mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.4 KiB
Markdown
66 lines
2.4 KiB
Markdown
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# Quadplane Package Place Support
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This script implements support for package place in quadplanes.
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To use this script you need to install it in the APM/scripts folder on
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your microSD card (or build it into the firmware in ROMFS). Then
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enable scripting with SCR_ENABLE=1 and reboot.
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# Parameters
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The script adds the following parameters:
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## PKG_ENABLE
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You need to set PKG_ENABLE=1 to enable this script
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## PKG_RELEASE_FUNC
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This needs to be set to the SERVOn_FUNCTION of the release servo. It
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is recommended that you leave it at the default of 94 and set
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SERVOn_FUNCTION to 94 for the servo you want to use for package
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release.
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## PKG_RELEASE_HGT
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The parameter PKG_RELEASE_HGT controls the rangefinder height at which
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the package will be released. This can be zero if you want to release
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the package after you land.
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## PKG_RELEASE_HOLD
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This controls the time that the vehicle will stop the descent before
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it releases the package. This defaults to 1 second and is used to let
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the vehicle get into a steady hover.
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After package release the vehicle will hold for another
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PKG_RELEASE_HOLD seconds to let the package cleanly release before the
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vehicle climbs.
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# Operation
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To setup a mission for package place you should setup your vehicle for
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rangefinder landings. Setup a good lidar or radar and test that it
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works. Then set RNGFND_LANDING=1 to enable use of rangefinder for VTOL
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landing.
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In the mission you should add a PAYLOAD_PLACE waypoint at the desired
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location of the payload placement. The altitude of the PAYLOAD_PLACE
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command should be set to zero as a relative height.
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The PAYLOAD_PLACE command has a parametere "max descent" (parameter 1
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of the command). If this is non-zero then this is the maximum amount
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of height that the aircraft will descend from the start of the
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descent. If the aircraft tries to descend more than this height then
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the payload place will abort and the aircraft will climb back up to
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the initial descent height then continue the mission.
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# Landing Then Release
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You can also do payload place where you wait till the vehicle fully
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lands before doing the release. To do that set PGK_RELEASE_HGT to 0
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and the aircraft will land fully and shutdown the motors for
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PKG_RELEASE_HOLD seconds before releasing the servo. It will then hold
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for another PKG_RELEASE_HOLD seconds, then will climb back up to the
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original descent start height before continuing with the mission.
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