Ship Landing Support

amilcarlucas · April 7, 2023, 9:14am

You need to use the latest ArduPilot firmware for that to work. Update your firmware.

LiaoYiDe · April 11, 2023, 12:22am

Sorry I forgot to provide the firmware version of my cudbe orange
My firmware version is ArduPlane V4.2.0

LiaoYiDe · April 11, 2023, 12:39am

When SITL is unlocked, home no longer moves with the Moving Platform (ship sub), but stays at the current unlocked position

Run the sitl simulation, when unlocked, the home point no longer continues to move with the Moving Platform (ship sub), but stays at the current unlocked position

Reference URL:
https://ardupilot.org/plane/docs/common-ship-landing.html

I have the following 3 problems

I would like to know what software other people use as a simulator.
The sitl of my experiment is set up according to the following URL: Using SITL — Dev documentation
I’m wondering if the simulator is different, it may affect the lock when the home point is unlocked, and it will not continue to follow the sub movement.
I use STIL to simulate the teaching example of Moving Platform Takeoff and Landing (Ships, Trucks, etc.), the ship_enable parameter does not appear at all, reboot or refresh does not improve, make sure that plane_ship_landing.lua is placed in /home/user/ardupilot Under the /scripts/ path (as shown in the attached picture)
When I use SITL to simulate Moving Platform Takeoff and Landing (Ships, Trucks, etc.), I execute the unlock command for the aircraft, and the home point will stop directly at the position where the Moving Platform (ship) moves when the unlock command is issued, not Will continue to follow the Moving Platform (ship). If you continue to execute auto mode, because the home point is no longer moving with the Moving Platform (ship), the aircraft will RTL back to the home point instead of moving with the Moving Platform (ship).

beacon_SITL_param1920×629 82 KB

beacon_SITL_scripts-lua1920×993 69.7 KB

Thanks!!

LiaoYiDe · April 21, 2023, 8:39am

Thank you, your advice is on point!!
SITL section:
If the ship parameter does not appear in the loaded scripts file, delete it and reload it again. I can successfully get the script file by doing this.

Hardware flight control part (cube orange):
I installed the latest version of arduplane (version 4.3.5)
The script file can be loaded successfully.

Sajed0006 · October 23, 2023, 10:01am

Hi everyone,i am using ship landing for my vtol and when i connect the aircraft and beacon, there is no home icon in my ship landing icon,what is the problem?

LupusTheCanine · October 23, 2023, 6:22pm

Please post the .bin log and describe your setup in more details (at least hardware used and how it is connected), without that we can’t tell what is wrong.

A.Larribau · November 8, 2023, 4:14pm

Hi everyone ! Amazing project !

I’ve been playing with the sim_ship parameter for a few days now, especially in Copter. I used to work on copter V4.4 but today when I updated to V4.5 I found out that the sim_ship vehicle creates another copter instead of the boat it used to create. Even if it seems to work the same way (the copter circle according to the parameters we set in sim_ship_*** and the copter initiates on the deck as before)

Luar · November 13, 2023, 11:05pm

Hello A.Larribau,
Do you have FRAME_CLASS=2?
Thank you.

A.Larribau · November 14, 2023, 8:33am

Hum no I was on frame 1 “quad” and type 0 “plus”. But I just tried it with frame “2” and same issue

while with AP Copter 4.4 :

Am I the only one with this issue with sim_ship with AP 4.5 ?

Aticof · December 11, 2023, 5:27pm

@tridge , one question,

If RTL_RADIUS defines the radius of the loiter circle during “hold-off position” >> how can I configure one diferent distance to BEACON for the back transition?