From 990126a58b9c39b96daffb95c788d614c6ab0129 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 27 Jun 2024 15:58:18 +0900
Subject: [PATCH] AP_Scripting: example script to release gripper on thrust
 loss

---
 .../copter-release-gripper-thrust-loss.lua    | 58 +++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/copter-release-gripper-thrust-loss.lua

diff --git a/libraries/AP_Scripting/examples/copter-release-gripper-thrust-loss.lua b/libraries/AP_Scripting/examples/copter-release-gripper-thrust-loss.lua
new file mode 100644
index 0000000000..131b215097
--- /dev/null
+++ b/libraries/AP_Scripting/examples/copter-release-gripper-thrust-loss.lua
@@ -0,0 +1,58 @@
+--[[
+This script should only be used on multicopters
+The gripper is released when thrust loss is detected
+Note that thrust loss false positives are common meaning the gripper may be released unnecessarily
+--]]
+
+local RC_OPTION = {GRIPPER=19}
+local AuxSwitchPos = {LOW=0, MIDDLE=1, HIGH=2}
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+local update_interval_ms = 100
+local thrust_loss_counter = 0
+local gripper_released = false
+
+function update()
+
+   -- initialise gripper released state
+   if thrust_loss_counter == 0 then
+      gripper_released = false
+   end
+
+   -- return immediately if not armed
+   if not arming:is_armed() then
+      thrust_loss_counter = 0
+      return update, update_interval_ms
+   end
+
+   -- return if no thrust loss
+   if not MotorsMatrix:get_thrust_boost() then
+      thrust_loss_counter = 0
+      return update, update_interval_ms
+   end
+
+   -- return if vehicle is not descending (or cannot retrieve climb rate)
+   local vel_NED = ahrs:get_velocity_NED()
+   if vel_NED == nil or vel_NED:z() <= 0 then
+      thrust_loss_counter = 0
+      return update, update_interval_ms
+   end
+
+   -- vehicle is descending and thrust loss is detected
+   thrust_loss_counter = thrust_loss_counter + 1
+   if thrust_loss_counter < 10 then
+      return update, update_interval_ms
+   end
+
+   -- release gripper and warn user
+   if not gripper_released then
+      if rc:run_aux_function(RC_OPTION.GRIPPER, AuxSwitchPos.LOW) then
+        gripper_released = true
+        gcs:send_text(MAV_SEVERITY.WARNING, "Thrust loss, gripper released!")
+      end
+   end
+
+   return update, update_interval_ms
+end
+
+return update, update_interval_ms