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Overview

The HARDPOINT parameter group (specifically within AP_Periph) configures the DroneCAN Hardpoint subsystem.

A "Hardpoint" is a designated mechanical output used for payload release, crop spraying, or robotic actuation that is commanded via the CAN bus rather than a dedicated PWM wire from the main autopilot.

Key Concepts

1. Hardpoint ID (HARDPOINT_ID)

Assigns a unique identifier to the peripheral output. The main autopilot sends a MAVLink or DroneCAN command specifying "Activate Hardpoint 1," and only the device with HARDPOINT_ID = 1 will actuate.

Parameter Breakdown

  • HARDPOINT_ID: Identifier (0-15).
  • HARDPOINT_RATE: The frequency (Hz) at which the hardpoint status is reported back to the autopilot.

Integration Guide

  1. Node Setup: On your AP_Periph node (e.g., a CAN-to-PWM converter), set HARDPOINT_ID.
  2. Autopilot: Use the Do_Hardpoint mission command or a GCS trigger to actuate the device.

Developer Notes

  • Library: Tools/AP_Periph.
  • Message: Uses the uavcan.equipment.hardpoint.Status and Command messages.

HARDPOINT_ID

Default 0
Range 0 15

Hardpoint ID (HARDPOINT_ID)

Description

This parameter assigns a specific ID to the PWM output of a DroneCAN peripheral, designating it as a "Hardpoint" (e.g., a weapon release, magnet, or gripper). The flight controller can then actuate this specific output by sending a matching DroneCAN hardpoint command.

The Mathematics

ID Matching:
$$ \text{Actuate} \iff \text{Command.ID} == \text{HARDPOINT\_ID} $$

The Engineer's View

Defined in Tools/AP_Periph/Parameters.cpp. Enables the uavcan.equipment.hardpoint subscriber.

Tuning & Behavior

  • Default Value: 0
  • Usage: Set unique IDs for different mechanisms (e.g., Left Wing Release = 1, Right Wing Release = 2).
View Source

Hardpoint PWM rate

HARDPOINT_RATE: Hardpoint PWM rate

Description

This parameter sets the rate at which DroneCAN Hardpoint commands are broadcast when a PWM input is detected. This applies when the AP_Periph node is configured to read a PWM input (on a designated PWM_HARDPOINT_PIN) and forward it as a DroneCAN uavcan.equipment.hardpoint.Command message.

Values

  • Range: 10 to 100
  • Units: Hz
  • Increment: 1

Description

If your AP_Periph device is wired to read a PWM signal (e.g., from an RC receiver) to trigger a Hardpoint, this parameter controls how frequently that trigger command is sent over the CAN bus while the PWM signal is active.

  • Higher Rate: Updates the command status more frequently, potentially useful for rapid-response mechanisms, but consumes more CAN bus bandwidth.
  • Lower Rate: Conserves bandwidth but increases latency for the command update.

Source Code

ardupilot/Tools/AP_Periph/Parameters.cpp

Traditional Helicopter Configuration (H) Heading Correction Configuration (HDG)