mirror of https://github.com/ArduPilot/ardupilot
362 lines
16 KiB
Plaintext
362 lines
16 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 trick95.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 F25 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: F3AF25
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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 f25_1(radius, height, width, arg4) -- square loop on corner
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local l = ((height - (2 * radius)) * math.sin(math.rad(45))) -- CHECK
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return make_paths("f25_1", {
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{ path_vertical_arc(radius, 45), roll_angle(90) },
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{ path_straight(l), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(180) },
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{ path_straight(l), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(-180) },
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{ path_straight(l), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(180) },
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{ path_straight(l), 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 f25_2(radius, height, arg3, arg4) -- figure p
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local l = (height - (2 * radius))
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return make_paths("f25_2", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l/20), roll_angle(0) },
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{ path_straight(l* 6/10), roll_angle(360) },
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{ path_straight(l* 3/10), roll_angle(-180) },
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{ path_straight(l/20), 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 f25_3(length, arg2, arg3, arg4) -- roll combination
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return make_paths("f25_3", {
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{ path_straight(length/13), roll_angle(90) },
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{ path_straight(length/13), roll_angle(0) },
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{ path_straight(length/13), roll_angle(90) },
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{ path_straight(length/13), roll_angle(-90) },
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{ path_straight(length/13), roll_angle(0) },
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{ path_straight(length/13), roll_angle(-90) },
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{ path_straight(length/13), roll_angle(0) },
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{ path_straight(length/13), roll_angle(-90) },
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{ path_straight(length/13), roll_angle(0) },
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{ path_straight(length/13), roll_angle(-90) },
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{ path_straight(length/13), roll_angle(90) },
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{ path_straight(length/13), roll_angle(0) },
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{ path_straight(length/13), roll_angle(90) },
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})
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end
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function f25_4(radius, arg2, arg3, arg4) -- half loop
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return make_paths("f25_4", {
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{ path_vertical_arc(radius, 180), roll_angle(180) },
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})
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end
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function f25_5(radius, height, arg3, arg4) -- reverse humpty
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local l = height - (2 * radius)
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return make_paths("f25_5", {
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight(l/8), roll_angle(0) },
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{ path_straight(l*6/8), roll_angle(180) },
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{ path_straight(l/8), roll_angle(0) },
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{ path_vertical_arc(radius, 180), roll_angle(180) },
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{ path_straight(l/8), roll_angle(0) },
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{ path_straight(l*6/8), roll_angle(180) }, -- 540
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{ path_straight(l/8), 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 f25_6(radius, height, arg3, arg4) -- spin
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local l = (height - (2 * radius))
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return make_paths("f25_6", {
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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) },
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})
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end
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function f25_7(radius, arg2, arg3, arg4) -- rolling circle
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return make_paths("f25_7", {
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{ path_horizontal_arc(radius, 90), roll_angle(180), thr_boost=true },
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{ path_horizontal_arc(radius, 180), roll_angle(-180), thr_boost=true },
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{ path_horizontal_arc(radius, 90), roll_angle(180), thr_boost=true },
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{ path_straight(1), roll_angle(0), roll_ref=180 },
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})
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end
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function f25_8(radius, height, arg3, arg4) -- sharks tooth
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local l = height - (2 * radius) -- WRONG
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local angle_l = l * 1.9
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return make_paths("f25_8", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight(l * 1/6), roll_angle(0) },
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{ path_straight(l * 4/6), roll_angle(360) },
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{ path_straight(l * 1/6), roll_angle(0) },
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{ path_vertical_arc(radius, 135), roll_angle(0) },
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{ path_straight(angle_l/4), roll_angle(0) },
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{ path_straight(angle_l/4), roll_angle(180) },
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{ path_straight(angle_l/4), roll_angle(-180) },
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{ path_straight(angle_l/4), 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 f25_9(radius, height, arg3, arg4) -- vertical square eight
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local l = (height - (4 * radius)) / 2
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return make_paths("f25_9", {
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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(360) },
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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, 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(360) },
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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, 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(360) },
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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), roll_ref=180 },
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})
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end
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function f25_10(radius, height, arg3, arg4) -- humpty
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local l = height - (2 * radius)
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return make_paths("f25_10", {
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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, 180), roll_angle(0) },
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{ path_straight(l/8), roll_angle(0) },
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{ path_straight(l * 6/8), roll_angle(540) },
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{ path_straight(l/8), 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 f25_11(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("f25_11", {
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{ path_straight(base / 2), roll_angle(0) },
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{ path_vertical_arc(radius, 135) , roll_angle(-90) },
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{ path_straight(side/3), roll_angle(0) },
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{ path_straight(side/3), roll_angle(180) },
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{ path_straight(side/3), roll_angle(0) },
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{ path_vertical_arc(radius, 90), roll_angle(180) },
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{ path_straight(side/3), roll_angle(0) },
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{ path_straight(side/3), roll_angle(180) },
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{ path_straight(side/3), roll_angle(0) },
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{ path_vertical_arc(radius, 135), roll_angle(-90) },
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})
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end
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function f25_12(radius, height, arg3, arg4) -- half eight sided loop
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local l = (height - 2*radius) / ((2*math.sin(math.rad(45))) + 1)
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return make_paths("f25_12", {
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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, 45), roll_angle(0) },
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{ path_straight(l), 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/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 f25_13(radius, height, arg3, arg4) -- 45 down
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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("f25_13", {
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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(90) },
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{ path_straight(l/6), 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) },
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})
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end
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function f25_14(radius, height, arg3, arg4) -- half square
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local l = height - (2 * radius)
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return make_paths("f25_14", {
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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(360) },
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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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})
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end
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function f25_15(radius, arg2, arg3, arg4) -- down loop
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return make_paths("f25_15", {
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{ path_vertical_arc(-radius, 90), roll_angle(-90) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) }, -- needs a snap in here
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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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})
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end
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function f25_16(radius, arg2, arg3, arg4) -- half loop
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return make_paths("f25_16", {
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{ path_straight(radius/2), roll_angle(90) },
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{ path_vertical_arc(-radius, 180), roll_angle(0) },
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{ path_straight(radius/2), roll_angle(90) },
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})
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end
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function f25_17(radius, height, arg3, arg4) -- stall turn
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local l = height - 2 * radius
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return make_paths("f25_17", {
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{ path_straight(radius/2), roll_angle(180) },
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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, 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) },
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{ path_straight(radius/2), roll_angle(0) },
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{ path_straight(radius/2), roll_angle(180) },
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})
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end
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straight_roll 80
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half_reverse_cuban_eight 60
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align_center
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message: LooponCorner
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f25_1 50 200
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align_box 1
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message: FigureP
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f25_2 70 200
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align_center
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message: RollCombination
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thr_boost: true
|
||
|
|
f25_3 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfLoop
|
||
|
|
f25_4 70
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: InvertedHumpty
|
||
|
|
f25_5 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Spin
|
||
|
|
f25_6 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: RollingCircle
|
||
|
|
f25_7 100
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: SharksTooth
|
||
|
|
f25_8 30 190
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: VerticalSquareEight
|
||
|
|
f25_9 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Humpty
|
||
|
|
f25_10 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Triangle
|
||
|
|
f25_11 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfEightSidedLoop
|
||
|
|
f25_12 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: 45Down
|
||
|
|
f25_13 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareLoop
|
||
|
|
f25_14 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: DownLoop
|
||
|
|
f25_15 100
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfLoop
|
||
|
|
f25_16 100
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Stall Turn
|
||
|
|
f25_17 40 200
|
||
|
|
|
||
|
|
straight_roll 100
|
||
|
|
|