Hi, everyone!
For our research UAV (25kg, 5m wingspan) we descided to change from the papparazi to the ardupilot platform.
After the first test and tuning flights (we are very happy how great this thing works) we are implementing our research patterns for our missions.
There is one main pattern:
The pattern looks like a "funnel", 600m to Ground with 50m intervals, the aiplane should fly one full circle on every altitude interval but should reduce the radius form 400m (top) to 50m (ground)
I thought the easyest way to do this, is to let loiter the plane around the center waypoint, then i have to change the altitude (no problem) but also the radius... Is it possible to change the loiter radius from the waypoint file automatically?
Or do you have other sugestions for this problem...
We are useing the APMMissionplaner 1.1.59 with the new Arduplane v2.4
Thanks for yout suggestions!
Thomas
Replies
Hy Mike
Thank you very much for your eplanations! It's a pitty that the loiter radius is supportet by the MAVLink Protocoll but not possible to change it from the MissionPlaner for each Waypoint...
I will test your file on the simulator and asap on the plane itself... will report you my experiences!
Here we are. I've got a little bit of work to do yet on it, and some testing, but this is running Mission Planner 1.1.93 Mav 1.0 (production release) and ArduPlane 2.40 + my changes running in HiL mode on an APM1, and X-Plane 9.70. Isn't this fun? Err. And quick. Enjoy!
In theory, yes. In practice using the existing code base, no.
Here are some recommendations:
* Update your Mission Planner. You want to be using 1.1.93 Mav 1.0 with ArduPlane 2.40
I will attach an example missions script. Manual take off in simulation from airport TX35. Then turn on auto. It will run the task, and auto-land.
Now, why "yes" and "no?" - Well, MAVLink supports specifying the loiter radius in the message type we are using, it is the third parameter. However, it does not seem to be implemented in Mission Planner or ArduPlane 2.40. If I find some time, I'll look into why that is. You can load the attached mission script, and push it up the the plane. It will fly the circuit, but the radius does not change. And if you download the mission from the APM, it will strip out the third parameter, suggesting that it is not implemented somewhere. Maybe at Mission Planner, or maybe in AP2.40.
It should not be a major feature to add, I'll see if I can take a hack at it.
funneltest.txt