mirror of https://github.com/ArduPilot/ardupilot
386 lines
18 KiB
Plaintext
386 lines
18 KiB
Plaintext
|
# trajectory tracking aerobatic control
|
||
|
|
# See README.md for usage
|
||
|
|
# Written by Matthew Hampsey, Andy Palmer and Andrew Tridgell, with controller
|
||
|
|
# assistance from Paul Riseborough, testing by Henry Wurzburg
|
||
|
|
|
||
|
|
# To use this schedule put the file on your microSD in the root directory
|
||
|
|
# (not the APM directory) with name trick92.txt The schedule can then be
|
||
|
|
# used in auto missions or in TRIKn_ID commands for tricks on a switch
|
||
|
|
|
||
|
|
# This schedule is set up to be flown Left to Right. The schedule starts downwind - so
|
||
|
|
# the mission should be set up with WP's lined up on the flight line (150m out from the
|
||
|
|
# pilot), and the mission should be triggered when the plane gets to the center marker
|
||
|
|
# heading RIGHT to LEFT. Schedule direction is reversed with aerom_scale = -1 (and
|
||
|
|
# remember to reverse the mission WP's as well). Note the required height is greater
|
||
|
|
# than 400 feet - so only fly at an airfield where there is a 1500 foot clearance
|
||
|
|
|
||
|
|
# This is an example of a F3A P23 schedule. Some manouvers are flown over the center
|
||
|
|
# line of the runway. Please understand the behaviour by flying in SITL before flying this
|
||
|
|
# schedule with a real aircraft! Your aircraft requires adequate performance to complete
|
||
|
|
# the schedule
|
||
|
|
|
||
|
|
name: F3AP23
|
||
|
|
|
||
|
|
function half_reverse_cuban_eight(r, arg2, arg3, arg4)
|
||
|
|
local rabs = math.abs(r)
|
||
|
|
return make_paths("half_reverse_cuban_eight", {
|
||
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
||
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
||
|
|
{ path_straight(2*rabs/3), roll_angle(180) },
|
||
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-r, 225), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_1(radius, height, width, arg4) -- top hat
|
||
|
|
return make_paths("p23_1", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)/9), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((width-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((width-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((width-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)/9), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
--[[
|
||
|
|
function p23_1(radius, height, width, arg4) -- top hat
|
||
|
|
return make_paths("p23_1", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)), roll_sequence({{2,0}, {2, 90}, {1, 0}, {2, 90}, {2, 0}}) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((width-2*radius)), roll_sequence({{1,0}, {1, 180}, {1, 0}}) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)), roll_sequence({{2,0}, {2, 90}, {1, 0}, {2, 90}, {2, 0}}) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
--]]
|
||
|
|
|
||
|
|
function p23_2(radius, height, arg3, arg4) -- half square
|
||
|
|
return make_paths("p23_2", {
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_3(radius, height, arg3, arg4) -- humpty
|
||
|
|
return make_paths("p23_3", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/8), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)*6/8), roll_angle(360) },
|
||
|
|
{ path_straight((height-2*radius)/8), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 180), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_4(radius, height, arg3, arg4) -- on corner
|
||
|
|
local l = ((height - (2 * radius)) * math.sin(math.rad(45)))
|
||
|
|
return make_paths("p23_4", {
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(180) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(180) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_5(radius, height_gain, arg3, arg4) -- 45 up - should be 1 1/2 snaps....
|
||
|
|
--local l = (height_gain - 2*radius*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
|
||
|
|
local l = (height_gain - (2 * radius) + (2 * radius * math.cos(math.rad(45)))) / math.cos(math.rad(45))
|
||
|
|
return make_paths("p23_5", {
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_straight(l/3), roll_angle(540) },
|
||
|
|
{ path_straight(l/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 45), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_6(radius, height_gain, arg3, arg4) -- 3 sided
|
||
|
|
local l = (height_gain - 2*radius) / ((2*math.sin(math.rad(45))) + 1)
|
||
|
|
return make_paths("p23_6", {
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(l), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(l), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(l), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_7(length, arg2, arg3, arg4) -- roll combination
|
||
|
|
return make_paths("p23_7", {
|
||
|
|
{ path_straight(length*5/22), roll_angle(180) },
|
||
|
|
{ path_straight(length*1/22), roll_angle(0) },
|
||
|
|
{ path_straight(length*5/22), roll_angle(180) },
|
||
|
|
{ path_straight(length*5/22), roll_angle(-180) },
|
||
|
|
{ path_straight(length*1/22), roll_angle(0) },
|
||
|
|
{ path_straight(length*5/22), roll_angle(-180) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_8(radius, height, arg3, arg4) -- immelmann
|
||
|
|
return make_paths("p23_8", {
|
||
|
|
{ path_vertical_arc(-radius, 180), roll_angle(0) },
|
||
|
|
{ path_straight(radius/2), roll_angle(180) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_9(radius, height, num_turns, arg4) -- spin (currently a vert down 1/2 roll)
|
||
|
|
local l = height- (2*radius)
|
||
|
|
return make_paths("p23_9", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight(l/4), roll_angle(0) },
|
||
|
|
{ path_straight(l/2), roll_angle(180) },
|
||
|
|
{ path_straight(l/4), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_10(radius, height, arg3, arg4) -- humpty
|
||
|
|
return make_paths("p23_10", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 180), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_11(radius, height, arg3, arg4) -- laydown loop
|
||
|
|
local rabs = math.abs(radius)
|
||
|
|
local vert_length = height - (2 * rabs)
|
||
|
|
local angle_length = ((2 * rabs) - (2 * (rabs - (rabs * (math.cos(math.rad(45))))))) / math.sin(math.rad(45))
|
||
|
|
return make_paths("p23_11", {
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0) },
|
||
|
|
{ path_straight(angle_length*2/6), roll_angle(0) },
|
||
|
|
{ path_straight(angle_length*1/6), roll_angle(180) },
|
||
|
|
{ path_straight(angle_length*1/6), roll_angle(-180) },
|
||
|
|
{ path_straight(angle_length*2/6), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 315), roll_angle(0) },
|
||
|
|
{ path_straight(vert_length*2/9), roll_angle(0) },
|
||
|
|
{ path_straight(vert_length*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(vert_length*1/9), roll_angle(0) },
|
||
|
|
{ path_straight(vert_length*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(vert_length*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_12(radius, height, arg3, arg4) -- 1/2 square
|
||
|
|
return make_paths("p23_12", {
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(180) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_13(radius, height, arg3, arg4) -- stall turn
|
||
|
|
return make_paths("p23_13", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(90) },
|
||
|
|
{ path_straight((height-2*radius)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_13a(radius, height, arg3, arg4) -- stall turn PLACE HOLDER
|
||
|
|
assert(height >= 2*radius)
|
||
|
|
local rabs = math.abs(radius)
|
||
|
|
return make_paths("P23_13a", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(90), roll_ref=90 },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 180), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(0) },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(90), roll_ref=-90 },
|
||
|
|
{ path_straight((height-2*rabs)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0), roll_ref=180 },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
|
||
|
|
function p23_14(r, h, arg3, arg4) -- fighter turn
|
||
|
|
assert(h >= 2*r)
|
||
|
|
local rabs = math.abs(r)
|
||
|
|
local angle_length = (h - ((0.2929 * rabs)) / (math.sin(math.rad(45)))) - rabs
|
||
|
|
return make_paths("fighter_turn", {
|
||
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(0) },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(-90), roll_ref=90 },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(r, 180), roll_angle(0) },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(0) },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(90), roll_ref=-90 },
|
||
|
|
{ path_straight((angle_length)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-r, 45), roll_angle(0), roll_ref=180 },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_15(radius, height, arg3, arg4) -- triangle
|
||
|
|
local h1 = radius * math.sin(math.rad(45))
|
||
|
|
local h2 = (2 * radius) - (radius * math.cos(math.rad(45)))
|
||
|
|
local h3 = height - (2 * radius)
|
||
|
|
local side = h3 / math.cos(math.rad(45))
|
||
|
|
--local base = (h3 + (2 * (radius - radius * math.cos(math.rad(45))))) - (2 * radius)
|
||
|
|
local base = (2 * (h3 + radius)) - 2 * radius
|
||
|
|
return make_paths("p23_15", {
|
||
|
|
{ path_straight(base * 1/5), roll_angle(180) },
|
||
|
|
{ path_straight(base * 2/5), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 135) , roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(side*1/9), roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(side*1/9), roll_angle(0) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(side*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 135), roll_angle(0) },
|
||
|
|
{ path_straight(base * 2/5), roll_angle(0) },
|
||
|
|
{ path_straight(base * 1/5), roll_angle(180) },
|
||
|
|
{ path_straight(base * 2/5), roll_angle(0) },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_16(radius, height, arg3, arg4) -- sharks tooth
|
||
|
|
local angle_length = (height - 2 * (radius - (radius * math.cos(math.rad(45))))) / math.cos(math.rad(45))
|
||
|
|
local vert_length = height - (2 * radius)
|
||
|
|
return make_paths("p23_16", {
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
||
|
|
{ path_straight((vert_length)/3), roll_angle(0) },
|
||
|
|
{ path_straight((vert_length)/3), roll_angle(180) },
|
||
|
|
{ path_straight((vert_length)/3), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 135), roll_angle(0) },
|
||
|
|
{ path_straight(angle_length*2/9), roll_angle(0) },
|
||
|
|
{ path_straight(angle_length*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(angle_length*1/9), roll_angle(0) },
|
||
|
|
{ path_straight(angle_length*2/9), roll_angle(90) },
|
||
|
|
{ path_straight(angle_length*2/9), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(-radius, 45), roll_angle(0), roll_ref=180 },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
function p23_17(radius, arg2, arg3, arg4) -- loop
|
||
|
|
return make_paths("p23_17", {
|
||
|
|
{ path_vertical_arc(radius, 135), roll_angle(0) },
|
||
|
|
{ path_vertical_arc(radius, 90), roll_angle(180) },
|
||
|
|
{ path_vertical_arc(radius, 135), roll_angle(0), roll_ref=180 },
|
||
|
|
})
|
||
|
|
end
|
||
|
|
|
||
|
|
straight_roll 160 0
|
||
|
|
half_reverse_cuban_eight 80
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: TopHat
|
||
|
|
p23_1 40 200 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareLoop
|
||
|
|
p23_2 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Humpty
|
||
|
|
p23_3 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareonCorner
|
||
|
|
p23_4 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: 45Up
|
||
|
|
p23_5 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfEightSidedLoop
|
||
|
|
p23_6 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: RollCombination
|
||
|
|
thr_boost: true
|
||
|
|
p23_7 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: ImmelmannTurn
|
||
|
|
p23_8 100
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: ShouldbeaSpin
|
||
|
|
p23_9 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: Humpty
|
||
|
|
p23_10 40 200
|
||
|
|
|
||
|
|
straight_align -91
|
||
|
|
message: LaydownLoop
|
||
|
|
p23_11 50 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: HalfSquareLoop
|
||
|
|
p23_12 40 200
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: StallTurn
|
||
|
|
p23_13a 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: FighterTurn
|
||
|
|
p23_14 40 180
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Triangle
|
||
|
|
p23_15 40 200
|
||
|
|
|
||
|
|
align_box 1
|
||
|
|
message: SharksTooth
|
||
|
|
p23_16 40 160
|
||
|
|
|
||
|
|
align_center
|
||
|
|
message: Loop
|
||
|
|
p23_17 100
|
||
|
|
|
||
|
|
straight_roll 100 0
|
||
|
|
|
||
|
|
|