Changing flight mode in a specific waypoint

rabar · April 11, 2023, 11:09pm

hello dear friends
is there any way to change fligh mode in a specific waypoing by itself…for example i wanna add a waypoing on the last waypoint and when the plane reached that waypoint flight mode change by itself for example from auto to fbwa…
thanks for helping

A.Larribau · April 12, 2023, 10:11am

Hey !

Except from scripts (lua, python) I don’t know any way to do this,

However it depends the mode you want, for instance you have RTL, land and loiter available maybe you can do a loiter and then when you are ready take back your vehicle manually to witch to the desired mode.

Mustafa_Gokce · April 12, 2023, 10:30am

What is your motivation to do so?
Might be an alternative.
BTW, you can use DO_AUX_FUNCTION for that.
Parameter 1 should be any number of AUX_FUNC enum in here:

github.com

ArduPilot/ardupilot/blob/db7fad0acaee98dc6e00d725a0535ef184f03819/libraries/RC_Channel/RC_Channel.h#L197


      
          Q_ASSIST =            82, // disable, enable and force Q assist
          ZIGZAG_Auto =         83, // zigzag auto switch
          AIRMODE =             84, // enable / disable airmode for copter
          GENERATOR   =         85, // generator control
          TER_DISABLE =         86, // disable terrain following in CRUISE/FBWB modes
          CROW_SELECT =         87, // select CROW mode for diff spoilers;high disables,mid forces progressive
          SOARING =             88, // three-position switch to set soaring mode
          LANDING_FLARE =       89, // force flare, throttle forced idle, pitch to LAND_PITCH_CD, tilts up
          EKF_POS_SOURCE =      90, // change EKF position source between primary, secondary and tertiary sources
          ARSPD_CALIBRATE=      91, // calibrate airspeed ratio 
          FBWA =                92, // Fly-By-Wire-A
          RELOCATE_MISSION =    93, // used in separate branch MISSION_RELATIVE
          VTX_POWER =           94, // VTX power level
          FBWA_TAILDRAGGER =    95, // enables FBWA taildragger takeoff mode. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA.
          MODE_SWITCH_RESET =   96, // trigger re-reading of mode switch
          WIND_VANE_DIR_OFSSET= 97, // flag for windvane direction offset input, used with windvane type 2
          TRAINING            = 98, // mode training
          AUTO_RTL =            99, // AUTO RTL via DO_LAND_START
          
          
// entries from 100-150  are expected to be developer
          // options used for testing

For example, 92 for changing mode to FBWA.
Param 2 should be 2.
Here is an example mission list:

QGC WPL 110
0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.070007	1
1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361454	149.162930	30.000000	1
2	0	0	218	92.000000	2.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1