Auto takeoff for Multirotor

Hemo200 · August 24, 2024, 1:10am

Hi. Is there any way to make the drone take off automatically and wait at a specific height using a switch like DJI drones?

Jai.GAY · August 24, 2024, 2:20am

I never try before, I think lua script can do it.

I use it to set different parameters before takeoff due to different payload weight and cg.

Hemo200 · August 24, 2024, 2:25am

Thanks for your quick reply, but I have no experience with lua script.

dkemxr · August 24, 2024, 3:05am

AUTO_OPTIONS,3
Configure an Auto Mission with one Takeoff command to the altitude you want it to go to.
Switch to Auto Mode and Arm it. It will takeoff and sit at the altitude you programmed until you switch to another mode. Suggest having it at mid throttle and switch to Loiter.

Hemo200 · August 24, 2024, 5:32am

Thanks for your reply, but can this work without using the mission planner every time?

LupusTheCanine · August 24, 2024, 10:13am

Yes, IIRC takeoff takes only altitude.

It takes off and ascends to specified altitude before continuing navigation (with takeoff only mission switching to RTL and hanging in place).

Jai.GAY · August 24, 2024, 10:13am

Here, via lua script

https://ardupilot.org/copter/docs/common-lua-scripts.html#rc-channels-rc

https://ardupilot.org/copter/docs/common-lua-scripts.html#arming-arming

https://ardupilot.org/copter/docs/common-lua-scripts.html#vehicle-vehicle

Example

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/RCIN_test.lua

-- example of getting RC input

local scripting_rc_1 = rc:find_channel_for_option(300)
local scripting_rc_2 = rc:find_channel_for_option(301)
local flip_flop = 0

function update()
  pwm1 = rc:get_pwm(1)
  pwm2 = rc:get_pwm(2)
  pwm3 = rc:get_pwm(3)
  pwm4 = rc:get_pwm(4)
  gcs:send_text(0, "RCIN 1:" .. tostring(pwm1) .. " 2:" .. tostring(pwm2).. " 3:" .. tostring(pwm3).. " 4:" .. tostring(pwm4))

  -- read normalized input from designated scripting RCx_OPTION
  if scripting_rc_1 then
    gcs:send_text(0, "Scripting in 1:" .. tostring(scripting_rc_1:norm_input()))
  end

  -- read switch input from second designated scripting RCx_OPTION
  if scripting_rc_2 then

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github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/copter-fly-vertical-circle.lua

-- command a Copter to takeoff to 5m and fly a vertical circle in the clockwise direction
--
-- CAUTION: This script only works for Copter
-- this script waits for the vehicle to be armed and RC6 input > 1800 and then:
--    a) switches to Guided mode
--    b) takeoff to 5m
--    c) flies a vertical circle using the velocity controller
--    d) switches to RTL mode

local takeoff_alt_above_home = 5
local copter_guided_mode_num = 4
local copter_rtl_mode_num = 6
local stage = 0
local circle_angle = 0
local circle_angle_increment = 1    -- increment the target angle by 1 deg every 0.1 sec (i.e. 10deg/sec)
local circle_speed = 1              -- velocity is always 1m/s
local yaw_cos = 0                   -- cosine of yaw at takeoff
local yaw_sin = 0                   -- sine of yaw at takeoff

-- the main update function that uses the takeoff and velocity controllers to fly a rough square pattern

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