Payload place: the stages of setting a load down
What ArduPilot says:
- … payload release thrust threshold: N.N
- … Manual release
- … Abort: Gripper Open
- … Releasing the gripper
The mission command that lowers a load to the ground and releases it reports its steps. The copter descends at PLDP_SPEED_DN and measures the thrust it needs; when the thrust falls below PLDP_THRESH of that for 0.5 s the load has touched down: “payload release thrust threshold: …”. “Releasing the gripper”: the gripper opens; after PLDP_DELAY seconds the copter climbs back. “landed”: the copter itself touched the ground, and it releases there. “Manual release”: the pilot opened the gripper during the descent. “Abort: Gripper Open”: the gripper was already open, so there is nothing to place.
Parameters to look at
| Parameter | What it is |
|---|---|
PLDP_THRESH | Payload Place thrust ratio threshold |
PLDP_SPEED_DN | Payload Place decent speed |
PLDP_DELAY | Payload Place climb delay |
PLDP_RNG_MAX | Payload Place maximum range finder altitude |
GRIP_ENABLE | Gripper Enable/Disable |
Where to do it:Mission Energy Check
The code that sends it
… payload release thrust threshold: N.N
ArduCopter/mode_auto.cpp PayloadPlace::run() · Open in ArduPilot Copter-4.7.1
… Manual release
ArduCopter/mode_auto.cpp PayloadPlace::run() · Open in ArduPilot Copter-4.7.1
… Abort: Gripper Open
ArduCopter/mode_auto.cpp PayloadPlace::run() · Open in ArduPilot Copter-4.7.1
… Releasing the gripper
ArduCopter/mode_auto.cpp PayloadPlace::run() · Open in ArduPilot Copter-4.7.1