Set Servo options triggered by failsafe

[alexanderever]

Feature request

For UAS which perform a function controlled by Set_servo outputs, such as crop spraying, it would be desirable for the UAS to stop doing the function if a failsafe mode is triggered. It is not clear if the Sprayer functionality includes this but it may be useful for other applications such as vectored thrust VTOLs etc

Currently the consequence of RC signal loss while spraying would be the UAS performing a RTL while still spraying. This would be VERY BAD as the spray would be released at a high altitude and subsequently drift to unintended locations.

Describe the solution you'd like A clear and concise description of what you want to happen.

A parameter to set servo outputs should failsafe be triggered Eg SERVOXX_FS_VALUE = 1000

Describe alternatives you've considered A clear and concise description of any alternative solutions or features you've considered. Lua scripting?

checked the Sprayer functionality in ardupilot, it is unclear if this issue is addressed.

(Also documentation on "SPRAY_SPINNER Spinner rotation speed: Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" is inaccurate and could cause serious issues, increased RPM actually creates smaller droplets. see https://en.wikipedia.org/wiki/Rotary_atomizers)

Platform [ x ] All [x ] AntennaTracker [ x ] Copter [ x] Plane [ x ] Rover [ x] Submarine

Additional context Add any other context or screenshots about the feature request here.

[rmackay9]

Thanks for the feature request. Turning off the sprayer during any kind of failsafe makes a lot of sense.

[alexanderever]

Hi Randy,

thanks for considering the feature!

I work for an agricultural company with a long history of spraying in ground based and aerial settings. We also contribute to international discussions on drones as spraying systems. There are a number of features we can think of that we feel would improve Arducopter equipped aircraft for this role.

i'd be very interested in helping the development of Arducopter.

Please feel free to contact me at @.***

Thanks,

Alexander

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From: Randy Mackay @.> Sent: 31 May 2023 00:27 To: ArduPilot/ardupilot @.> Cc: alexanderever @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] Set Servo options triggered by failsafe (Issue #23927)

Thanks for the feature request. Turning off the sprayer during any kind of failsafe makes a lot of sense.

— Reply to this email directly, view it on GitHubhttps://github.com/ArduPilot/ardupilot/issues/23927#issuecomment-1569269193, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AZ7PE57UVKMBSBV36T4Q5I3XIZ64TANCNFSM6AAAAAAYT5DFGE. You are receiving this because you authored the thread.Message ID: @.***>