2021-11-08 00:07:12 -04:00
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-- perform simple aerobatic manoeuvres in AUTO mode
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local running = false
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local roll_stage = 0
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local ROLL_TCONST = param:get('RLL2SRV_TCONST') * 0.5
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local PITCH_TCONST = param:get('PTCH2SRV_TCONST') * 0.5
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local TRIM_THROTTLE = param:get('TRIM_THROTTLE') * 1.0
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2021-11-25 20:25:38 -04:00
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DO_JUMP = 177
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NAV_WAYPOINT = 16
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2021-11-08 00:07:12 -04:00
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local scr_user1_param = Parameter()
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local scr_user2_param = Parameter()
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local scr_user3_param = Parameter()
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assert(scr_user1_param:init('SCR_USER1'), 'could not find SCR_USER1 parameter')
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assert(scr_user2_param:init('SCR_USER2'), 'could not find SCR_USER2 parameter')
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assert(scr_user3_param:init('SCR_USER3'), 'could not find SCR_USER3 parameter')
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local last_roll_err = 0.0
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local last_id = 0
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2021-11-25 20:25:38 -04:00
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local initial_yaw_deg = 0
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local wp_yaw_deg = 0
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2021-11-08 00:07:12 -04:00
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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-- a controller to target a zero roll angle, coping with inverted flight
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-- output is a body frame roll rate, with convergence over time tconst in seconds
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function roll_zero_controller(tconst)
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local roll_deg = math.deg(ahrs:get_roll())
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_err = 0.0
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if math.abs(pitch_deg) > 85 then
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-- close to 90 we retain the last roll rate
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roll_err = last_roll_err
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elseif roll_deg > 90 then
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roll_err = 180 - roll_deg
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elseif roll_deg < -90 then
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roll_err = (-180) - roll_deg
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else
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roll_err = -roll_deg
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end
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last_roll_err = roll_err
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return roll_err / tconst
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end
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2021-11-25 20:25:38 -04:00
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function wrap_360(angle)
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local res = math.fmod(angle, 360.0)
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if res < 0 then
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res = res + 360.0
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end
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return res
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end
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function wrap_180(angle)
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local res = wrap_360(angle)
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if res > 180 then
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res = res - 360
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end
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return res
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end
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-- a controller to target a zero pitch angle and zero heading change, used in a roll
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2021-11-08 00:07:12 -04:00
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-- output is a body frame pitch rate, with convergence over time tconst in seconds
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2021-11-25 20:25:38 -04:00
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function pitch_controller(target_pitch_deg, target_yaw_deg, tconst)
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2021-11-08 00:07:12 -04:00
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local roll_deg = math.deg(ahrs:get_roll())
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local pitch_deg = math.deg(ahrs:get_pitch())
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2021-11-25 20:25:38 -04:00
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local yaw_deg = math.deg(ahrs:get_yaw())
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-- get earth frame pitch and yaw rates
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local ef_pitch_rate = (target_pitch_deg - pitch_deg) / tconst
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local ef_yaw_rate = wrap_180(target_yaw_deg - yaw_deg) / tconst
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local bf_pitch_rate = math.sin(math.rad(roll_deg)) * ef_yaw_rate + math.cos(math.rad(roll_deg)) * ef_pitch_rate
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local bf_yaw_rate = math.cos(math.rad(roll_deg)) * ef_yaw_rate - math.sin(math.rad(roll_deg)) * ef_pitch_rate
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return bf_pitch_rate, bf_yaw_rate
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2021-11-08 00:07:12 -04:00
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end
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-- a controller for throttle to account for pitch
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function throttle_controller(tconst)
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local pitch_rad = ahrs:get_pitch()
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local thr_ff = scr_user3_param:get()
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local throttle = TRIM_THROTTLE + math.sin(pitch_rad) * thr_ff
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return constrain(throttle, 0.0, 100.0)
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end
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function do_axial_roll(arg1, arg2)
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-- constant roll rate axial roll
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if not running then
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running = true
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roll_stage = 0
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gcs:send_text(0, string.format("Starting roll"))
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end
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local roll_rate = arg1
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local throttle = arg2
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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if roll_stage == 0 then
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if roll_deg > 45 then
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roll_stage = 1
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end
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elseif roll_stage == 1 then
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if roll_deg > -5 and roll_deg < 5 then
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running = false
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-- we're done
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gcs:send_text(0, string.format("Finished roll r=%.1f p=%.1f", roll_deg, pitch_deg))
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vehicle:nav_script_time_done(last_id)
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roll_stage = 2
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return
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end
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end
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if roll_stage < 2 then
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target_pitch = scr_user2_param:get()
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2021-11-25 20:25:38 -04:00
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pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST)
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2021-11-25 19:18:39 -04:00
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vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
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2021-11-08 00:07:12 -04:00
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end
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end
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local loop_stage = 0
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function do_loop(arg1, arg2)
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-- do one loop with controllable pitch rate and throttle
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if not running then
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running = true
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loop_stage = 0
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gcs:send_text(0, string.format("Starting loop"))
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end
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local pitch_rate = arg1
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local throttle = throttle_controller()
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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if loop_stage == 0 then
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if pitch_deg > 60 then
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loop_stage = 1
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end
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elseif loop_stage == 1 then
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if math.abs(roll_deg) < 90 and pitch_deg > -5 and pitch_deg < 5 then
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running = false
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-- we're done
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gcs:send_text(0, string.format("Finished loop p=%.1f", pitch_deg))
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vehicle:nav_script_time_done(last_id)
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loop_stage = 2
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return
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end
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end
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if loop_stage < 2 then
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local roll_rate = roll_zero_controller(ROLL_TCONST)
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vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0)
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end
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end
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2021-11-25 20:25:38 -04:00
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--- get a location object for a given WP number
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function get_wp_location(i)
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local m = mission:get_item(i)
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local loc = Location()
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loc:lat(m:x())
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loc:lng(m:y())
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loc:relative_alt(false)
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loc:terrain_alt(false)
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loc:origin_alt(false)
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loc:alt(math.floor(m:z()*100))
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return loc
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end
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function resolve_jump(i)
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local m = mission:get_item(i)
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while m:command() == DO_JUMP do
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i = math.floor(m:param1())
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m = mission:get_item(i)
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end
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return i
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end
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2021-11-08 00:07:12 -04:00
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function update()
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id, cmd, arg1, arg2 = vehicle:nav_script_time()
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if id then
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if id ~= last_id then
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-- we've started a new command
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running = false
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last_id = id
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2021-11-25 20:25:38 -04:00
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initial_yaw_deg = math.deg(ahrs:get_yaw())
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-- work out yaw between previous WP and next WP
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local cnum = mission:get_current_nav_index()
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local loc_prev = get_wp_location(cnum-1)
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local loc_next = get_wp_location(resolve_jump(cnum+1))
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wp_yaw_deg = math.deg(loc_prev:get_bearing(loc_next))
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2021-11-08 00:07:12 -04:00
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end
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if cmd == 1 then
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do_axial_roll(arg1, arg2)
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elseif cmd == 2 then
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do_loop(arg1, arg2)
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end
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else
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running = false
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end
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return update, 10
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end
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return update()
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