mirror of https://github.com/ArduPilot/ardupilot
377 lines
17 KiB
Plaintext
377 lines
17 KiB
Plaintext
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# trajectory tracking aerobatic control
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# See README.md for usage
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# Written by Matthew Hampsey, Andy Palmer and Andrew Tridgell, with controller
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# assistance from Paul Riseborough, testing by Henry Wurzburg
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# To use this schedule put the file on your microSD in the root directory
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# (not the APM directory) with name trick94.txt The schedule can then be
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# used in auto missions or in TRIKn_ID commands for tricks on a switch
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# This schedule is set up to be flown Left to Right. The schedule starts downwind - so
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# the mission should be set up with WP's lined up on the flight line (150m out from the
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# pilot), and the mission should be triggered when the plane gets to the center marker
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# heading RIGHT to LEFT. Schedule direction is reversed with aerom_scale = -1 (and
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# remember to reverse the mission WP's as well). Note the required height is greater
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# than 400 feet - so only fly at an airfield where there is a 1500 foot clearance
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# This is an example of a F3A P25 schedule. Some manouvers are flown over the center
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# line of the runway. Please understand the behaviour by flying in SITL before flying this
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# schedule with a real aircraft! Your aircraft requires adequate performance to complete
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# the schedule
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name: F3AP25
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function p25_half_loop(radius, arg2, arg3, arg4) -- half roll for testing inverted manouvers
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return make_paths("half_loop", {
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{ path_vertical_arc(radius, 180), roll_angle(0) , roll_ref=180 },
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})
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end
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function p25_1(radius, height, arg3, arg4) -- triangle
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local h1 = radius * math.sin(math.rad(45))
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local h2 = (2 * radius) - (radius * math.cos(math.rad(45)))
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local h3 = height - (2 * radius)
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local side = h3 / math.cos(math.rad(45))
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--local base = (h3 + (2 * (radius - radius * math.cos(math.rad(45))))) - (2 * radius)
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local base = (2 * (h3 + radius)) - 2 * radius
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return make_paths("p25_1", {
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{ path_vertical_arc(-radius, 45), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(90) },
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{ path_straight(side*1/9), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(90) },
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{ path_straight(side*2/9), roll_angle(0) },
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{ path_vertical_arc(-radius, 135), roll_angle(0) },
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{ path_straight(base /3), roll_angle(0) },
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{ path_straight(base /3), roll_angle(180) },
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{ path_straight(base /3), roll_angle(0) },
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{ path_vertical_arc(-radius, 135), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(90) },
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{ path_straight(side*1/9), roll_angle(0) },
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{ path_straight(side*2/9), roll_angle(90) },
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{ path_straight(side*2/9), roll_angle(0) },
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{ path_vertical_arc(-radius, 45), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_2(radius, height, arg3, arg4) -- half square
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return make_paths("p25_2", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight((height-2*radius)/3), roll_angle(0) },
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{ path_straight((height-2*radius)/3), roll_angle(180) },
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{ path_straight((height-2*radius)/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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})
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end
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function p25_3(radius, height, arg3, arg4) -- sq on corner
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local l = ((height - (2 * radius)) * math.sin(math.rad(45))) -- CHECK
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return make_paths("p25_3", {
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{ path_vertical_arc(radius, 45), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 45), roll_angle(0) },
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})
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end
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function p25_4(radius, height, arg3, arg4) -- figure p
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local l = (height - (2 * radius))
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return make_paths("p23_4", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 270), roll_angle(0) },
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})
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end
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function p25_5(length, arg2, arg3, arg4) -- roll combination
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return make_paths("p25_5", {
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{ path_straight(length/9), roll_angle(90) },
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{ path_straight(length/9), roll_angle(0) },
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{ path_straight(length/9), roll_angle(90) },
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{ path_straight(length/9), roll_angle(0) },
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{ path_straight(length/9), roll_angle(90) },
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{ path_straight(length/9), roll_angle(-90) },
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{ path_straight(length/9), roll_angle(0) },
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{ path_straight(length/9), roll_angle(-90) },
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{ path_straight(length/9), roll_angle(0) },
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{ path_straight(length/9), roll_angle(-90) },
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})
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end
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function p25_6(radius, height, arg3, arg4) -- stall turn
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local l = height - 2 * radius
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return make_paths("p25_6", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l-60), roll_angle(0) },
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{ path_vertical_arc(radius, 180), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(360) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_7(radius, length, arg3, arg4) -- double immelmann
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local l = length - (2 * radius)
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return make_paths("p25_7", {
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{ path_straight(l/4), roll_angle(0) },
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{ path_straight(l/4), roll_angle(180) },
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{ path_vertical_arc(radius, 180), roll_angle(0) },
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{ path_straight(l/4), roll_angle(-90) },
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{ path_straight(l/2), roll_angle(0) },
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{ path_straight(l/4), roll_angle(-90) },
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{ path_vertical_arc(radius, 180), roll_angle(0) },
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{ path_straight(l/4), roll_angle(180) , roll_ref=180},
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})
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end
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function p25_8(radius, height, arg3, arg4) -- humpty
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local l = height - (2 * radius)
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return make_paths("p25_8", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/4), roll_angle(0) },
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{ path_straight(l/4), roll_angle(180) },
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{ path_straight(l/4), roll_angle(-180) },
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{ path_straight(l/4), roll_angle(0) },
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{ path_vertical_arc(-radius, 180), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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})
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end
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function p25_9(radius, arg2, arg3, arg4) -- loop
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return make_paths("p25_9", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(90) },
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{ path_vertical_arc(radius, 90), roll_angle(-90) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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})
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end
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function p25_10(radius, height, arg3, arg4) -- half square on corner
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local l = ((height - (2 * radius)) * math.sin(math.rad(45)))
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return make_paths("p23_10", {
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{ path_vertical_arc(radius, 45), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 45), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_11(radius, height, arg3, arg4) -- double p
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local l = (height - (2 * radius))
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return make_paths("p25_11", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 270), roll_angle(0) },
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{ path_straight(radius * 2/3), roll_angle(0) },
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{ path_straight(radius * 2/3), roll_angle(180) },
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{ path_straight(radius * 2/3), roll_angle(0) },
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{ path_vertical_arc(radius, 270), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_12(radius, height, arg3, arg4) -- inverted tear drop
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local l = (height - (2 * radius))
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local angle_l = l * 1.4
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return make_paths("p25_12", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_vertical_arc(radius, 225), roll_angle(0) },
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{ path_straight(angle_l/3), roll_angle(0) },
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{ path_straight(angle_l/3), roll_angle(180) },
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{ path_straight(angle_l/3), roll_angle(0) },
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{ path_vertical_arc(radius, 45), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_13(radius, height, arg3, arg4) -- spin
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local l = (height - (2 * radius))
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return make_paths("p25_13", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(360) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(180) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) , roll_ref=180},
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})
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end
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function p25_14(radius, height, arg3, arg4) -- top hat
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local l = (height - (2 * radius))
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return make_paths("p25_14", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(radius/2), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(l), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0)},
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})
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end
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function p25_15(radius, height, arg3, arg4) -- figure z
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--local l = (height - (2 * radius) + (2 * radius * math.cos(math.rad(45)))) / math.cos(math.rad(45))
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local l = (height - (2 * radius)) * 0.72
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return make_paths("p25_15", {
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{ path_straight((height - (2 *radius))/20), roll_angle(0) },
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{ path_vertical_arc(radius, 135), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(180) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 135), roll_angle(0), roll_ref=180},
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})
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end
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function p25_16(radius, height, arg3, arg4) -- commet
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-- NEEDS RADIUS + HEIGHT LOSS included.....
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local l = (height - (2 * radius)) * 1.36
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return make_paths("p25_16", {
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{ path_vertical_arc(-radius, 45), roll_angle(0) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_straight(l/5), roll_angle(90) },
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{ path_straight(l/5), roll_angle(0) },
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{ path_vertical_arc(radius, 270), roll_angle(0) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(360) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 45), roll_angle(0) },
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})
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end
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function p25_17(height, arg2, arg3, arg4) -- dunny pipe
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local radius = height / 4
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return make_paths("p25_17", {
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{ path_vertical_arc(radius, 135), roll_angle(0) },
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{ path_vertical_arc(radius, 45), roll_angle(90) },
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{ path_vertical_arc(-radius, 135), roll_angle(0) },
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{ path_vertical_arc(-radius, 45), roll_angle(90), roll_ref=180 },
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})
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end
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function half_roll(arg1, arg2, arg3, arg4) -- half roll for testing inverted manouvers
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return make_paths("half_roll", {
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{ path_straight(40), roll_angle(180) },
|
||
|
|
{ path_straight(10), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
straight_roll 160 0
|
||
|
|
p25_half_loop 100
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Triangle
|
||
|
|
p25_1 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareDown
|
||
|
|
p25_2 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: SquareonCorner
|
||
|
|
p25_3 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: FigureP
|
||
|
|
p25_4 70 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: RollCombination
|
||
|
|
thr_boost: true
|
||
|
|
p25_5 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: StallTurn
|
||
|
|
p25_6 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Immelmann
|
||
|
|
p25_7 100 300
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Humpty
|
||
|
|
p25_8 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Loop
|
||
|
|
p25_9 100
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareonCorner
|
||
|
|
p25_10 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: DoubleP
|
||
|
|
p25_11 50 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: InvertedTearDrop
|
||
|
|
p25_12 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Spin
|
||
|
|
p25_13 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: TopHat
|
||
|
|
p25_14 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: FigureZ
|
||
|
|
p25_15 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Commet
|
||
|
|
p25_16 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: DunnyPipe
|
||
|
|
p25_17 200
|
||
|
|
|
||
|
|
straight_roll 50 0
|
||
|
|
half_roll 0
|
||
|
|
straight_roll 50 0
|
||
|
|
|