mirror of https://github.com/ArduPilot/ardupilot
399 lines
18 KiB
Plaintext
399 lines
18 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 trick93.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 F23 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: F3AF23
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function half_reverse_cuban_eight(r, arg2, arg3, arg4)
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local rabs = math.abs(r)
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return make_paths("half_reverse_cuban_eight", {
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{ path_vertical_arc(r, 45), roll_angle(0) },
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{ path_straight(2*rabs/3), roll_angle(0) },
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{ path_straight(2*rabs/3), roll_angle(180) },
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{ path_straight(2*rabs/3), roll_angle(0) },
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{ path_vertical_arc(-r, 225), roll_angle(0) },
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})
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end
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function f23_1(radius, arg2, arg3, arg4) -- loop
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return make_paths("f23_1", {
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{ path_straight(radius/2), roll_angle(0) },
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{ path_straight(radius/2), roll_angle(-270) },
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{ path_straight(radius/2), roll_angle(0) },
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{ path_vertical_arc(radius, 360), roll_angle(360) },
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{ path_straight(radius/2), roll_angle(0) },
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{ path_straight(radius/2), roll_angle(-270) },
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{ path_straight(radius/2), roll_angle(0), roll_ref=180 },
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})
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end
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function f23_2(radius, height, arg3, arg4) -- stall turn -- Currently a humpty!
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return make_paths("f23_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, 180), roll_angle(0) },
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{ path_straight((height-2*radius)), 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 f23_3(length, arg2, arg3, arg4) -- eight point roll
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return make_paths("f23_3", {
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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{ path_straight(length/16), roll_angle(45) },
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{ path_straight(length/16), roll_angle(0) },
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})
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end
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function f23_4(radius, height, arg3, arg4) -- sharks tooth
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local l = (height - (2 * radius))
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local angle_l = l * 1.9 -- WRONG
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return make_paths("f23_4", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l * 2/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90) },
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{ path_straight(l * 2/9), roll_angle(0) },
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{ path_vertical_arc(radius, 135), 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(270) },
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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 f23_5(radius, height_gain, arg3, arg4) -- square loop on corner
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local l = ((height_gain - (2 * radius)) * math.sin(math.rad(45))) -- CHECK
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return make_paths("f23_5", {
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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(90) },
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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(90) },
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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 f23_6(radius, height_gain, arg3, arg4) -- humpty bump
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local l = (height_gain - 2*radius)
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return make_paths("f23_6", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(2 * l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(180) },
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{ path_straight(l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(180) },
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{ path_straight(2 * l/7), roll_angle(0) },
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{ path_vertical_arc(-radius, 180), roll_angle(360) },
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{ path_straight(l/3), roll_angle(0) },
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{ path_straight(l/3), roll_angle(360) }, -- should be a snap roll
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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 f23_7(radius, arg2, arg3, arg4) -- horizontal eight
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return make_paths("f23_7", {
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{ path_vertical_arc(radius, 270), roll_angle(270) },
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{ path_vertical_arc(-radius, 360), roll_angle(360) },
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{ path_vertical_arc(radius, 90), roll_angle(90) },
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})
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end
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function f23_8(radius, height, arg3, arg4) -- tear drop
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local l = (height - 2*radius)
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local angle_l = l * 0.74 -- WRONG
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return make_paths("f23_8", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/6), roll_angle(0) },
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{ path_straight(4 * l/6), roll_angle(360) },
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{ path_straight(l/6), roll_angle(0) },
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{ path_vertical_arc(radius, 225), roll_angle(0) },
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{ path_straight(2 * angle_l/7), roll_angle(0) },
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{ path_straight(angle_l/7), roll_angle(90) },
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{ path_straight(angle_l/7), roll_angle(0) },
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{ path_straight(angle_l/7), roll_angle(90) },
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{ path_straight(2 * angle_l/7), roll_angle(0) },
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{ path_vertical_arc(-radius, 135), roll_angle(0) },
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})
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end
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function f23_9(radius, height, arg3, arg4) -- 45 up
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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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return make_paths("f23_9", {
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{ path_straight(radius/3), roll_angle(90) },
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{ path_straight(radius/3), roll_angle(0) },
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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/6), roll_angle(180) },
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{ path_straight(l/6), 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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{ path_straight(radius/3), roll_angle(0) },
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{ path_straight(radius/3), roll_angle(90) , roll_ref=180 },
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})
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end
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function f23_10(radius, height, arg3, arg4) -- figure z
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local l = height - (2 * radius)
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-- local angle_l = (l + (2 * radius * math.cos(math.rad(45)))) / math.cos(math.rad(45)) -- WRONG
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local angle_l = l * 1.1
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return make_paths("f23_10", {
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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, 90), roll_angle(0) },
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{ path_straight(2 * l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(90) },
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{ path_straight(l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(90) },
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{ path_straight(2 * l/7), roll_angle(0) },
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{ path_vertical_arc(-radius, 135), roll_angle(0) },
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{ path_straight(angle_l/6), roll_angle(0) },
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{ path_straight(angle_l/3), roll_angle(360) },
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{ path_straight(angle_l/6), roll_angle(0) },
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{ path_vertical_arc(radius, 135), roll_angle(0) },
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})
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end
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function f23_11(radius, height, arg3, arg4) -- heart
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local rabs = math.abs(radius)
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local l = height * 1.15 -- WRONG
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return make_paths("f23_11", {
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{ path_vertical_arc(-radius, 45), roll_angle(0) },
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{ path_straight(l * 2/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(-90), roll_ref=90 },
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{ path_straight(l * 2/9), roll_angle(0) },
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{ path_vertical_arc(radius, 180), roll_angle(0) },
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{ path_straight(l * 1/3), roll_angle(0) },
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{ path_straight(l * 1/3), roll_angle(180) , roll_ref=-90 },
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{ path_straight(l * 1/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l * 1/3), roll_angle(0) },
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{ path_straight(l * 1/3), roll_angle(180) , roll_ref=90 },
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{ path_straight(l * 1/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 180), roll_angle(0) },
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{ path_straight(l * 2/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(90) },
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{ path_straight(l * 1/9), roll_angle(0) },
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{ path_straight(l * 1/9), roll_angle(90), roll_ref=-90 },
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{ path_straight(l * 2/9), 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 f23_12(radius, height, arg3, arg4) -- reverse top hat
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return make_paths("f23_12", {
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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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{ 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((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) , roll_ref=180 },
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})
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end
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function f23_13(radius, height, arg3, arg4) -- spin place holder
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local l = height - (2 * radius)
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return make_paths("f23_13", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(2 * l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(180) },
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{ path_straight(l/7), roll_angle(0) },
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{ path_straight(l/7), roll_angle(-180) },
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{ path_straight(2 * l/7), 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 f23_14(r, arg2, arg3, arg4) -- half cuban eight - needs a snap on the way down
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local rabs = math.abs(r)
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return make_paths("f23_14", {
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--{ path_straight((2*rabs*math.sqrt(2))/4), roll_angle(0) },
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{ path_straight((2*rabs*math.sqrt(2))/4), roll_angle(180) },
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{ path_straight((2*rabs*math.sqrt(2))/4), roll_angle(-180) },
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{ path_straight((2*rabs*math.sqrt(2))/4), roll_angle(0) },
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{ path_vertical_arc(r, 225), roll_angle(0) },
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{ path_straight(2*rabs/3), roll_angle(0) },
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{ path_straight(2*rabs/3), roll_angle(180) },
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{ path_straight(2*rabs/3), roll_angle(0) },
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{ path_vertical_arc(-r, 45), roll_angle(0) },
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})
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end
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function f23_15(radius, arg2, arg3, arg4) -- rolling circle
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return make_paths("f23_15", {
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{ path_horizontal_arc(radius, 180), roll_angle(-180), thr_boost=true },
|
||
|
|
{ path_horizontal_arc(radius, 180), roll_angle(180), thr_boost=true },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function f23_16(radius, height, arg3, arg4) -- half square loop
|
||
|
|
local l = height - (2 * radius)
|
||
|
|
return make_paths("f23_16", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight(l/4), roll_angle(0) },
|
||
|
|
{ path_straight(l/4), roll_angle(180) },
|
||
|
|
{ path_straight(l/4), roll_angle(-180) },
|
||
|
|
{ path_straight(l/4), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) , roll_ref=180},
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function f23_17(radius, arg2, arg3, arg4) -- down loop
|
||
|
|
return make_paths("f23_17", {
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(180) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) }, -- needs a snap in here
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(180) },
|
||
|
|
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function half_roll(arg1, arg2, arg3, arg4) -- half roll for testing inverted manouvers
|
||
|
|
return make_paths("half_roll", {
|
||
|
|
{ path_straight(40), roll_angle(180) },
|
||
|
|
{ path_straight(10), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
straight_roll 80 0
|
||
|
|
half_reverse_cuban_eight 70
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Loop
|
||
|
|
f23_1 90
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: StallTurn
|
||
|
|
f23_2 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: RollCombination
|
||
|
|
f23_3 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: KnifeEdgeSharksTooth
|
||
|
|
f23_4 30 190
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: SquareLooponCorner
|
||
|
|
f23_5 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Humpty
|
||
|
|
f23_6 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: HorizontalEight
|
||
|
|
f23_7 100
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: TearDrop
|
||
|
|
f23_8 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: 45Up
|
||
|
|
f23_9 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: FigureZ
|
||
|
|
f23_10 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Heart
|
||
|
|
f23_11 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: ReverseTopHat
|
||
|
|
f23_12 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Spin
|
||
|
|
f23_13 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfCuban
|
||
|
|
f23_14 70
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: RollingCircle
|
||
|
|
f23_15 100
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareLoop
|
||
|
|
f23_16 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: DownLoop
|
||
|
|
f23_17 100
|
||
|
|
|
||
|
|
straight_roll 50 0
|
||
|
|
half_roll 0
|
||
|
|
straight_roll 50 0
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|