Arduplane executing two command simultaneously?

ArduPlane
1

I would like my plane to enter loiter during which it would multi-drop cargo.
At the moment I think it is not possible to achieve as the commands are executed one after another.
I am using Misson Planner standard command list.

LOITER_TURNS /2/ (how to make the autopilot to execute the following drops during the loiter)

DO_SET_SERVO /7/ /1200/ (Drop 1)

CONDITION_DELAY /3/

DO_SET_SERVO /7/ /1450/ (Drop 2)

CONDITION_DELAY /3/

DO_SET_SERVO /7/ /1700/ (Drop 3)

CONDITION_DELAY /3/

DO_SET_SERVO /7/ /1950/ (Drop 4)

Written like this the autopilot executes the two turns and than each three seconds does one of the 4 drops.
I would like to have the drops done during the loiter. Not before or after but during the execution of the loiter turn command. Any idea how to achieve that?

2

  1. Thanks for moving the topic here! Please close https://github.com/ArduPilot/MissionPlanner/issues/1405

  2. have you tried what I suggested?
    The secret is all NAV commands block until they complete and all DO commands are instant.

Use NAV_LOITER_TIME instead of delay:

NAV_LOITER_TIME (1 minute) - blocks here and takes 1 minute to complete
DO_SET_SERVO, 7 , 1200 - drop 1
NAV_LOITER_TIME (3 seconds) - continue loitering for 3 seconds
DO_SET_SERVO, 7 , 14500 - drop 2
(… repeat …)

3

Hi thanks a lot for the suggestion it worked nicely.

Posting some pictures of my easy made one servo multirelease capable of six drops.
More info on it Here:
https://www.rcgroups.com/forums/showthread.php?t=2756137

20161028_112758.jpg900×476 154 KB
20161028_113021.jpg900×283 116 KB
20161028_120408.jpg1030×580 250 KB

4

Looks great! Glad you got it working well.