I would like to share with the Plane community a Lua script and optional AP_OSD firmware modification that allows in-flight adjustment and display of WP_LOITER_RAD on ArduPlane.
I created this project because I wanted a way to adjust the waypoint loiter radius during flight without having to rely on Mission Planner.
Mission Planner is an excellent tool for aircraft setup and configuration, but changing WP_LOITER_RAD during a flight requires interacting with a ground station rather than using the aircraft controls. For FPV flying, this is not always convenient or practical.
This project adds a pilot-controlled interface to an existing ArduPilot parameter. It does not modify navigation or loiter behavior. The goal is simply to provide a more practical way for pilots to interact with an existing parameter while flying.
The Lua script allows the pilot to adjust WP_LOITER_RAD using an RC transmitter knob, while the current radius and loiter direction are displayed through GCS messages and optional OSD.
Features:
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RC knob adjustment of
WP_LOITER_RAD -
Positive and negative loiter direction support
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GCS display in feet
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Optional OSD display through DisplayPort
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Lua script is flight-controller independent when Lua scripting is supported
Tested configuration:
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AtomRC Swordfish
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TBS H7 Lucid Wing
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Walksnail Avatar Moonlight VTX
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Walksnail Avatar Goggles X
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ArduPlane 4.7.x
The included .apj firmware is only for the TBS H7 Lucid Wing. The repository also includes the AP_OSD patch and instructions for building custom firmware for other ArduPilot-supported flight controllers.
Repository:
I hope this project is useful to the Plane community. I hope you enjoy using it, and I would appreciate hearing your feedback, experiences, and suggestions. Please let me know how it works for you!
