Servo activation and loiter at waypoints

ArduRover ArduBoat
1

Hi all,

I am in the process of finalizing my bait boat with Autopilot.
I would like the bait boat to do the following after having defined three waypoints.

  1. Drop the first bucket at WP1 while holding for 5 seconds.
  2. Drop the second bucket at WP2 while holding for 5 seconds.
  3. Turn a wide radius (at least 5 meters) and travel to WP3 which is at least 5m next to Home so that the boat does not run over the lines on its way back…

The buckets are controlled by one servo (dropping bucket 1 requires full left servo throw and dropping bucket 2 requires full right servo throw).

My question is: how do I define these very specific steps at WP1 and WP2, respectively, as standard on the flight controller (I will only use the bait boat in this way for now…).

Ideally I would like to only define three waypoints with each mission and have the flight controller follow the same actions (as specified above).

Hoping you guys have some ideas ;-).

Thanks in advance.
Harubo

2

use the gripper function.
https://ardupilot.org/rover/docs/common-gripper-servo.html

3

Thank @geofrancis
I‘ll give the gripper a try.
Any recommendation on the loiter requirement?