2.4 KiB
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.