ardupilot/libraries/AP_Scripting/examples/set-target-velocity.lua

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-- command a Copter to takeoff to 10m and fly a square pattern
--
-- CAUTION: This script only works for Copter
-- this script waits for the vehicle to be armed and RC6 input > 1800 and then:
-- a) switches to Guided mode
-- b) takeoff to 10m
-- c) flies a 20m x 20m square pattern using the velocity controller
-- d) switches to RTL mode
local takeoff_alt_above_home = 10
local copter_guided_mode_num = 4
local copter_rtl_mode_num = 6
local stage = 0
local bottom_left_loc -- vehicle location when starting square
local square_side_length = 20 -- length of each side of square
-- the main update function that uses the takeoff and velocity controllers to fly a rough square pattern
function update()
if not arming:is_armed() then -- reset state when disarmed
stage = 0
else
pwm6 = rc:get_pwm(6)
if pwm6 and pwm6 > 1800 then -- check if RC7 input has moved high
if (stage == 0) then -- change to guided mode
if (vehicle:set_mode(copter_guided_mode_num)) then -- change to Guided mode
stage = stage + 1
end
elseif (stage == 1) then -- Stage1: takeoff
if (vehicle:start_takeoff(takeoff_alt_above_home)) then
stage = stage + 1
end
elseif (stage == 2) then -- Stage2: check if vehicle has reached target altitude
local home = ahrs:get_home()
local curr_loc = ahrs:get_position()
if home and curr_loc then
local vec_from_home = home:get_distance_NED(curr_loc)
gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z())))
if (math.abs(takeoff_alt_above_home + vec_from_home:z()) < 1) then
stage = stage + 1
bottom_left_loc = curr_loc -- record location when starting square
end
end
elseif (stage >= 3 and stage <= 6) then -- fly a square using velocity controller
local curr_loc = ahrs:get_position()
local target_vel = Vector3f() -- create velocity vector
if (bottom_left_loc and curr_loc) then
local dist_NE = bottom_left_loc:get_distance_NE(curr_loc)
-- Stage3 : fly North at 2m/s
if (stage == 3) then
target_vel:x(2)
if (dist_NE:x() >= square_side_length) then
stage = stage + 1
end
end
-- Stage4 : fly East at 2m/s
if (stage == 4) then
target_vel:y(2)
if (dist_NE:y() >= square_side_length) then
stage = stage + 1
end
end
-- Stage5 : fly South at 2m/s
if (stage == 5) then
target_vel:x(-2)
if (dist_NE:x() <= 2) then
stage = stage + 1
end
end
-- Stage6 : fly West at 2m/s
if (stage == 6) then
target_vel:y(-2)
if (dist_NE:y() <= 2) then
stage = stage + 1
end
end
-- send velocity request
if (vehicle:set_target_velocity_NED(target_vel)) then -- send target velocity to vehicle
gcs:send_text(0, "pos:" .. tostring(math.floor(dist_NE:x())) .. "," .. tostring(math.floor(dist_NE:y())) .. " sent vel x:" .. tostring(target_vel:x()) .. " y:" .. tostring(target_vel:y()))
else
gcs:send_text(0, "failed to execute velocity command")
end
end
elseif (stage == 7) then -- Stage7: change to RTL mode
vehicle:set_mode(copter_rtl_mode_num)
stage = stage + 1
gcs:send_text(0, "finished square, switching to RTL")
end
end
end
return update, 1000
end
return update()