mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-21 15:23:57 -04:00
AP_Scripting: added schedules from Andy
This commit is contained in:
Andrew Tridgell
parent
fb7ea3ecac
commit
01bdc532d6
@ -497,7 +497,7 @@ function Path(_path_component, _roll_component)
|
||||
local path_component = _path_component
|
||||
local roll_component = _roll_component
|
||||
function self.get_roll(t, time_s)
|
||||
return roll_component.get_roll(t, time_s)
|
||||
return wrap_180(roll_component.get_roll(t, time_s))
|
||||
end
|
||||
function self.get_pos(t)
|
||||
return path_component.get_pos(t)
|
||||
@ -850,6 +850,175 @@ function vertical_aerobatic_box(total_length, total_width, r, bank_angle)
|
||||
})
|
||||
end
|
||||
|
||||
function two_point_roll(length, arg2, arg3, arg4)
|
||||
return make_paths("two_point_roll", {
|
||||
{ path_straight((length*3)/7), roll_angle(180) },
|
||||
{ path_straight(length/7), roll_angle(0) },
|
||||
{ path_straight((length*3)/7), roll_angle(180) },
|
||||
})
|
||||
end
|
||||
|
||||
function procedure_turn(radius, bank_angle, step_out, arg4)
|
||||
local rabs = math.abs(radius)
|
||||
return make_paths("procedure_turn", {
|
||||
{ path_straight(rabs), roll_angle(0) },
|
||||
{ path_horizontal_arc(radius, 90), roll_angle_entry_exit(bank_angle) },
|
||||
{ path_straight(step_out), roll_angle(0) },
|
||||
{ path_horizontal_arc(-radius, 270), roll_angle_entry_exit(-bank_angle) },
|
||||
{ path_straight(4*rabs), 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_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....
|
||||
-- 1 1/2 rolls not working
|
||||
local l = (height_gain - 2*radius*(1.0-math.cos(math.rad(45))))/math.sin(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
|
||||
|
||||
--[[
|
||||
NZ clubman schedule
|
||||
--]]
|
||||
function nz_clubman()
|
||||
return path_composer("nz_clubman", {
|
||||
straight_roll(20, 0),
|
||||
procedure_turn(20, 45, 60),
|
||||
straight_roll(150, 0),
|
||||
half_reverse_cuban_eight(40),
|
||||
straight_roll(150, 0),
|
||||
cuban_eight(40),
|
||||
straight_roll(80, 0),
|
||||
half_reverse_cuban_eight(40),
|
||||
straight_roll(140, 0),
|
||||
half_reverse_cuban_eight(40),
|
||||
straight_roll(120, 0),
|
||||
half_reverse_cuban_eight(40),
|
||||
straight_roll(40, 0),
|
||||
two_point_roll(180),
|
||||
straight_roll(40, 0),
|
||||
half_reverse_cuban_eight(40),
|
||||
straight_roll(20, 0),
|
||||
upline_45(20, 120),
|
||||
straight_roll(20, 0),
|
||||
split_s(60, 90),
|
||||
straight_roll(40, 0),
|
||||
straight_roll(180, 1),
|
||||
straight_flight(40, 0),
|
||||
half_cuban_eight(40),
|
||||
straight_roll(100, 0),
|
||||
loop(40, 0, 2),
|
||||
straight_roll(100, 0),
|
||||
immelmann_turn(60, 90),
|
||||
straight_roll(20, 0),
|
||||
downline_45(20, 120),
|
||||
straight_roll(20, 0),
|
||||
half_cuban_eight(40),
|
||||
straight_roll(100, 0),
|
||||
})
|
||||
end
|
||||
|
||||
--[[
|
||||
F3A p23, preliminary schedule 2023
|
||||
--]]
|
||||
function f3a_p23()
|
||||
return path_composer("f3a_p23", {
|
||||
straight_roll(40, 0),
|
||||
p23_1(30, 200, 200), -- top hat
|
||||
straight_roll(40, 0),
|
||||
p23_2(30, 200), -- half sq
|
||||
straight_roll(90, 0),
|
||||
p23_3(30, 200), -- humpty
|
||||
straight_roll(50, 0),
|
||||
p23_4(30, 200), -- on corner
|
||||
straight_roll(40, 0),
|
||||
p23_5(30, 200), -- 45 up
|
||||
straight_roll(40, 0),
|
||||
p23_6(30, 200), -- 3 sided
|
||||
straight_roll(20, 0),
|
||||
|
||||
})
|
||||
end
|
||||
|
||||
|
||||
function test_all_paths()
|
||||
return path_composer("test_all_paths", {
|
||||
figure_eight(100, 45),
|
||||
@ -1303,6 +1472,8 @@ command_table[17]= PathFunction(upline_45, "Upline-45")
|
||||
command_table[18]= PathFunction(downline_45, "Downline-45")
|
||||
command_table[19]= PathFunction(stall_turn, "Stall Turn")
|
||||
command_table[200] = PathFunction(test_all_paths, "Test Suite")
|
||||
command_table[201] = PathFunction(nz_clubman, "NZ Clubman")
|
||||
command_table[202] = PathFunction(f3a_p23, "FAI F3A P23")
|
||||
|
||||
-- get a location structure from a waypoint number
|
||||
function get_location(i)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user