Delivery contactless Flight Plan

Eduard_Miralles · February 27, 2023, 11:12am

Hi there,

I am trying to perform a Flight Plan for a delivery operation where the delivery is supposed to be contactless, and the climb again an return the way back to the home position.

Is this flight plan correct?

In the simulation, when passing the WP 8, sometimes the RPAS remains at that location without moving, and does not deliver.

Does anyone know a generalized flight plan to make this kind of deliveries operations?

Thank you.

tridge · March 3, 2023, 2:41am

I’ve recently added support for the payload place mission item for quadplanes as of verion 4.4.x
See this doc and lua script:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/plane_package_place.md

# 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

This file has been truncated. show original

There is more of a description here:

github.com/ArduPilot/ardupilot

Plane: support NAV_PAYLOAD_PLACE mission item for quadplanes

ArduPilot:master ← tridge:pr-package-place

opened 07:49AM - 17 Jan 23 UTC

tridge

+431 -19

This allows quadplanes to do package delivery using a lua script. Documentation …is provided in the applets directory This is a typical mission: ![image](https://user-images.githubusercontent.com/831867/212832427-f35fd847-7b33-4115-86ae-6f9013bd56d9.png) The script adds some PKG_ parameters to control the release height and hold time. It supports both payload place with hover, and waiting for a full landing before releasing the package Testing has only been done in SITL so far MissionPlanner needs the following change: https://github.com/ArduPilot/MissionPlanner/pull/3045 Demo video: https://www.youtube.com/watch?v=A8Romq6wiek

and demo video here:

we could work together on testing this if you would like to

Eduard_Miralles · March 3, 2023, 10:08am

hello,

thank you for your response, this is exactly what I was looking for.

Sure, we can work together on testing!

You can contact me by email (eduardmiralles@catuav.com) to plan some tests.

Regards,

Eduard Miralles

Eduard_Miralles · March 15, 2023, 2:48pm

Hello again,

I tested with a small VTOLL succesfully 8 times. No errors and everything worked perfectly.

Today, I tested with a bigger VTOL (2 m of wingspan) and I had a problem. The 4 motors starded in the WP before of the WP_PAYLOAD_PLACE, and it went from this WP to the PAYLOAD_PLACE as a multi. Then, the VTOL did the descent and realeased the package at the altitude I setted (10m).

Do you know what happened? Maybe was a problem of not enought velocity and the 4 motors started at the WP before?

Here you can download the log: Microsoft OneDrive - Access files anywhere. Create docs with free Office Online.

Thank you.