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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>

docs/zh/flying/package_delivery_mission.md

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+# Package Delivery Missions
+
+A package delivery mission allows users to plan and execute cargo delivery using a [gripper](../peripherals/gripper.md).
+
+:::info
+This feature was added in PX4 v1.14 with support for Gripper (only).
+Package delivery missions will be extended to support other cargo release hardware in future, including winches.
+:::
+
+## Delivery Mechanism Configuration
+
+Package delivery missions require some configuration, which must be done before a mission can be planned and executed.
+
+The configuration is largely hardware-specific, and is hence covered in the setup page for each type of package delivery hardware:
+
+- [Gripper > Package Delivery Configuration](../peripherals/gripper.md#package-delivery-configuration)
+
+## Mission Planning
+
+A package delivery mission is planned in much the same as any other [waypoint mission](../flying/missions.md), with mission start, takeoff waypoint, various path waypoints, and possibly a return waypoint.
+The only difference is that a package delivery mission must include a mission item that indicates whether the package should be released on the ground (`Land`) or in-air (`Waypoint`), followed by another mission item to deploy the package (`Gripper Mechanism`).
+
+Whether or not you `Land` depends on whether the package can safely be deployed while flying, and if the vehicle is capable of landing at the deployment location.
+Since a gripper cannot lower packages safely, multicopter and VTOL vehicles will often land to deploy packages when using a gripper.
+
+After the deployment device [indicates completion](#package-release-feedback), the vehicle will proceed to the next waypoint.
+Note that if landed, the next mission item after deployment should be another `Waypoint` or a `Takeoff` mission item ([it must not be a `RETURN`](#rtl-waypoint-for-package-delivery-with-landing).)
+
+## Creating a Package Delivery Mission
+
+To create a package delivery mission (with a Gripper):
+
+1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path.
+
+2. Add a waypoint on the map for where you'd like to release the package.
+
+   - To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package).
+
+   - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item.
+     Do this by selecting the mission item heading, then selecting `Land` in the popup dialog.
+
+     ![Waypoint to Land mission item](../../assets/flying/package_delivery_land_waypoint.png)
+
+3. Add a waypoint on the map (anywhere) for the gripper release.
+   To change this to a `Gripper Mechanism` select the "Waypoint" heading, and in the popup changing the group to "Advanced", then selecting `Gripper Mechanism`.
+
+   ![Action waypoint](../../assets/flying/qgc_mission_gripper_mechanism_item_example.png)
+
+4. Configure the action for the gripper in the editor.
+
+   ![Gripper action setting](../../assets/flying/qgc_mission_plan_gripper_action_setting.png)
+
+   - Set it to "Release" in order to release the package.
+   - The gripper ID does not need to be set for now.
+
+5. Add additional waypoints for the remainder of the path.
+   If you landed, then remember that you must include a waypoint after the `Gripper Mechanism` before adding a `Return` mission item.
+
+### Example Plans
+
+#### Package Drop Mission
+
+This shows a mission plan where the vehicle drops the package while flying.
+The initial mission item is a waypoint and the action is a `Gripper Release` (shown in mission item list)
+
+![Package drop mission example](../../assets/flying/package_drop_mission_example.png)
+
+Note how the altitude graph shows the pre-waypoint as an in-air waypoint, also on the right panel.
+
+#### Land and Release Mission
+
+This shows a mission plan that where the vehicle lands to deliver the package.
+
+![Land and Release example](../../assets/flying/land_and_release_package_delivery_mission_example.png)
+
+Note how the altitude graph shows the `Land` item.
+
+### 备注
+
+#### RTL Waypoint for Package Delivery with Landing
+
+Do not plan a mission with a delivery like this: `LAND` > `GRIPPER` > `RETURN TO LAUNCH`.
+
+For safety reasons "Return To Launch" is disabled when vehicle is landed ([related issue](https://github.com/PX4/PX4-Autopilot/pull/20044)).
+So if you land, release the cargo, then have an RTL waypoint, the vehicle will idle at the landing coordinate.
+
+#### Manual Control of Gripper in Missions
+
+A gripper can be [manually controlled using a joystick button](../peripherals/gripper.md#qgc-joystick-configuration) (if configured) in any mode, including during a mission.
+
+Note however that if you manually command the gripper to close while a package delivery mission is opening the gripper, the gripper won't be able to finish the open action.
+The mission will resume after the mission command timeout ([MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT)) expires, even if it has not released the package.
+
+#### Auto-disarming is Disabled in Missions
+
+Auto disarming is disabled by default when in mission.
+This means that while landed for package delivery the vehicle will still be armed (and potentially dangerous!)
+
+#### Package Release Feedback
+
+The mission will proceed after a "package release" mission item (e.g. `GRIPPER`) completes.
+
+Grippers and other delivery devices either use sensor feedback or a configurable timeout to indicate completion.