How to implement RTH after empty spray tank

[Vidya_Patil]

I want to implement RTH after spray tank is empty.
I am using orange cube and qgroundcontrol.

[geofrancis (GeoMuir)]

what are you using to measure your tank level? or how do you detect it is empty? you just need a lua script to change the mode to RTH when low level is detected.

[Vidya_Patil]

I will be using XKC-Y25 PNP Non Contact Level Sensor.
I don’t have any knwoledge of lua scripting. If you could provide any reference or script it would be great help.

Thank you

[geofrancis (GeoMuir)]

I wrote a basic guide for a version of that sensor and using it with lua a while ago. It was the V version not the pnp so you might need to tweak the wiring and set the button function to RTL.

XKC-Y25-V Digital Non-Contact Water Level Sensor

I have been asked to get this sensor working with ardupilot. it’s ideal for low level alerts on water tanks, so would be ideal for crop sprayers [61Jrj92k-YL.AC_SL1001] first you need to add a servo connections to the wires coming from the sensor, you can either crimp these on to the existing wires or just splice some servo wires on as i have done. [20220721_104919] Its pinout is: Yellow is signal, Brown is VCC, the sensor supports from 5-24v black is ground Blue is output select, leave…