ardupilot/libraries/AP_Scripting/examples/set-angle.lua

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2020-05-31 20:34:18 -03:00
-- Example of guided mode angle control, yawing back and forth
local target_yaw_1 = 45
local target_yaw_2 = -45
local target_roll = 0 -- deg
local target_pitch = 0 -- deg
local climb_rate = 0 -- m/s
local use_yaw_rate = false
local yaw_rate = 0 -- degs/s
local flipflop = true
function update()
if flipflop then
vehicle:set_target_angle_and_climbrate(target_roll,target_pitch,target_yaw_1,climb_rate,use_yaw_rate,yaw_rate)
else
vehicle:set_target_angle_and_climbrate(target_roll,target_pitch,target_yaw_2,climb_rate,use_yaw_rate,yaw_rate)
end
flipflop = not flipflop
return update, 10000
end
return update()