ardupilot/libraries/AP_Scripting/examples/copter-circle-speed.lua

37 lines
1.3 KiB
Lua
Raw Normal View History

-- Maintain a constant ground speed while flying in Circle mode even if the pilot adjusts the radius
--
-- CAUTION: This script only works for Copter
-- this script waits for the vehicle to be armed and in circle mode and then
-- updates the target rate around the circle (in degrees / sec) to maintain the desired ground speed
local circle_ground_speed = 6 -- the ground speed in circle mode (m/s)
function update() -- this is the loop which periodically runs
-- must be armed, flying and in circle mode
if (not arming:is_armed()) or (not vehicle:get_likely_flying()) or (vehicle:get_mode() ~= 7) then
return update, 1000 -- reschedules the loop, 1hz
end
-- get circle radius
local radius = vehicle:get_circle_radius()
if not radius then
gcs:send_text(0, "speed-circle.lua: failed to get circle radius")
return update, 1000
end
-- set the rate to give the desired ground speed at the current radius
local new_rate = 360 * (circle_ground_speed / (radius*math.pi*2))
new_rate = math.max(new_rate, -90)
new_rate = math.min(new_rate, 90)
if not vehicle:set_circle_rate(new_rate) then
gcs:send_text(0, "speed-circle.lua: failed to set rate")
else
gcs:send_text(0, string.format("speed-circle.lua: radius:%f new_rate=%f", radius, new_rate))
end
return update, 100 -- reschedules the loop, 10hz
end
return update()