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AP_Scripting: correct climbing circle for roll distortion

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This commit is contained in:
Andrew Tridgell 2022-10-29 21:17:58 +11:00
parent eb62991632
commit 3c101d879e
1 changed files with 15 additions and 1 deletions
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16
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -403,6 +403,9 @@ function PathComponent()
function self.get_final_orientation()
return Quaternion()
end
function self.get_roll_correction(t)
return 0
end
return self
end
@ -488,6 +491,17 @@ function path_horizontal_arc(_radius, _angle, _height_gain)
q:from_axis_angle(makeVector3f(0,0,1), sgn(radius)*math.rad(angle))
return q
end
--[[
roll correction for the rotation caused by height gain
--]]
function self.get_roll_correction(t)
if height_gain == 0 then
return 0
end
local gamma=math.atan(height_gain*(angle/360)/(2*math.pi*radius))
return -t*360*math.sin(gamma)
end
return self
end
@ -501,7 +515,7 @@ function Path(_path_component, _roll_component)
local path_component = _path_component
local roll_component = _roll_component
function self.get_roll(t, time_s)
return wrap_180(roll_component.get_roll(t, time_s))
return wrap_180(roll_component.get_roll(t, time_s) + path_component.get_roll_correction(t))
end
function self.get_pos(t)
return path_component.get_pos(t)