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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)
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local path_component = _path_component
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local roll_component = _roll_component
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function self.get_roll(t, time_s)
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return roll_component.get_roll(t, time_s)
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return wrap_180(roll_component.get_roll(t, time_s))
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end
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function self.get_pos(t)
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return path_component.get_pos(t)
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@ -850,6 +850,175 @@ function vertical_aerobatic_box(total_length, total_width, r, bank_angle)
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})
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end
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function two_point_roll(length, arg2, arg3, arg4)
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return make_paths("two_point_roll", {
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{ path_straight((length*3)/7), roll_angle(180) },
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{ path_straight(length/7), roll_angle(0) },
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{ path_straight((length*3)/7), roll_angle(180) },
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})
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end
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function procedure_turn(radius, bank_angle, step_out, arg4)
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local rabs = math.abs(radius)
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return make_paths("procedure_turn", {
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{ path_straight(rabs), roll_angle(0) },
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{ path_horizontal_arc(radius, 90), roll_angle_entry_exit(bank_angle) },
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{ path_straight(step_out), roll_angle(0) },
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{ path_horizontal_arc(-radius, 270), roll_angle_entry_exit(-bank_angle) },
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{ path_straight(4*rabs), roll_angle(0) },
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})
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end
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function p23_1(radius, height, width, arg4) -- top hat
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return make_paths("p23_1", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(90) },
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{ path_straight((height-2*radius)/9), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(90) },
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{ path_straight((height-2*radius)*2/9), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight((width-2*radius)/3), roll_angle(0) },
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{ path_straight((width-2*radius)/3), roll_angle(180) },
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{ path_straight((width-2*radius)/3), roll_angle(0) },
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{ path_vertical_arc(-radius, 90), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(90) },
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{ path_straight((height-2*radius)/9), roll_angle(0) },
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{ path_straight((height-2*radius)*2/9), roll_angle(90) },
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{ path_straight((height-2*radius)*2/9), 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 p23_2(radius, height, arg3, arg4) -- half square
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return make_paths("p23_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, 90), roll_angle(0) },
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})
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end
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function p23_3(radius, height, arg3, arg4) -- humpty
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return make_paths("p23_3", {
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{ path_vertical_arc(radius, 90), roll_angle(0) },
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{ path_straight((height-2*radius)/8), roll_angle(0) },
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{ path_straight((height-2*radius)*6/8), roll_angle(360) },
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{ path_straight((height-2*radius)/8), roll_angle(0) },
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{ path_vertical_arc(radius, 180), 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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})
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end
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function p23_4(radius, height, arg3, arg4) -- on corner
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local l = ((height - (2 * radius)) * math.sin(math.rad(45)))
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return make_paths("p23_4", {
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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(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, 45), roll_angle(0) },
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})
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end
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function p23_5(radius, height_gain, arg3, arg4) -- 45 up - should be 1 1/2 snaps....
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-- 1 1/2 rolls not working
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local l = (height_gain - 2*radius*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
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return make_paths("p23_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(540) },
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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 p23_6(radius, height_gain, arg3, arg4) -- 3 sided
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local l = (height_gain - 2*radius) / ((2*math.sin(math.rad(45))) + 1)
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return make_paths("p23_6", {
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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), 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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})
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end
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--[[
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NZ clubman schedule
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--]]
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function nz_clubman()
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return path_composer("nz_clubman", {
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straight_roll(20, 0),
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procedure_turn(20, 45, 60),
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straight_roll(150, 0),
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half_reverse_cuban_eight(40),
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straight_roll(150, 0),
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cuban_eight(40),
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straight_roll(80, 0),
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half_reverse_cuban_eight(40),
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straight_roll(140, 0),
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half_reverse_cuban_eight(40),
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straight_roll(120, 0),
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half_reverse_cuban_eight(40),
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straight_roll(40, 0),
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two_point_roll(180),
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straight_roll(40, 0),
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half_reverse_cuban_eight(40),
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straight_roll(20, 0),
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upline_45(20, 120),
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straight_roll(20, 0),
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split_s(60, 90),
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straight_roll(40, 0),
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straight_roll(180, 1),
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straight_flight(40, 0),
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half_cuban_eight(40),
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straight_roll(100, 0),
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loop(40, 0, 2),
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straight_roll(100, 0),
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immelmann_turn(60, 90),
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straight_roll(20, 0),
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downline_45(20, 120),
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straight_roll(20, 0),
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half_cuban_eight(40),
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straight_roll(100, 0),
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})
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end
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--[[
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F3A p23, preliminary schedule 2023
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--]]
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function f3a_p23()
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return path_composer("f3a_p23", {
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straight_roll(40, 0),
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p23_1(30, 200, 200), -- top hat
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straight_roll(40, 0),
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p23_2(30, 200), -- half sq
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straight_roll(90, 0),
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p23_3(30, 200), -- humpty
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straight_roll(50, 0),
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p23_4(30, 200), -- on corner
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straight_roll(40, 0),
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p23_5(30, 200), -- 45 up
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straight_roll(40, 0),
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p23_6(30, 200), -- 3 sided
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straight_roll(20, 0),
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})
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end
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function test_all_paths()
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return path_composer("test_all_paths", {
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figure_eight(100, 45),
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@ -1303,6 +1472,8 @@ command_table[17]= PathFunction(upline_45, "Upline-45")
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command_table[18]= PathFunction(downline_45, "Downline-45")
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command_table[19]= PathFunction(stall_turn, "Stall Turn")
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command_table[200] = PathFunction(test_all_paths, "Test Suite")
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command_table[201] = PathFunction(nz_clubman, "NZ Clubman")
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command_table[202] = PathFunction(f3a_p23, "FAI F3A P23")
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-- get a location structure from a waypoint number
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function get_location(i)
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