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AP_Scripting: added quadplane payload place script

This commit is contained in:
Andrew Tridgell 2023-01-17 18:07:39 +11:00
parent 64810f5713
commit b06df0da49
2 changed files with 251 additions and 0 deletions
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186
libraries/AP_Scripting/applets/plane_package_place.lua Normal file
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--[[
support package place for quadplanes
--]]
local PARAM_TABLE_KEY = 9
local PARAM_TABLE_PREFIX = "PKG_"
local MODE_AUTO = 10
local NAV_TAKEOFF = 22
local NAV_VTOL_PAYLOAD_PLACE = 94
-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
return Parameter(PARAM_TABLE_PREFIX .. name)
end
-- setup package place specific parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 5), 'could not add param table')
local PKG_ENABLE = bind_add_param('ENABLE', 1, 0)
local PKG_RELEASE_FUNC = bind_add_param('RELEASE_FUNC', 2, 94)
local PKG_RELEASE_HGT = bind_add_param('RELEASE_HGT', 3, 10)
local PKG_RELEASE_HOLD = bind_add_param('RELEASE_HOLD', 4, 1)
local Q_LAND_SPEED = Parameter("Q_LAND_SPEED")
local Q_LAND_FINAL_ALT = Parameter("Q_LAND_FINAL_ALT")
local MAV_SEVERITY_INFO = 6
local MAV_SEVERITY_NOTICE = 5
local MAV_SEVERITY_EMERGENCY = 0
local RNG_ORIENT_DOWN = 25
-- motors state
local MOTORS_SHUT_DOWN = 0
-- release state
local RELEASE_NONE = 0
local RELEASE_DESCENT = 1
local RELEASE_HOLD1 = 2
local RELEASE_HOLD2 = 3
local RELEASE_DONE = 4
local release_state = RELEASE_NONE
local release_start_t = 0
if PKG_ENABLE:get() ~= 1 then
-- not enabled
return
end
SRV_Channels:set_range(PKG_RELEASE_FUNC:get(), 1000)
SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 0)
-- get time in seconds
function get_time()
return millis():tofloat() * 0.001
end
-- reset state
function reset()
release_state = RELEASE_NONE
SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 0)
end
--[[
main update function, called at 20Hz
--]]
function update()
if PKG_ENABLE:get() ~= 1 then
-- not enabled
return
end
-- only do something if in AUTO and in a PACKAGE_PLACE waypoint
if vehicle:get_mode() ~= MODE_AUTO or mission:get_current_nav_id() ~= NAV_VTOL_PAYLOAD_PLACE then
reset()
return
end
if not arming:is_armed() then
-- nothing to do when disarmed
reset()
return
end
-- check spool state for if we are landed
local landed = false
if motors:get_desired_spool_state() == MOTORS_SHUT_DOWN and release_state >= RELEASE_DESCENT then
landed = true
end
-- wait till we are in the descent
if not quadplane:in_vtol_land_descent() and release_state == RELEASE_NONE then
reset()
return
end
if release_state == RELEASE_NONE then
-- we have started the descent
release_state = RELEASE_DESCENT
end
-- see if we have valid rangefinder data
if not landed and not rangefinder:has_data_orient(RNG_ORIENT_DOWN) then
return
end
-- check the distance, if less than RNG_ORIENT_DOWN then release
local dist_m
if not landed then
dist_m = rangefinder:distance_cm_orient(RNG_ORIENT_DOWN) * 0.01
else
dist_m = 0.0
end
-- slow down when within Q_LAND_FINAL_ALT of target
local remaining_m = dist_m - PKG_RELEASE_HGT:get()
if remaining_m > 0 and remaining_m < Q_LAND_FINAL_ALT:get() then
vehicle:set_land_descent_rate(Q_LAND_SPEED:get()*0.01)
end
if remaining_m <= 0 then
if PKG_RELEASE_HGT:get() <= 0 and not landed then
-- wait for landing
return
end
local now = get_time()
-- we are at the target altitude
if release_state == RELEASE_DESCENT then
-- start timer
release_start_t = now
release_state = RELEASE_HOLD1
vehicle:set_land_descent_rate(0)
elseif release_state == RELEASE_HOLD1 then
-- start waiting for the hold time for vehicle to settle
vehicle:set_land_descent_rate(0)
if now - release_start_t > PKG_RELEASE_HOLD:get() then
gcs:send_text(MAV_SEVERITY_INFO, string.format("Package released at %.1fm", dist_m))
SRV_Channels:set_output_scaled(PKG_RELEASE_FUNC:get(), 1000)
release_state = RELEASE_HOLD2
end
elseif release_state == RELEASE_HOLD2 then
-- do the release and wait for hold time again to ensure clean release
vehicle:set_land_descent_rate(0)
if now - release_start_t > PKG_RELEASE_HOLD:get()*2 then
release_state = RELEASE_DONE
-- aborting the landing causes us to climb back up and continue the mission
if quadplane:abort_landing() then
gcs:send_text(MAV_SEVERITY_INFO, string.format("Climbing"))
else
gcs:send_text(MAV_SEVERITY_NOTICE, string.format("land abort failed"))
end
end
end
end
end
function loop()
update()
-- run at 20Hz
return loop, 50
end
-- wrapper around update(). This calls update() at 20Hz,
-- and if update faults then an error is displayed, but the script is not
-- stopped
function protected_wrapper()
local success, err = pcall(update)
if not success then
gcs:send_text(0, "Internal Error: " .. err)
-- when we fault we run the update function again after 1s, slowing it
-- down a bit so we don't flood the console with errors
return protected_wrapper, 1000
end
return protected_wrapper, 50
end
gcs:send_text(MAV_SEVERITY_INFO, "Loaded package place script")
-- start running update loop
return protected_wrapper()

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