None_ , _translate=None_ , _perspective=None_ )  Â¶

Return transformation matrix from sequence of transformations.
This is the inverse of the decompose_matrix function.
Sequence of transformations:
     scale : vector of 3 scaling factors shear : list of shear factors for x-y, x-z, y-z axes angles : list of Euler angles about static x, y, z axes translate : translation vector along x, y, z axes perspective : perspective partition of matrix

    >>> scale = numpy.random.random(3) - 0.5
    >>> shear = numpy.random.random(3) - 0.5
    >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi)
    >>> trans = numpy.random.random(3) - 0.5
    >>> persp = numpy.random.random(4) - 0.5
    >>> M0 = compose_matrix(scale, shear, angles, trans, persp)
    >>> result = decompose_matrix(M0)
    >>> M1 = compose_matrix(*result)
    >>> is_same_transform(M0, M1)
    True

` tf.transformations. ` ` concatenate_matrices ` (  _*matrices_ )  Â¶

Return concatenation of series of transformation matrices.

    >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5
    >>> numpy.allclose(M, concatenate_matrices(M))
    True
    >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T))
    True

` tf.transformations. ` ` decompose_matrix ` (  _matrix_ )  Â¶

Return sequence of transformations from transformation matrix.
matrix  :  array_like
     Non-degenerative homogeneous transformation matrix
Return tuple of:


](/main/en/dronecan/escs.html)


GeofenceStatus


[ Autopilot Source Code  ](https://github.com/PX4/PX4-Autopilot)


Vehicles


](/main/en/test_and_ci/continous_integration.html)


Motion Capture (VICON, Optitrack, NOKOV)


CubePilot Cube Orange (CubePilot)


](/main/en/dev_setup/getting_started.html)


](/main/en/flying/geofence.html)


](/main/en/msg_docs/PositionControllerLandingStatus.html)


#####  PX4 ROS 2 Interface Library


###  DroneCAN Peripherals


](/main/en/msg_docs/ActuatorControlsStatus.html)


SensorGyroFifo


ActuatorControlsStatus


Takeoff Roll
Taking off from a short field requires the takeoff to be started from the very beginning of the takeoff area. At this point, the airplane is
aligned with the intended takeoff path. If the airplane manufacturer recommends the use of flaps, they are extended the proper amount
before beginning the takeoff roll. This allows the pilot to devote full attention to the proper technique and the airplane’s performance
throughout the takeoff.
The pilot should apply takeoff power smoothly and continuously, without hesitation, to accelerate the airplane as rapidly as possible.
Some pilots prefer to hold the brakes until the maximum obtainable engine revolutions per minute (rpm) are achieved before allowing
the airplane to begin its takeoff run. However, it has not been established that this procedure results in a shorter takeoff run in all
light, single-engine airplanes. The airplane is allowed to roll with its full weight on the main wheels and accelerate to the lift-off
speed. As the takeoff roll progresses, the pilot should adjust the airplane’s pitch attitude and AOA to attain minimum drag and
maximum acceleration. In nose-wheel type airplanes, this involves little use of the elevator control since the airplane is already in a
low-drag attitude.
6-11
Lift-Off
As VX approaches, the pilot should apply back-elevator pressure until reaching the appropriate VX attitude to ensure a smooth and
firm lift-off, or rotation. Since the airplane accelerates more rapidly after lift-off, the pilot should apply additional backelevator pressure to hold a constant airspeed. After becoming airborne, the pilot will maintain a wings-level climb at VX until all
obstacles have been cleared, or if no obstacles are present, until reaching an altitude of at least 50 feet above the takeoff surface.
Thereafter, the pilot may lower the pitch attitude slightly and continue the climb at VY until reaching a safe maneuvering altitude. The
pilot should always remember that an attempt to pull the airplane off the ground prematurely, or to climb too steeply, may cause
the airplane to settle back to the runway or make contact with obstacles. Even if the airplane remains airborne, until the pilot reaches
VX, the initial climb will remain flat, which diminishes the pilot's ability to successfully perform the climb and/or clear obstacles.
[Figure 6-9]
Figure 6-9. Effect of premature lift-off.
The objective is to rotate to the appropriate pitch attitude at (or near) VX. The pilot should be aware that some airplanes have a
natural tendency to lift off well before reaching VX. In these airplanes, it may be necessary to allow the airplane to lift off in ground
effect and then reduce pitch attitude to level until the airplane accelerates to VX with the wheels just clear of the runway surface. This
method is preferable to forcing the airplane to remain on the ground with forward elevator-control pressure until VX is attained.
Holding the airplane on the ground unnecessarily puts excessive pressure on the nose-wheel and may result in “wheel barrowing.” It
also hinders both acceleration and overall airplane performance.
Initial Climb
On short-field takeoffs, the landing gear and flaps should remain in takeoff position until the airplane is clear of obstacles (or
as recommended by the manufacturer) and VY has been established. Until all obstacles have been cleared, the pilot should
maintain focus outside the airplane instead of reaching for landing gear or flap controls or looking inside the airplane for any reason.
When the airplane is stabilized at VY, the landing gear (if retractable) and flaps should be retracted. It is usually advisable to raise the
flaps in increments to avoid sudden loss of lift and settling of the airplane. The pilot should next reduce the power to the normal climb
setting or as recommended by the airplane manufacturer.
Common errors in the performance of short-field takeoffs and maximum performance climbs are:
⦁ Failure to review AFM/POH and performance charts prior to takeoff.
⦁ Failure to adequately clear the area.
⦁ Failure to utilize all available runway/takeoff area.


##  Hardware Selection & Setup


](/main/en/computer_vision/safe_landing.html)


](/main/en/msg_docs/CellularStatus.html)


#####  DroneCAN ESCs


VehicleTorqueSetpoint


#####  MindRacer BNF & RTF


DroneCAN


RFD900 (SiK) Telemetry Radio


Ping


](/main/en/msg_docs/InternalCombustionEngineStatus.html)


ESC Calibration


Realsense T265 Tracking Camera (VIO)


EstimatorBias


    True
    >>> ball = Arcball(initial=[0, 0, 0, 1])
    >>> ball.place([320, 320], 320)
    >>> ball.setaxes([1,1,0], [-1, 1, 0])
    >>> ball.setconstrain(True)
    >>> ball.down([400, 200])
    >>> ball.drag([200, 400])
    >>> R = ball.matrix()
    >>> numpy.allclose(numpy.sum(R), 0.2055924)
    True
    >>> ball.next()

` down ` (  _point_ )  Â¶

Set initial cursor window coordinates and pick constrain-axis.
` drag ` (  _point_ )  Â¶

Update current cursor window coordinates.
` getconstrain ` (  )  Â¶

Return state of constrain to axis mode.
` matrix ` (  )  Â¶

Return homogeneous rotation matrix.
` next ` (  _acceleration=0.0_ )  Â¶

Continue rotation in direction of last drag.
` place ` (  _center_ , _radius_ )  Â¶

Place Arcball, e.g. when window size changes.
center  :  sequence[2]
     Window coordinates of trackball center.
radius  :  float
     Radius of trackball in window coordinates.
` setaxes ` (  _*axes_ )  Â¶

Set axes to constrain rotations.
` setconstrain ` (  _constrain_ )  Â¶

Set state of constrain to axis mode.


Initial Climb
If a proper crosswind correction is applied, the aircraft will maintain alignment with the runway while accelerating to takeoff speed
and then maintain that alignment once airborne. As takeoff acceleration occurs, the efficiency of the up-aileron will increase with
aircraft speed causing the upwind wing to produce greater downward force and, as a result, counteract the effect of the crosswind.
The yoke, having been initially turned into the wind, can be relaxed to the extent necessary to keep the aircraft aligned with the
runway. As the aircraft becomes flyable and airborne, the wing that is upwind will have a tendency to be lower relative the other
wing, requiring simultaneous rudder input to maintain runway alignment. This will initially cause the aircraft to sideslip. However, as
the aircraft establishes its climb, the nose should be turned into the wind to offset the crosswind, wings brought to level, and rudder
input adjusted to maintain runway alignment (crabbing). [Figure 6-6] Firm and positive use of the rudder may be required to keep the
airplane pointed down the runway or parallel to the centerline. Unlike landing, the runway alignment (staying over the runway and its
extended centerline) is paramount to keeping the aircraft parallel to the centerline. The pilot should then apply rudder pressure firmly
and aggressively to keep the airplane headed straight down the runway. However, because the force of a crosswind may vary
markedly within a few hundred feet of the ground, the pilot should check the ground track frequently and adjust the wind correction
angle, as necessary. The remainder of the climb technique is the same used for normal takeoffs and climbs.
6-8
Figure 6-6. Crosswind climb flightpath.
6-9
The most common errors made while performing crosswind takeoffs include the following:
⦁ Failure to review AFM/POH performance and charts prior to takeoff.
⦁ Failure to adequately clear the area prior to taxiing onto the active runway.
⦁ Using less than full aileron pressure into the wind initially on the takeoff roll.
⦁ Mechanical use of aileron control rather than judging lateral position of airplane on runway from
visual clues and applying sufficient aileron to keep airplane centered laterally on runway.
⦁ Side-skipping due to improper aileron application.
⦁ Inadequate rudder control to maintain airplane parallel to centerline and pointed straight ahead in
alignment with visual references.
⦁ Excessive aileron input in the latter stage of the takeoff roll resulting in a steep bank into the wind at
lift-off.
⦁ Inadequate drift correction after lift-off.
Ground Effect on Takeoff
Ground effect is a condition of improved performance encountered when the airplane is operating very close to the ground. Ground
effect can be detected and normally occurs up to an altitude equal to one wingspan above the surface. [Figure 6-7] Ground effect is
most significant when the airplane maintains a constant attitude at low airspeed at low altitude (for example, during takeoff when the
airplane lifts off and accelerates to climb speed, and during the landing flare before touchdown).
Figure 6-7. Takeoff in ground effect area.
When the wing is under the influence of ground effect, there is a reduction in upwash, downwash, and wingtip vortices. As a result of
the reduced wingtip vortices, induced drag is reduced. When the wing is at a height equal to 1/4 the span, the reduction in induced
drag is about 25 percent. When the wing is at a height equal to 1/10 the span, the reduction in induced drag is about 50 percent. At
high speeds where parasite drag dominates, induced drag is a small part of the total drag. Consequently, ground effect is a greater
concern during takeoff and landing.


GpsInjectData


Mounting the Flight Controller


](/main/en/flight_controller/autopilot_discontinued.html)


](/main/en/msg_docs/IridiumsbdStatus.html)


but the issue is when i ever i give the command takeoff from the
keyboard_controller the drone just takes off from the ground plane and keeps
on moving upwards and never stops/hover in an particular altitude and lands if
i give land commnad!! i thought that the issues is with the controller of the
package, but i have tried various packages for the ardrone like


ObstacleDistance


](/main/en/msg_docs/RtlTimeEstimate.html)


Lidar-Lite


](/main/en/flying/plan_safety_points.html)


Follow Me Mode (MC)


PilotPi with Ubuntu Server


and then i altered the launch file(lf.launch) of the above .git so that i can
remove the turtlebot robot from that environment!


Jerk-limited Type Trajectory


Taking off immediately behind another aircraft, particularly a large and heavy transport airplane, creates the risk of a wake turbulence
encounter, and a possible loss of control. However, if an immediate takeoff behind a large heavy aircraft is necessary, the pilot should
plan to minimize the chances of flying through an aircraft’s wake turbulence by avoiding the other aircraft’s flightpath or rotating
prior to the point at which the preceding aircraft rotated. While taxiing onto the runway, the pilot should select ground reference
points that are aligned with the runway direction to aid in maintaining directional control and alignment with the runway center line
during the climb out. These may be runway centerline markings, runway lighting, distant trees, towers, buildings, or mountain peaks.
6-1
Figure 6-1. Takeoff and climb.
Figure 6-2. Performance chart examples.
6-2
Normal Takeoff
A normal takeoff is one in which the airplane is headed into the wind; there are times that a takeoff with a tail wind is necessary.
However, the pilot should consult the POH/AFM to ensure the aircraft is approved for a takeoff with a tail wind and that there is
sufficient performance and runway length for the takeoff. The pilot should also ensure that the takeoff surfaces are firm and of
sufficient length to permit the airplane to gradually accelerate to normal lift-off and climb-out speed, and there are no obstructions
along the takeoff path.
There are two reasons for making a takeoff as nearly into the wind as possible. First, since the airplane depends on airspeed, a
headwind provides some of that airspeed even before the airplane begins to accelerate into the wind. Second, a headwind decreases
the ground speed necessary to achieve flying speed. Slower ground speeds yield shorter ground roll distances and allow use of shorter
runways while reducing wear and stress on the landing gear.
Takeoff Roll
For takeoff, the pilot uses the rudder pedals in most general aviation airplanes to steer the airplane’s nose-wheel onto the runway
centerline to align the airplane and nose-wheel with the runway. After releasing the brakes, the pilot should advance the throttle
smoothly and continuously to takeoff power. An abrupt application of power may cause the airplane to yaw sharply to the left because
of the torque effects of the engine and propeller. This is most apparent in high horsepower engines. As the airplane starts to roll
forward, assure both feet are on the rudder pedals so that the toes or balls of the feet are on the rudder portions, not on the brake.
Check the engine instruments for indications of a malfunction during the takeoff roll.
In nose-wheel type airplanes, pressures on the elevator control are not necessary beyond those needed to steady it. Applying
unnecessary pressure only aggravates the takeoff and prevents the pilot from recognizing when elevator control pressure is actually
needed to establish the takeoff attitude.
As the airplane gains speed, the elevator control tends to assume a neutral position if the airplane is correctly trimmed. At the same
time, the rudder pedals are used to keep the nose of the airplane pointed down the runway and parallel to the centerline. The effects of
engine torque and P-factor at the initial speeds tend to pull the nose to the left. The pilot should use whatever rudder pressure is
needed to correct for these effects or winds. The pilot should use aileron controls into any crosswind to keep the airplane centered on
the runway centerline. The pilot should avoid using the brakes for steering purposes as this will slow acceleration, lengthen the
takeoff distance, and possibly result in severe swerving.
As the speed of the takeoff roll increases, more and more pressure will be felt on the flight controls, particularly the elevators and
rudder. If the tail surfaces are affected by the propeller slipstream, they become effective first. As the speed continues to increase, all
of the flight controls will gradually become effective enough to maneuver the airplane about its three axes. At this point, the airplane
is being flown more than it is being taxied. As this occurs, progressively smaller rudder deflections are needed to maintain direction.


Skip to content


](/main/en/power_module/holybro_pm02.html)


](/main/en/config/level_horizon_calibration.html)


](/main/en/config/actuators.html)


](/main/en/telemetry/holybro_microhard_p900_radio.html)


Filter/Control Latency Tuning


EscStatus


](/main/en/advanced_config/compass_power_compensation.html)


[ QGroundControl  ](http://qgroundcontrol.com/)


](/main/en/simulation/index.html)


######  PX4 Sapog ESC Firmware


and used the command “roslaunch line_follower_turtlebot lf.launch”, and then i
spawned the ardrone from the package [ https://github.com/eborghi10/AR.Drone-
ROS.git ](https://github.com/eborghi10/AR.Drone-ROS.git) using the command
“roslaunch cvg_sim_gazebo spawn_quadrotor.launch” and it got succesfully
spawned in the simulation as i wanted! like in the picture below!


Offboard Mode (FW)


](/main/en/simulation/multi-vehicle-simulation.html)


](/main/en/gps_compass/rtk_gps_locosys_r2.html)


](/main/en/simulation/community_supported_simulators.html)


PowerButtonState


###  Radio Control (RC)


PX4FLOW (Deprecated)


Holybro Pixhawk 6C (FMUv6C)


](/main/en/msg_docs/ParameterSetValueRequest.html)


uXRCE-DDS (PX4-ROS 2/DDS Bridge)


####  Complete Vehicles


Event


](/main/en/config/airspeed.html)


](/main/en/msg_docs/VehicleControlMode.html)


VehicleOpticalFlow


Package Delivery Architecture


LOCOSYS Hawk A1 GNSS


](/main/en/advanced_config/sensor_thermal_calibration.html)


Holybro Kakute H7v2


ModalAI VOXL 2


](/main/en/gps_compass/rtk_gps_holybro_h-rtk-f9p.html)


](/main/en/telemetry/3dr_telemetry_wifi.html)


    >>> n = vector_norm(v, axis=1)
    >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
    True
    >>> v = numpy.random.rand(5, 4, 3)
    >>> n = numpy.empty((5, 3), dtype=numpy.float64)
    >>> vector_norm(v, axis=1, out=n)
    >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))
    True
    >>> vector_norm([])
    0.0
    >>> vector_norm([1.0])
    1.0

###  [ Table Of Contents ](index.html)
  * transformations
    * Requirements
    * Notes
    * References
    * Examples
####  Previous topic
[ tf (Python) ](tf_python.html "previous chapter")
###  This Page
  * [ Show Source ](_sources/transformations.txt)
###  Quick search
Enter search terms or a module, class or function name.
###  Navigation
  * [ index ](genindex.html "General Index")
  * [ modules ](py-modindex.html "Python Module Index") |
  * [ previous ](tf_python.html "tf \(Python\)") |
  * [ tf 0.1.0 documentation ](index.html) »
© Copyright 2009, Willow Garage, Inc.. Created using [ Sphinx ](http://sphinx-
doc.org/) 1.2.2.


RtlTimeEstimate


[ ![](/main/px4-logo.svg) PX4 Guide (main)  ](/main/en/)


](/main/en/msg_docs/GimbalManagerStatus.html)


Video Streaming using WFB-ng Wifi (Long range)


](/main/en/dronecan/px4_cannode_fw.html)


Communication


ManualControlSetpoint


CUAV NEO 3 Pro GPS


##  Releases


Airplane Flying Handbook (FAA-H-8083-3C)
Chapter 6: Takeoffs and Departure Climbs
Introduction
About twenty percent of all yearly general aviation (GA) accidents occur during takeoff and departure climbs, and more than half of
those accidents are the result of some sort of failure of the pilot. A significant number of takeoff accidents are the result of loss of
control of the airplane. When compared to the entire profile of a normal flight, this phase of a flight is relatively short, but the pilot
workload is intense. This chapter discusses takeoffs and departure climbs in airplanes under normal conditions and under conditions
that require maximum performance.
Though it may seem relatively simple, the takeoff often presents the most hazards of any part of a flight. The importance of thorough
knowledge of procedures and techniques coupled with proficiency in performance cannot be overemphasized.
The discussion in this chapter is centered on airplanes with tricycle landing gear (nose-wheel). Procedures for conventional gear
airplanes (tail-wheel) are discussed in Chapter 14: Transition to Tailwheel Airplanes. The manufacturer’s recommended procedures
pertaining to airplane configuration, airspeeds, and other information relevant to takeoffs and departure climbs in a specific make and
model airplane are contained in the Federal Aviation Administration (FAA)-approved Airplane Flight Manual and/or Pilot’s
Operating Handbook (AFM/POH) for that airplane. If any of the information in this chapter differs from the airplane manufacturer’s
recommendations as contained in the AFM/POH, the airplane manufacturer’s recommendations take precedence.
Terms and Definitions
Although the takeoff and climb is one continuous maneuver, it will be divided into three separate steps for purposes of explanation:
1.) takeoff roll; 2.) lift-off; and 3.) initial climb after becoming airborne. Refer to Figure 6-1 and the detail below.
⦁ Takeoff roll (ground roll) is the portion of the takeoff procedure during which the airplane is accelerated
from a standstill to an airspeed that provides sufficient lift for it to become airborne.
⦁ Lift-off is when the wings are lifting the weight of the airplane off the surface. In most airplanes, this is the
result of the pilot rotating the nose up to increase the angle of attack (AOA).
⦁ The initial climb begins when the airplane leaves the surface and a climb pitch attitude has been established.
Normally, it is considered complete when the airplane has reached a safe maneuvering altitude or an en
route climb has been established.
Prior to Takeoff
Before going to the airplane, the pilot should check the POH/AFM performance charts to determine the predicted performance and
decide if the airplane is capable of a safe takeoff and climb for the conditions and location. [Figure 6-2] High density altitudes reduce
engine and propeller performance, increase takeoff rolls, and decrease climb performance. A more detailed discussion of density
altitude and how it affects airplane performance can be found in the Pilot’s Handbook of Aeronautical Knowledge (FAA-H-8083-25,
as revised).
All run-up and pre-takeoff checklist items should be completed before taxiing onto the runway or takeoff area. As a minimum before
every takeoff, all engine instruments should be checked for proper and usual indications, and all controls should be checked for full,
free, and correct movement. The pilot should also consider available options if an engine failure occurs after takeoff. These options
include the preferred direction for any emergency turns to landing sites based on the departure path, altitude, wind conditions, and
terrain. In addition, the pilot should make certain that the approach and takeoff paths are clear of other aircraft. At nontowered
airports, pilots should announce their intentions on the common traffic advisory frequency (CTAF) assigned to that airport. When
operating from a towered airport, pilots need to contact the tower operator and receive a takeoff clearance before taxiing onto the
active runway.


LeddarOne Lidar


](/main/en/flight_controller/beaglebone_blue.html)


Position Mode (FW)


Table of Contents for current page


VTOL w/o Airspeed Sensor


](/main/en/dronecan/holybro_m8n_gps.html)


](/main/en/middleware/drivers.html)


#####  Microhard Serial Telemetry Radio


](/main/en/modules/modules_template.html)


ParameterSetUsedRequest


SensorsStatusImu


](/main/en/modules/modules_driver_imu.html)


](/main/en/gps_compass/rtk_gps_holybro_h-rtk-m8p.html)


](/main/en/msg_docs/VelocityLimits.html)


EscReport


Traxxas Stampede


](/main/en/modules/modules_driver_magnetometer.html)


` tf.transformations. ` ` arcball_constrain_to_axis ` (  _point_ , _axis_ )
Â¶

Return sphere point perpendicular to axis.
` tf.transformations. ` ` arcball_map_to_sphere ` (  _point_ , _center_ ,
_radius_ )  Â¶

Return unit sphere coordinates from window coordinates.
` tf.transformations. ` ` arcball_nearest_axis ` (  _point_ , _axes_ )  Â¶

Return axis, which arc is nearest to point.
` tf.transformations. ` ` clip_matrix ` (  _left_ , _right_ , _bottom_ , _top_
, _near_ , _far_ , _perspective=False_ )  Â¶

Return matrix to obtain normalized device coordinates from frustrum.
The frustrum bounds are axis-aligned along x (left, right), y (bottom, top)
and z (near, far).
Normalized device coordinates are in range [-1, 1] if coordinates are inside
the frustrum.
If perspective is True the frustrum is a truncated pyramid with the
perspective point at origin and direction along z axis, otherwise an
orthographic canonical view volume (a box).
Homogeneous coordinates transformed by the perspective clip matrix need to be
dehomogenized (devided by w coordinate).

    >>> frustrum = numpy.random.rand(6)
    >>> frustrum[1] += frustrum[0]
    >>> frustrum[3] += frustrum[2]
    >>> frustrum[5] += frustrum[4]
    >>> M = clip_matrix(*frustrum, perspective=False)
    >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
    array([-1., -1., -1.,  1.])
    >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0])
    array([ 1.,  1.,  1.,  1.])
    >>> M = clip_matrix(*frustrum, perspective=True)
    >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])
    >>> v / v[3]
    array([-1., -1., -1.,  1.])
    >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0])


](/main/en/modules/modules_driver_distance_sensor.html)


](/main/en/flying/missions.html)


  * The starting point is the vehicle position when the takeoff mode is first entered.
  * The course is set to the vehicle heading on arming
  * The clearance altitude is set to  MIS_TAKEOFF_ALT  .


Septentrio mosaic-go


BetaFPV Beta75X 2S Brushless Whoop


ArmingCheckReply


ParameterResetRequest


](/main/en/assembly/quick_start_cuav_v5_nano.html)


Balloons (experimental)


MagnetometerBiasEstimate


](/main/en/gps_compass/rtk_gps_cuav_c-rtk-9ps.html)


Log Analysis using Flight Review


Terminology/Notation


Offboard Control from Linux


####  Consoles/Shells


](/main/en/advanced_config/tuning_the_ecl_ekf.html)


hello [ @marco.nc.arruda ](/u/marco.nc.arruda) ,
sorry for the late reply, i have added my rosject down below and added the
steps in which i have done in the jupiter notepad. I have been stuck with this
issue for a long time now! it would be great if this issue could be helped!


](/main/en/msg_docs/LandingTargetPose.html)


Calibration


](/main/en/gps_compass/rtk_gps_locosys_r1.html)


X500 v2 (Pixhawk 6C)


####  Grippers


SensorGps


##  Technical Summary


](/main/en/frames_multicopter/dji_f450_cuav_5nano.html)


Orbit Mode (MC)


](/main/en/debug/failure_injection.html)


](/main/en/modules/modules_driver_baro.html)


](/main/en/telemetry/ark_microhard_serial.html)


####  Telemetry Radio


](/main/en/msg_docs/LaunchDetectionStatus.html)


](/main/en/telemetry/esp8266_wifi_module.html)


GpioRequest


At takeoff, the takeoff roll, lift-off, and the beginning of the initial climb are accomplished within the ground effect area. The ground
effect causes local increases in static pressure, which cause the airspeed indicator and altimeter to indicate slightly lower values than
they should and usually cause the vertical speed indicator to indicate a descent. As the airplane lifts off and climbs out of the ground
effect area, the following occurs:
⦁ The airplane requires an increase in AOA to maintain lift coefficient.
⦁ The airplane experiences an increase in induced drag and thrust required.
⦁ The airplane experiences a pitch-up tendency and requires less elevator travel because of an increase
in downwash at the horizontal tail.
⦁ The airplane experiences a reduction in static source pressure and a corresponding increase in
indicated airspeed.
VX is the speed at which the airplane achieves the greatest gain in altitude for a given distance over the ground. It is usually slightly
less than VY, which is the greatest gain in altitude per unit of time. The specific speeds to be used for a given airplane are stated in the
FAA-approved AFM/POH. The pilot should be aware that, in some airplanes, a deviation of 5 knots from the recommended speed
may result in a significant reduction in climb performance; therefore, the pilot should maintain precise control of the airspeed to
ensure the maneuver is executed safely and successfully.
6-10
Due to the reduced drag in ground effect, the airplane may seem to be able to take off below the recommended airspeed. However, as
the airplane climbs out of ground effect below the recommended climb speed, initial climb performance will be much less than at VY
or even VX. Under conditions of high density altitude, high temperature, and/or maximum gross weight, the airplane may be able to
lift off but will be unable to climb out of ground effect. Consequently, the airplane may not be able to clear obstructions. Lift-off
before attaining recommended flight airspeed incurs more drag, which requires more power to overcome. Since the initial takeoff and
climb is based on maximum power, reducing drag is the only option. To reduce drag, pitch should be reduced which means losing
altitude. Pilots should remember that many airplanes cannot safely takeoff at maximum gross weight at certain altitudes and
temperatures, due to lack of performance. Therefore, under marginal conditions, it is important that the airplane takes off at the speed
recommended for adequate initial climb performance.
Ground effect is important to normal flight operations. If the runway is long enough or if no obstacles exist, ground effect can be used
to the pilot’s advantage by using the reduced drag to improve initial acceleration.
When taking off from an unsatisfactory surface, the pilot should apply as much weight to the wings as possible during the ground run
and lift-off, using ground effect as an aid, prior to attaining true flying speed. The pilot should reduce AOA to attain normal airspeed
before attempting to fly out of the ground effect areas.
Short-Field Takeoff and Maximum Performance Climb
When performing takeoffs and climbs from fields where the takeoff area is short or the available takeoff area is restricted by
obstructions, the pilot should operate the airplane at the maximum limit of its takeoff performance capabilities. To depart from such
an area safely, the pilot needs to exercise positive and precise control of airplane attitude and airspeed, so that takeoff and climb
performance result in the shortest ground roll and the steepest angle of climb. [Figure 6-8] The pilot should consult and follow the
performance section of the AFM/POH to obtain the power setting, flap setting, airspeed, and procedures prescribed by the airplane’s
manufacturer.
Figure 6-8. Short-field takeoff.
The pilot should have adequate knowledge in the use and effectiveness of the best angle-of-climb speed (VX) and the best rate-ofclimb speed (VY) for the specific make and model of airplane being flown in order to safely accomplish a takeoff at maximum
performance.


  1. **Throttle ramp** : Throttle is ramped up within [ RWTO_RAMP_TIME ](./../advanced_config/parameter_reference.html#RWTO_RAMP_TIME) to [ RWTO_MAX_THR ](./../advanced_config/parameter_reference.html#RWTO_MAX_THR) .
  2. **Clamped to runway** : Pitch fixed, no roll and takeoff path controlled until the rotation airspeed ( [ RWTO_ROT_AIRSPD ](./../advanced_config/parameter_reference.html#RWTO_ROT_AIRSPD) ) is reached. The operator is able to nudge the vehicle left/right via yaw stick.
  3. **Climbout** : Increase pitch setpoint and climb to takeoff altitude. To prevent wingstrikes, the controller will keep the roll setpoint locked to 0 when close to the ground, and then gradually allow more roll while climbing. It is based on the vehicle geometry as configured in  FW_WING_SPAN  and  FW_WING_HEIGHT  .


](/main/en/peripherals/camera_t265_vio.html)


VehicleConstraints


Maintenance


Sensor/Topic Debugging


](/main/en/power_module/sky-drones_smartap-pdb.html)


CameraCapture


](/main/en/msg_docs/VehicleLocalPositionSetpoint.html)


](/main/en/msg_docs/ParameterSetValueResponse.html)


](/main/en/gps_compass/septentrio_mosaic-go.html)


    <launch>
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name = "world_name" value = "$(find line_follower_turtlebot)/Maps/lfm1.world"/>
    </include>
    </launch>


](/main/en/sim_jmavsim/multi_vehicle.html)


Turbo Timber Evolution (Pixhawk 4 Mini)


I2C bus accelerators


](/main/en/msg_docs/FollowTargetEstimator.html)


####  Tachometers (Revolution Counters)


Template


](/main/en/msg_docs/ActuatorOutputs.html)


####  ROS 1 with MAVROS


ARK Electronics Pixhawk Autopilot Bus Carrier


###  Rovers (experimental)


](/main/en/msg_docs/EstimatorGpsStatus.html)


](/main/en/sensor/rangefinders.html)


](/main/en/flight_controller/pixhawk3_pro.html)


Flight Modes


](/main/en/msg_docs/TrajectoryBezier.html)


](/main/en/flying/first_flight_guidelines.html)


](/main/en/flight_controller/raspberry_pi_pilotpi.html)


####  RTK GNSS


VehicleCommand


Altitude Mode (MC)


SWD Debug Port


Reptile Dragon 2 (ARK6X)


  * [ Home ](/)
  * [ Categories ](/categories)
  * [ FAQ/Guidelines ](/guidelines)
  * [ Terms of Service ](http://www.theconstructsim.com/terms_and_conditions/)
  * [ Privacy Policy ](http://www.theconstructsim.com/privacy_policy/)


](/main/en/msg_docs/UavcanParameterRequest.html)


](/main/en/advanced_config/flight_termination.html)


CubePilot Cube Orange+ (CubePilot)


Omnibus F4 SD


Static Pressure Buildup


JLink Probe


](/main/en/dev_setup/config_initial.html)


[ 한국어 (Korean)  ](/main/ko/flight_modes_fw/takeoff.html)


](/main/en/dev_setup/dev_env_linux_ubuntu.html)


](/main/en/flight_controller/cuav_v5_plus.html)


Navigation Interface


](/main/en/flying/package_delivery_mission.html)


ModalAI Flight Core v1


[ ![](https://github.com/Dronecode/dronecode-wordpress-
theme/raw/master/dronecode-salient-
child/images/dronecode_top_bar_logo_full.png) ](https://www.dronecode.org/)


](/main/en/sensor/airspeed.html)


](/main/en/frames_plane/turbo_timber_evolution.html)


CUAV C-RTK


Holybro Pixhawk 4 Wiring Quickstart - Discontinued


Trimming Guide


](/main/en/log/plotjuggler_log_analysis.html)


GimbalDeviceAttitudeStatus


CUAV V5 nano Wiring Quickstart


remember that since the ailerons and rudder are deflected, drag will increase; therefore, less initial takeoff performance should be
expected until the airplane is wings-level in coordinated flight in the climb.
While taxiing into takeoff position, it is essential that the pilot check the windsock and other wind direction indicators for the
presence of a crosswind. If a crosswind is present, the pilot should apply full aileron pressure into the wind while beginning the
takeoff roll. The pilot should maintain this control position, as the airplane accelerates, and until the ailerons become effective in
maneuvering the airplane about its longitudinal axis. As the ailerons become effective, the pilot will feel an increase in pressure on
the aileron control.
6-6
While holding aileron pressure into the wind, the pilot should use the rudder to maintain a straight takeoff path. [Figure 6-4] Since
the airplane tends to weathervane into the wind while on the ground, the pilot will typically apply downwind rudder pressure. When
the pilot increases power for takeoff, the resulting P-factor causes the airplane to yaw to the left. While this yaw may be sufficient to
counteract the airplane’s tendency to weathervane into the wind in a crosswind from the right, it may aggravate this tendency in a
crosswind from the left. In any case, the pilot should apply rudder pressure in the appropriate direction to keep the airplane rolling
straight down the runway.
Figure 6-4. Crosswind roll and takeoff climb.
As the forward speed of the airplane increases, the pilot should apply sufficient aileron pressure into the crosswind to keep the wings
level. The effect of the crosswind component will not completely vanish; therefore, the pilot needs to maintain some aileron pressure
throughout the takeoff roll. If the upwind wing rises, the amount of wing surface exposed to the crosswind will increase, which may
cause the airplane to lose lateral alignment with the runway centerline and to "skip." [Figure 6-5] The pilot uses rudder pressure to
keep the airplane’s longitudinal axis parallel to the runway centerline.
This “skipping” is usually indicated by a series of very small bounces caused by the airplane attempting to fly and then settling back
onto the runway. During these bounces, the crosswind also tends to move the airplane sideways, and these bounces develop into sideskipping. This side-skipping imposes severe side stresses on the landing gear and may result in structural failure.
During a crosswind takeoff roll, it is important that the pilot hold sufficient aileron pressure into the wind not only to keep the upwind
wing from rising but to hold that wing down so that the airplane sideslips into the wind enough to counteract drift immediately after
lift-off.
Lift-Off
As the nose-wheel raises off of the runway, the pilot should hold aileron pressure into the wind. This may cause the downwind wing
to rise and the downwind main wheel to lift off the runway first, with the remainder of the takeoff roll being made on that one main
wheel. This is acceptable and is preferable to side-skipping.
If a significant crosswind exists, the pilot should hold the main wheels on the ground slightly longer than in a normal takeoff so that a
smooth but very definite lift-off can be made. This allows the airplane to leave the ground under more positive control and helps it
remain airborne while the pilot establishes the proper amount of wind correction. More importantly, this procedure avoids imposing
excessive side-loads on the landing gear and prevents possible damage that would result from the airplane settling back to the runway
while drifting.
6-7
As both main wheels leave the runway, the airplane begins to drift sideways with the wind, as ground friction is no longer a factor in
preventing lateral movement. To minimize this lateral movement and to keep the upwind wing from rising, the pilot should establish
and maintain the proper amount of crosswind correction prior to lift-off by applying aileron pressure into the wind. The pilot should
also apply rudder pressure, as needed, to prevent weathervaning.
Figure 6-5. Crosswind effect.


Test MC_01 - Manual Modes


TransponderReport


](/main/en/robotics/index.html)


ULog File Format


[ External Requests  ](/c/external-requests/50)


](/main/en/gps_compass/septentrio_asterx-rib.html)


[ 中文 (Chinese)  ](/main/zh/flight_modes_fw/takeoff.html)


RTK GPS (Integration)


](/main/en/frames_multicopter/kits.html)


Mission Mode (VTOL)


GimbalManagerSetAttitude


](/main/en/msg_docs/VehicleAirData.html)


[ v1.13  ](https://docs.px4.io/v1.13/en/)


](/main/en/getting_started/flight_reporting.html)


Calibration


](/main/en/config_mc/mc_trajectory_tuning.html)


Holybro Pixhawk RPI CM4 Baseboard


](/main/en/msg_docs/PositionSetpointTriplet.html)


MessageFormatResponse


DJI F450 (CUAV v5+)


](/main/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.html)


](/main/en/modules/modules_controller.html)


](/main/en/telemetry/rfd900_telemetry.html)


SensorHygrometer


](/main/en/msg_docs/VehicleAngularVelocity.html)


Weight & Altitude Tuning


](/main/en/dev_setup/dev_env_linux_centos.html)


EstimatorStatus


####  Tailsitter VTOL


###  Source Code Management


####  DIY Builds


](/main/en/flight_controller/raspberry_pi_navio2.html)


###  Autogyros (experimental)


Holybro Pixhawk 6X (FMUv6X)


Stabilized Mode (FW)


The vehicle always respects normal FW max/min throttle settings during takeoff
( [ FW_THR_MIN ](./../advanced_config/parameter_reference.html#FW_THR_MIN) , [
FW_THR_MAX ](./../advanced_config/parameter_reference.html#FW_THR_MAX) ).


[ v1.12  ](https://docs.px4.io/v1.12/en/)


Other/Generic Tools


SensorGyroFft


Rate/Attitude Controller Tuning Guide


EstimatorStates


VehicleAcceleration


Manual/Stabilized Mode (MC)


To launch in this mode:


MindRacer 210


](/main/en/peripherals/mavlink_peripherals.html)


](/main/en/contribute/code.html)


VTOL Weather Vane


uORB Messaging


](/main/en/msg_docs/UavcanParameterValue.html)


Bootloader Update FMUv6X-RT via USB


CUAV v5


LaunchDetectionStatus


RegisterExtComponentRequest


CUAV HV pm


](/main/en/msg_docs/FailureDetectorStatus.html)


CUAV NEO 3X GPS


ROS/MAVROS Offboard Example (Python)


](/main/en/gps_compass/magnetometer.html)


Radio Setup


HolyBro XBP9X - Discontinued


Holybro Pixhawk 4 (FMUv5)


[ Website  ](https://px4.io/)


#####  Raspberry Pi 2/3/4 PilotPi


SensorPreflightMag


Log Analysis using PlotJuggler


](/main/en/peripherals/oneshot.html)


GeofenceResult


Runway takeoffs can be used by vehicles with landing gear and and steerable
wheel (only). You will first need to enable the wheel controller using the
parameter  FW_W_EN  .


Logging


QuadPlane Configuration


ThePeach FCC-K1


PowerMonitor


](/main/en/advanced_config/ethernet_setup.html)


FlightPhaseEstimation


](/main/en/flight_controller/cubepilot_cube_orangeplus.html)


](/main/en/config/gyroscope.html)


Dev Call


[ Dronecode ](https://www.dronecode.org/)


Full Parameter Reference


](/main/en/msg_docs/OffboardControlMode.html)


](/main/en/config/safety.html)


INFO


Sidebar Navigation


uORB Graph


Holybro PM02


ROS/MAVROS Sending Custom Messages


](/main/en/msg_docs/VehicleAngularAccelerationSetpoint.html)


SensorMag


WheelEncoders


PwmInput


mRobotics-X2.1 (FMUv2)


](/main/en/flight_controller/dropix.html)


Holybro Pix32 v5


](/main/en/flight_controller/holybro_pix32_v6.html)


](/main/en/dev_setup/dev_env_advanced_linux.html)


ECL/EKF Overview & Tuning


Holybro PM06 V2


UnregisterExtComponent


](/main/en/msg_docs/DatamanRequest.html)


](/main/en/config/joystick.html)


](/main/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.html)


CentOS Linux


Holybro PM07


ControlAllocatorStatus


####  Bootloader Update


Parameter  |  Description
---|---
[ MIS_TAKEOFF_ALT
](./../advanced_config/parameter_reference.html#MIS_TAKEOFF_ALT) |  Minimum
altitude setpoint above Home that the vehicle will climb to during takeoff.
[ FW_TKO_AIRSPD ](./../advanced_config/parameter_reference.html#FW_TKO_AIRSPD)
|  Takeoff airspeed (is set to [ FW_AIRSPD_MIN
](./../advanced_config/parameter_reference.html#FW_AIRSPD_MIN) if not defined
by operator)
[ FW_TKO_PITCH_MIN
](./../advanced_config/parameter_reference.html#FW_TKO_PITCH_MIN) |  This is
the minimum pitch angle setpoint during the climbout phase
[ FW_T_CLMB_MAX ](./../advanced_config/parameter_reference.html#FW_T_CLMB_MAX)
|  Maximum climb rate.

INFO


####  Flight Controller Porting Guide


Holybro Kotleta


###  Platform Testing and CI


](/main/en/modules/modules_driver_ins.html)


Land Detector Configuration


](/main/en/msg_docs/SensorGyroFifo.html)


DebugArray


Irrespective of the modality, a flight path (starting point and takeoff
course) and clearance altitude are defined:


Visual Studio Code IDE


Lightware SFxx Lidar


DShot ESCs


Holybro Pixhawk 5X (FMUv5X)


](/main/en/msg_docs/NavigatorMissionItem.html)


](/main/en/msg_docs/ControlAllocatorStatus.html)


####  Windows Cygwin Toolchain


](/main/en/dev_setup/dev_env_windows_wsl.html)


LoggerStatus


VehicleAngularAccelerationSetpoint


MagWorkerData


Offboard Mode (MC)


####  Simulators


](/main/en/msg_docs/SensorAccelFifo.html)


](/main/en/flight_modes_fw/offboard.html)


RadioStatus


[ 中文 (Chinese)  ](/main/zh/flight_modes_fw/takeoff.html)


](/main/en/flight_controller/mindracer.html)


ROS 2 Offboard Control Example


ARK Electron Microhard Serial Telemetry Radio


Level Horizon Calibration


](/main/en/msg_docs/MountOrientation.html)


Vibration Isolation


Recommended Hardware/Setup


[ The Construct ROS Community ](/)


HITL Simulation


ARK CANnode


Installing driver for Intel RealSense R200


Failsafe Simulation


](/main/en/smart_batteries/rotoye_batmon.html)


](/main/en/payloads/generic_actuator_control.html)


TelemetryStatus


](/main/en/sensor/barometer.html)


ARK Flow


Return Mode (Generic/All)


###  Concepts


Ranger QuadPlane (Pixhawk)


ROS 2 User Guide


](/main/en/flight_controller/omnibus_f4_sd.html)


##  Flying


](/main/en/frames_multicopter/index.html)


Compass Power Compensation


ParameterUpdate


](/main/en/computer_vision/path_planning_interface.html)


Return Mode (FW)


ParameterSetValueResponse


Acro Mode (FW)


####  Power Modules/PDB


ConfigOverrides


HealthReport


](/main/en/frames_rover/traxxas_stampede.html)


Joysticks


](/main/en/flight_modes_mc/altitude.html)


](/main/en/flying/index.html)


Use Cases


](/main/en/config_fw/weight_and_altitude_tuning.html)


####  ESCs & Motors


GpioConfig


Holybro Pixhawk 6C Wiring Quickstart


](/main/en/advanced/parameters_and_configurations.html)


AirMind MindRacer


Takeoff mode (and [ fixed wing mission takeoff
](./../flight_modes_fw/mission.html#mission-takeoff) ) has two modalities:
catapult/hand-launch  or  runway takeoff  (hardware-dependent). The mode
defaults to catapult/hand launch, but can be set to runway takeoff by setting
RWTO_TKOFF  to 1.


](/main/en/flight_controller/cuav_v5_nano.html)


` tf.transformations. ` ` scale_matrix ` (  _factor_ , _origin=None_ ,
_direction=None_ )  Â¶

Return matrix to scale by factor around origin in direction.
Use factor -1 for point symmetry.

    >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0
    >>> v[3] = 1.0
    >>> S = scale_matrix(-1.234)
    >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3])
    True
    >>> factor = random.random() * 10 - 5
    >>> origin = numpy.random.random(3) - 0.5
    >>> direct = numpy.random.random(3) - 0.5
    >>> S = scale_matrix(factor, origin)
    >>> S = scale_matrix(factor, origin, direct)

` tf.transformations. ` ` shear_from_matrix ` (  _matrix_ )  Â¶

Return shear angle, direction and plane from shear matrix.

    >>> angle = (random.random() - 0.5) * 4*math.pi
    >>> direct = numpy.random.random(3) - 0.5
    >>> point = numpy.random.random(3) - 0.5
    >>> normal = numpy.cross(direct, numpy.random.random(3))
    >>> S0 = shear_matrix(angle, direct, point, normal)
    >>> angle, direct, point, normal = shear_from_matrix(S0)
    >>> S1 = shear_matrix(angle, direct, point, normal)
    >>> is_same_transform(S0, S1)
    True

` tf.transformations. ` ` shear_matrix ` (  _angle_ , _direction_ , _point_ ,
_normal_ )  Â¶

Return matrix to shear by angle along direction vector on shear plane.
The shear plane is defined by a point and normal vector. The direction vector
must be orthogonal to the plane’s normal vector.


⦁ Failure to have the airplane properly trimmed prior to takeoff.
⦁ Premature lift-off resulting in high drag.
⦁ Holding the airplane on the ground unnecessarily with excessive forward-elevator pressure.
⦁ Inadequate rotation resulting in excessive speed after lift-off.
⦁ Inability to attain/maintain VX.
⦁ Fixation on the airspeed indicator during initial climb.
⦁ Premature retraction of landing gear and/or wing flaps.
6-12
Soft/Rough-Field Takeoff and Climb
Takeoffs and climbs from soft fields require the use of operational techniques for getting the airplane airborne as quickly as possible
to eliminate the drag caused by tall grass, soft sand, mud, and snow and may require climbing over an obstacle. The technique makes
judicious use of ground effect to reduce landing gear drag and requires an understanding of the airplane’s slow speed characteristics
and responses. These same techniques are also useful on a rough field where the pilot should get the airplane off the ground as soon
as possible to avoid damaging the landing gear.
Taking off from a soft surface or through soft surfaces or long, wet grass reduces the airplane’s ability to accelerate during the takeoff
roll and may prevent the airplane from reaching adequate takeoff speed if the pilot applies normal takeoff techniques. The pilot
should be aware that the correct takeoff procedure for soft fields is quite different from the takeoff procedures used for short fields
with firm, smooth surfaces. To minimize the hazards associated with takeoffs from soft or rough fields, the pilot should transfer the
support of the airplane’s weight as rapidly as possible from the wheels to the wings as the takeoff roll proceeds by establishing and
maintaining a relatively high AOA or nose-high pitch attitude as early as possible. The pilot should lower the wing flaps prior to
starting the takeoff (if recommended by the manufacturer) to provide additional lift and to transfer the airplane’s weight from the
wheels to the wings as early as possible. The pilot should maintain a continuous motion with sufficient power while lining up for the
takeoff roll as stopping on a soft surface, such as mud or snow, might bog the airplane down.
Takeoff Roll
As the airplane is aligned with the takeoff path, the pilot should apply takeoff power smoothly and as rapidly as the powerplant can
accept without faltering. As the airplane accelerates, the pilot should apply enough back-elevator pressure to establish a positive AOA
and to reduce the weight supported by the nose-wheel.
When the airplane is held at a nose-high attitude throughout the takeoff run, the wings increasingly relieve the wheels of the airplane’s
weight as speed increases and lift develops, thereby minimizing the drag caused by surface irregularities or adhesion. If this attitude is
accurately maintained, the airplane virtually flies itself off the ground, becoming airborne but at an airspeed slower than a safe climb
speed because of ground effect. [Figure 6-10]
Figure 6-10. Soft-field takeoff.
Lift-Off
After the airplane becomes airborne, the pilot should gently lower the nose with the wheels clear of the surface to allow the airplane
to accelerate to a minimum safe climb out speed, Immediately after the airplane becomes airborne and while it accelerates, the pilot
should be aware that, while transitioning out of the ground effect area, the airplane will have a tendency to settle back onto
the surface, even with full power applied. Therefore, it is essential that the airplane remain in ground effect until at least VX is
reached. This requires a good understanding of the control pressures, aircraft responses, visual clues, and acceleration
characteristics of that particular airplane.
Initial Climb


ActuatorOutputs


](/main/en/middleware/uorb.html)


](/main/en/flight_controller/pixhack_v3.html)


Intel® Aero RTF Drone (Discontinued)


#####  FlightGear Simulation


CUAV CAN PMU


Parameter  |  Description
---|---
[ FW_LAUN_DETCN_ON
](./../advanced_config/parameter_reference.html#FW_LAUN_DETCN_ON) |  Enable
automatic launch detection. If disabled motors spin up on arming already
[ FW_LAUN_AC_THLD
](./../advanced_config/parameter_reference.html#FW_LAUN_AC_THLD) |
Acceleration threshold (acceleration in body-forward direction must be above
this value)
[ FW_LAUN_AC_T ](./../advanced_config/parameter_reference.html#FW_LAUN_AC_T) |
Trigger time (acceleration must be above threshold for this amount of seconds)
[ FW_LAUN_MOT_DEL
](./../advanced_config/parameter_reference.html#FW_LAUN_MOT_DEL) |  Delay from
launch detection to motor spin up

##  Runway Takeoff


Powered by [ Discourse ](https://www.discourse.org) , best viewed with
JavaScript enabled


](/main/en/gps_compass/gps_smartap.html)


](/main/en/gps_compass/gps_cuav_neo_3x.html)


Test MC_04 - Failsafe Testing


FigureEightStatus


Parameter  |  Description
---|---
[ RWTO_TKOFF ](./../advanced_config/parameter_reference.html#RWTO_TKOFF) |
Enable runway takeoff
[ FW_W_EN ](./../advanced_config/parameter_reference.html#FW_W_EN) |  Enable
wheel controller
[ RWTO_MAX_THR ](./../advanced_config/parameter_reference.html#RWTO_MAX_THR) |
Max throttle during runway takeoff
[ RWTO_RAMP_TIME
](./../advanced_config/parameter_reference.html#RWTO_RAMP_TIME) |  Throttle
ramp up time
[ RWTO_ROT_AIRSPD
](./../advanced_config/parameter_reference.html#RWTO_ROT_AIRSPD) |  Airspeed
threshold to start rotation (pitching up). If not configured by operator is
set to 0.9*FW_TKO_AIRSPD.
[ RWTO_ROT_TIME ](./../advanced_config/parameter_reference.html#RWTO_ROT_TIME)
|  This is the time desired to linearly ramp in takeoff pitch constraints
during the takeoff rotation.
[ FW_TKO_AIRSPD ](./../advanced_config/parameter_reference.html#FW_TKO_AIRSPD)
|  Airspeed setpoint during the takeoff climbout phase (after rotation). If
not configured by operator is set to FW_AIRSPD_MIN.
[ RWTO_NUDGE ](./../advanced_config/parameter_reference.html#RWTO_NUDGE) |
Enable wheel controller nudging while on the runway
[ FW_WING_SPAN ](./../advanced_config/parameter_reference.html#FW_WING_SPAN) |
The wingspan of the vehicle. Used to prevent wingstrikes.
[ FW_WING_HEIGHT
](./../advanced_config/parameter_reference.html#FW_WING_HEIGHT) |  The height
of the wings above ground (ground clearance). Used to prevent wingstrikes.
[ RWTO_NPFG_PERIOD
](./../advanced_config/parameter_reference.html#RWTO_NPFG_PERIOD) |  L1 period
while steering on runway. Increase for less aggressive response to course
errors.
[ FW_FLAPS_TO_SCL
](./../advanced_config/parameter_reference.html#FW_FLAPS_TO_SCL) |  Flaps
setpoint during takeoff

##  See Also


Test MC_05 - Indoor Flight (Manual Modes)


](/main/en/index.html)


](/main/en/peripherals/vesc.html)


IridiumsbdStatus


](/main/en/msg_docs/VehicleAttitude.html)


Bitcraze Crazyflie 2.1


](/main/en/msg_docs/TiltrotorExtraControls.html)


](/main/en/flight_controller/pixracer.html)


Actuator Allocation


](/main/en/power_module/cuav_hv_pm.html)


](/main/en/ros/ros2_offboard_control.html)


Holybro PM02D (digital)


####  Computer Vision


###  Helicopter (experimental)


###  Safety


Commands


](/main/en/sensor/thunderfly_tachometer.html)


](/main/en/complete_vehicles_mc/modalai_starling.html)


SensorAirflow


    >>> P = projection_matrix((0, 0, 0), (1, 0, 0))
    >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:])
    True
    >>> point = numpy.random.random(3) - 0.5
    >>> normal = numpy.random.random(3) - 0.5
    >>> direct = numpy.random.random(3) - 0.5
    >>> persp = numpy.random.random(3) - 0.5
    >>> P0 = projection_matrix(point, normal)
    >>> P1 = projection_matrix(point, normal, direction=direct)
    >>> P2 = projection_matrix(point, normal, perspective=persp)
    >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True)
    >>> is_same_transform(P2, numpy.dot(P0, P3))
    True
    >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0))
    >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0
    >>> v0[3] = 1.0
    >>> v1 = numpy.dot(P, v0)
    >>> numpy.allclose(v1[1], v0[1])
    True
    >>> numpy.allclose(v1[0], 3.0-v1[1])
    True

` tf.transformations. ` ` quaternion_about_axis ` (  _angle_ , _axis_ )  Â¶

Return quaternion for rotation about axis.

    >>> q = quaternion_about_axis(0.123, (1, 0, 0))
    >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947])
    True

` tf.transformations. ` ` quaternion_conjugate ` (  _quaternion_ )  Â¶

Return conjugate of quaternion.

    >>> q0 = random_quaternion()
    >>> q1 = quaternion_conjugate(q0)


Autotune


CUAV NEO 3 GPS


FlightGear Vehicles


](/main/en/modules/modules_driver_transponder.html)


](/main/en/flight_modes_fw/position.html)


](/main/en/assembly/quick_start_holybro_pix32_v5.html)


Holybro H-RTK-F9P


####  Airspeed Sensors


](/main/en/frames_autogyro/thunderfly_auto_g2.html)


Lanbao PSK-CM8JL65-CC5


](/main/en/tutorials/motion-capture.html)


](/main/en/contribute/docs.html)


](/main/en/hardware/porting_guide_nuttx.html)


](/main/en/assembly/quick_start_pixracer.html)


[ Мови (Ukrainian)  ](/main/uk/flight_modes_fw/takeoff.html)


](/main/en/flying/terrain_following_holding.html)


](/main/en/msg_docs/SensorOpticalFlow.html)


mRo Pixracer (FMUv4)


](/main/en/modules/modules_command.html)


](/main/en/frames_multicopter/diy_builds.html)


[ Docs Source Code  ](https://github.com/PX4/PX4-user_guide)


  * 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.
  * 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.html#failure-detector) will automatically stop the engines if there is a problem on takeoff.


Mission Mode (FW)


](/main/en/companion_computer/auterion_skynode.html)


](/main/en/msg_docs/VehicleMagnetometer.html)


Motion Capture (MoCap)


Airspeed


Holybro Pix32 v5 Wiring Quickstart


](/main/en/config/autotune.html)


](/main/en/complete_vehicles_vtol/index.html)


](/main/en/flight_controller/snapdragon_flight.html)


Sensor Thermal Compensation


Ainstein US-D1 Standard Radar Altimeter


](/main/en/companion_computer/companion_computer_peripherals.html)


](/main/en/msg_docs/PowerButtonState.html)


](/main/en/assembly/quick_start_pixhawk.html)


](/main/en/advanced/package_delivery.html)


ARK RTK GPS


CUAV Pixhawk V6X (FMUv6X)


PID Tuning Guide (Manual/Advanced)


](/main/en/getting_started/led_meanings.html)


###  Companion Computers


Windows Cygwin Toolchain Maintenance


Vehicle should be centered and aligned with runway when takeoff is initiated.
The operator can "nudge" the vehicle while on the runway to help keeping it
centered and aligned (see [ RWTO_NUDGE
](./../advanced_config/parameter_reference.html#RWTO_NUDGE) ).


MavlinkTunnel


STLink Probe


TuneControl


](/main/en/dev_setup/dev_env_windows_cygwin.html)


UavcanParameterRequest


](/main/en/flight_modes_fw/altitude.html)


##  Flight Log Analysis


Thanks !


](/main/en/msg_docs/VehicleTrajectoryBezier.html)


](/main/en/complete_vehicles_mc/crazyflie21.html)


](/main/en/frames_multicopter/holybro_x500_pixhawk4.html)


Search  ` ` ` K `


2 tasks


[ @jennuine ](https://github.com/jennuine) I've tried your patch and I've got
the same output, the GUI freezes.
[ @iche033 ](https://github.com/iche033) 5.15.11 looks like a commercial
release. If it does solve the issue, what do you suggest to try it out?

---

All reactions


Copy link


![-](closed.png) Properties inherited from [ QObject
](http://doc.qt.io/qt-5/qobject.html)
|  [ objectName ](http://doc.qt.io/qt-5/qobject.html#objectName-prop)

##  Additional Inherited Members

---
![-](closed.png) Static Public Member Functions inherited from [ QObject
](http://doc.qt.io/qt-5/qobject.html)
bool  |  [ connect ](http://doc.qt.io/qt-5/qobject.html#connect) (const [
QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const char *signal, const [
QObject ](http://doc.qt.io/qt-5/qobject.html) *receiver, const char *method,
Qt::ConnectionType type)
bool  |  [ connect ](http://doc.qt.io/qt-5/qobject.html#connect-2) (const [
QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &signal, const [ QObject
](http://doc.qt.io/qt-5/qobject.html) *receiver, const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &method, Qt::ConnectionType type)
bool  |  [ disconnect ](http://doc.qt.io/qt-5/qobject.html#disconnect) (const
[ QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const char *signal, const [
QObject ](http://doc.qt.io/qt-5/qobject.html) *receiver, const char *method)
bool  |  [ disconnect ](http://doc.qt.io/qt-5/qobject.html#disconnect-2)
(const [ QObject ](http://doc.qt.io/qt-5/qobject.html) * [ sender
](http://doc.qt.io/qt-5/qobject.html#sender) , const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &signal, const [ QObject
](http://doc.qt.io/qt-5/qobject.html) *receiver, const [ QMetaMethod
](http://doc.qt.io/qt-5/qmetamethod.html) &method)
[ QString ](http://doc.qt.io/qt-5/qstring.html) |  [ tr
](http://doc.qt.io/qt-5/qobject.html#tr) (const char *sourceText, const char
*disambiguation, int n)
[ QString ](http://doc.qt.io/qt-5/qstring.html) |  [ trUtf8
](http://doc.qt.io/qt-5/qobject.html#trUtf8) (const char *sourceText, const
char *disambiguation, int n)
![-](closed.png) Protected Member Functions inherited from [ Plugin
](classignition_1_1gui_1_1Plugin.html)
void  |  [ DeleteLater
](classignition_1_1gui_1_1Plugin.html#acf148f507cd3f4efe843cee455a679b9) ()


Labels


    [GUI] [Dbg] [Application.cc:426] Loading plugin [NavSatMap]
    [GUI] [Wrn] [Application.cc:797] [QT] file::/NavSatMap/NavSatMap.qml:160:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
    [GUI] [Wrn] [Application.cc:797] [QT] QObject::connect(QQuickWindow, QDeclarativeGeoMap): invalid nullptr parameter
    [GUI] [Msg] Added plugin [Navigation satellite map] to main window
    [GUI] [Msg] Loaded plugin [NavSatMap] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libNavSatMap.so]
    [GUI] [Wrn] [Application.cc:797] [QT] QGeoTileProviderOsm: Tileserver disabled at  QUrl("http://maps-redirect.qt.io/osm/5.8/satellite")
    [GUI] [Wrn] [Application.cc:797] [QT] QGeoTileFetcherOsm: all providers resolved


Contributor


                <erp>0.20000000000000001</erp>
              </limit>
            </ode>
          </physics>
        </joint>
        <link name='end_effector'>
          <pose relative_to='j1'>0 0 0 0 0 0</pose>
          <inertial>
            <pose>0 0 0 0 0 0</pose>
            <mass>0.12</mass>
            <inertia>
              <ixx>0.01</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>0.01</iyy>
              <iyz>0</iyz>
              <izz>0.01</izz>
            </inertia>
          </inertial>
        </link>
      </model>
    </sdf>


* Open Source


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


Any news about this bug?

---

All reactions


This tag is only relevant when using Gazebo-classic as the new version of
Gazebo does not use material scripts. However, it is still possible to change
the appearance of visuals that is compatible with the new Gazebo and this is
by using the ` //gazebo/visual/material ` tag. Note the difference from the
previous tag as the ` <material> ` tag is not directly under ` <gazebo> ` ,
but under ` <visual> ` . This ` <material> ` tag contains child elements as
defined in the [ material ](http://sdformat.org/spec?ver=1.9&elem=material)
specification.

**Example:**

    <?xml version='1.0' encoding='UTF-8'?>
    <!--URDF-->
    <robot name='material_example'>
      <link name='base_link'>
        <inertial>
          <mass value='0.12' />
          <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
        </inertial>
        <visual>
          <geometry>
            <sphere radius="2"/>
          </geometry>
        </visual>
      </link>
      <gazebo reference='base_link'>
        <visual>
          <material>
            <diffuse>0 0 1 1 </diffuse>
          </material>
        </visual>
      </gazebo>
    </robot>

results in:


                <ode>
                  <mu>0.25</mu>
                </ode>
              </friction>
            </surface>
          </collision>
          <collision name='base_link_collision_1'>
            <pose>0 0 0 0 0 0</pose>
            <geometry>
              <cylinder>
                <length>2</length>
                <radius>1</radius>
              </cylinder>
            </geometry>
            <surface>
              <contact>
                <ode/>
              </contact>
              <friction>
                <ode>
                  <mu>0.25</mu>
                </ode>
              </friction>
            </surface>
          </collision>
        </link>
      </model>
    </sdf>


|  virtual void LoadConfig  |  (  |  const tinyxml2::XMLElement *  |
__pluginElem_ |  )  |
---|---|---|---|---|---
virtual

Load the plugin with a configuration file. Override this on custom plugins to
handle custom configurations.


Hi [ @ijnek ](https://github.com/ijnek) I have tried both fortress from source
and binaries and am not able to reproduce the crash (I've tried launching `
ign gazebo -v 4 ` then adding the plugin manually and also ` ign gazebo -v 4
spherical_coordinates.sdf ` ). I suggest double checking your installation and
make sure it's set up correctly. An option is to uninstall then reinstall
fortress: [ https://gazebosim.org/docs/fortress/install_ubuntu
](https://gazebosim.org/docs/fortress/install_ubuntu)

---

All reactions


Display NavSat messages coming through an Ignition transport topic on top of a
map. [ More... ](classignition_1_1gui_1_1plugins_1_1NavSatMap.html#details)


##  Comments


[
![@23pointsNorth](https://avatars.githubusercontent.com/u/3803951?s=80&u=a06ddb98f992b4fb4434058d3db0d64b5cd2ffde&v=4)
](/23pointsNorth)


Name


Sorry, something went wrong.


Update: closed PR as it's not clear if we can use the ` mapboxgl ` plugin and
it still freezes. Gazebo users are free to sign up to map box's free tier
account and get an access token to use.

---

All reactions


##  Environment


Copy link


I'm on humble + garden (7.6) and just adding the navsat plugin in an empty
scene creates a crash.

---

All reactions


[
![@azeey](https://avatars.githubusercontent.com/u/206116?s=40&u=ead1c8357bc3753d37b705eb212e7c92dcea214b&v=4)
](/azeey) [ azeey ](/azeey) assigned [ jennuine  ](/jennuine) Oct 24, 2022


1 closed project


|  void OnRefresh  |  (  |  |  )  |
---|---|---|---|---
slot

Callback when refresh button is pressed.


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


##  ◆  newMessage


[ Sign up for free ](/join?source=comment-repo) **to join this conversation on
GitHub** . Already have an account? [ Sign in to comment
](/login?return_to=https%3A%2F%2Fgithub.com%2Fgazebosim%2Fgz-
gui%2Fissues%2F482)


Topic  |  |  Replies  |  Views  |  Activity
---|---|---|---|---
[ No force_torque topic is published when loading xacro into ignition gazebo
via ros2 launch ](https://community.gazebosim.org/t/no-force-torque-topic-is-
published-when-loading-xacro-into-ignition-gazebo-via-ros2-launch/1769)


  ` <gazebo> ` Elements For ` <robot> `

` <gazebo> ` tag without a ` reference ` attribute applies to the SDFormat `
<model> ` that gets generated from the ` <robot> ` URDF tag. All elements in
the ` <gazebo> ` tag are inserted into the SDF ` <model> ` tag for the
generated SDF.

**Example:**

    <?xml version='1.0' encoding='UTF-8'?>
    <!--URDF-->
    <robot name='no_ref_example'>
      <link name='world'/>
      <gazebo>
        <static>true</static>
        <plugin name='testPlugin' filename='testFileName'/>
      </gazebo>
    </robot>

results in:

    <!--SDFormat-->
    <sdf version='1.9'>
      <model name='no_ref_example'>
        <static>true</static>
        <plugin name='testPlugin' filename='testFileName'/>
      </model>
    </sdf>


[ Core development ](/orgs/gazebosim/projects/1) automation  moved this from
**Inbox** to **Done** Sep 6, 2022


[ gazebosim ](/gazebosim) /  **[ gz-gui ](/gazebosim/gz-gui) ** Public


Q_INVOKABLE [ QStringList ](http://doc.qt.io/qt-5/qstringlist.html) TopicList
|  (  |  |  )  |  const
---|---|---|---|---

Get the list of topics publishing NavSat messages.


[ ![@ahcorde](https://avatars.githubusercontent.com/u/1933907?s=40&v=4)
](/ahcorde) [ ahcorde ](/ahcorde) mentioned this issue  Sep 6, 2022


Frictionparameters)
for more detail)  |  ` collision/surface/friction/ode/fdir1 `
kp  |  double  |  Contact stiffness k_p and damping k_d for rigid body
contacts as defined by ODE ( [ ODE uses erp and cfm ](http://www.ode.org/ode-
latest-userguide.html


    diff --git a/src/plugins/navsat_map/NavSatMap.qml b/src/plugins/navsat_map/NavSatMap.qml
    index 3e7659b2..3145e1ed 100644
    --- a/src/plugins/navsat_map/NavSatMap.qml
    +++ b/src/plugins/navsat_map/NavSatMap.qml
    @@ -18,8 +18,8 @@ import QtQuick 2.9
     import QtQuick.Controls 2.2
     import QtQuick.Layouts 1.3
     import QtQuick.Controls.Material 2.1
    -import QtLocation 5.6
    -import QtPositioning 5.6
    +import QtLocation 5.15
    +import QtPositioning 5.15

     Item {
       id: navSatMap
    @@ -92,6 +92,16 @@ Item {
       Plugin {
         id: mapPlugin
         name: "osm"
    +
    +    PluginParameter {
    +      name: "osm.mapping.providersrepository.disabled"
    +      value: "true"
    +    }
    +
    +    PluginParameter {
    +      name: "osm.mapping.providersrepository.address"
    +      value: "http://maps-redirect.qt.io/osm/5.6/"
    +    }
       }

       Map {
    @@ -159,7 +169,7 @@ Item {

       Connections {
         target: NavSatMap
    -    onNewMessage: {
    +    function onNewMessage(_latitudeDeg, _longitudeDeg) {


[ Core development ](/orgs/gazebosim/projects/1) automation  moved this from
**Done** to **Inbox** Sep 6, 2022


    </robot>

Converts to the following SDFormat

    <!--SDFormat-->
    <sdf version='1.9'>
      <model name='visual_example'>
        <link name='base_link'>
          <inertial>
            <pose>0 0 0 0 0 0</pose>
            <mass>0.12</mass>
            <inertia>
              <ixx>0.01</ixx>
              <ixy>0</ixy>
              <ixz>0</ixz>
              <iyy>0.01</iyy>
              <iyz>0</iyz>
              <izz>0.01</izz>
            </inertia>
          </inertial>
          <visual name='base_link_visual'>
            <pose>0 0 0 0 0 0</pose>
            <geometry>
              <sphere>
                <radius>2</radius>
              </sphere>
            </geometry>
            <transparency>0.25</transparency>
          </visual>
          <visual name='base_link_visual_1'>
            <pose>2 0 0 0 0 0</pose>
            <geometry>
              <cylinder>
                <length>1</length>
                <radius>2</radius>
              </cylinder>


Email Address


[ ros2 ](https://community.gazebosim.org/tag/ros2) , [ ignition
](https://community.gazebosim.org/tag/ignition) , [ fortress
](https://community.gazebosim.org/tag/fortress)


Clear