Addition of Payload release flight mode. #14697
Conversation
…esponding to MAV_CMD_NAV_PAYLOAD_PLACE
…AV_CMD_NAV to start payload release flight mode required
'payloadThrow' branch successfully compiles support of MAV_CMD_NAV_PAYLOAD_RELEASE mavlink message.
… point as home and continues the mission
… point is sent through mavlink message
…pter. Add initialise_initial_condition. Add calculate displacement. Add llh_to_local. Add local_to_llh. Use gps heading as the bearing for the calculation.
Set state variable at different stages of payload release. Maintain state change outside the mode_payload release.
|
Hello, Could you clean up your PR following https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html ? |
|
I liked the video you did here!
That should give you all the flexibility you need without adding a new flight mode. |
|
@tridge You are right. Looks like we can obtain the same result using Lua scripting. Didn't knew about Lua scripting in Ardupilot until you commented. Thanks :D . |
|
@tridge you are absolutely right about that. Our objective was never to add a flight mode but to add a feature in which Planes are able to precisely release the payload so as to reach the target location on the ground. We made a flight mode in order to mimic the operation of the |
|
@aabs7 did you mean to reopen this PR? If you do intend to go down the LUA route then a fresh PR would probably be appropriate. |
|
@peterbarker It came to me that we can add this payload release feature in plane just like payload place was implemented in copter without making flight mode or going down the LUA route. (using mavlink do cmd) |
|
I'll close this PR and open a new to discuss on that matter. |
Payload release flight mode will plan the location to release the payload and move the aircraft in such a way that payload is dropped to the target drop location precisely considering the effects of wind, current height, and current velocity of the plane.
In the figure below, the Payload release flight mode is called from waypoint 8, and the target drop point is set near waypoint 9. Therefore the plane loiters near waypoint 9 and calculates the release point from which the payload should be dropped to reach the target drop point and then flies to the release point to drop the payload.
Whatever the height, wind, and velocity of plane, the release point is calculated dynamically such that payload ultimately drops at the targeted drop location.