Arducopter - climbing and descent codes

Hello

I’m studying the copter codes.

In my project, I need to use custom codes in the firmware for more safety in the climbing and descent on auto mode.

Now I wanted to know from which part I can access the ascent and descent codes.

I read the WP_NAV and AP_AttitudeControl library and the mode_auto.cpp file but I don’t understand.

What are the requirements?

I need climb or descent with fixed angle

ArduCopter already flies with 3d trajectory control that follows the lines connecting the waypoints.

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