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Version: 1.5.0

Midair activation

For the cases of flight where you need the aircraft to either activate in the air or be flight-ready on the ground without having to perform a take-off procedure, you can use the midair activation feature. To use this, follow this procedure:

  1. In your custom configuration file, set the controller and tracker you desire to be used when midair activation is called:
    midair_activation:
      after_activation:
        controller: "MpcController"
        tracker: "NullTracker"
  1. Arm your UAV.
  2. Call midair activation using the service call rosservice call /<vehicle_name>/uav_manager/midair_activation. This service will request the underlying hw_api to switch to offboard and when the status is confirmed, it will switch to the controller and tracker specified in the configuration file.
  3. The UAV will now be engaged with the controller and tracker specified in the configuration file.