mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.3 KiB
Lua
37 lines
1.3 KiB
Lua
|
-- 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()
|