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AP_Scripting: added airshow

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and messages in schedules
This commit is contained in:
Andrew Tridgell 2022-11-02 12:16:24 +11:00
parent 41fbbd92bc
commit 40fdb22423
2 changed files with 53 additions and 8 deletions
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15
libraries/AP_Scripting/examples/Aerobatics/Trajectory/README.md
View File

@ -24,7 +24,7 @@ AUTO missions.
| 3 | Horizontal Rectangle | length | width | radius | bank angle | No |
| 4 | Climbing Circle | radius | height | bank angle | | No |
| 5 | vertical Box | length | height | radius | | No |
| 6 | Unused | | | | | No |
| 6 | Immelmann (FastRoll) | radius | | | | Yes |
| 7 | Straight Roll | length | num rolls | | | No |
| 8 | Rolling Circle | radius | num rolls | | | No |
| 9 | Half Cuban Eight | radius | | | | Yes |
@ -54,12 +54,13 @@ The following table gives the available pre-defined schedules. Each schedule has
an ID number which is used in the AUTO mission or in the TRIKn_ID
parameters (described below).
| ID | Name
| -- | ------------------------
| 200 | Test Suite (dont fly!)
| 201 | NZ Clubman Schedule
| 202 | FAI F3A P-23 (left to right)
| 203 | FAI F3C Scale Example (left to right)
| ID | Name
| -- | ------------------------
| 200 | Test Suite (dont fly!)
| 201 | NZ Clubman Schedule
| 202 | FAI F3A P-23 (left to right)
| 203 | FAI F3C Scale Example (left to right)
| 204 | AirShow
Note: ID's 202-203 are best flown with a mission start point 150m out from the pilot, with the prior and subsequent mission waypoints in a straight line with the model starting teh script flying down wind. ID 201 is best started in teh same manner, but the model positioned 100m out from the pilot.

46
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
View File

@ -32,6 +32,7 @@ ERR_CORR_D = bind_add_param('ERR_COR_D', 13, 2.8)
AEROM_ENTRY_RATE = bind_add_param('ENTRY_RATE', 14, 60)
AEROM_THR_LKAHD = bind_add_param('THR_LKAHD', 15, 1)
AEROM_DEBUG = bind_add_param('DEBUG', 16, 0)
ACRO_ROLL_RATE = Parameter("ACRO_ROLL_RATE")
--[[
Aerobatic tricks on a switch support - allows for tricks to be initiated outside AUTO mode
@ -570,6 +571,7 @@ function path_composer(_name, _subpaths)
local highest_i = 0
local cache_i = -1
local cache_sp = nil
local message = nil
-- return the subpath with index i. Used to cope with two ways of calling path_composer
function self.subpath(i)
@ -581,10 +583,12 @@ function path_composer(_name, _subpaths)
if sp.name then
-- we are being called with a list of Path objects
cache_sp = sp
message = nil
else
-- we are being called with a list function/argument tuples
local args = subpaths[i][2]
cache_sp = subpaths[i][1](args[1], args[2], args[3], args[4], start_pos[i], start_orientation[i])
message = subpaths[i].message
end
return cache_sp
end
@ -642,6 +646,9 @@ function path_composer(_name, _subpaths)
local sp = self.subpath(i)
if i > highest_i and t < 1.0 and t > 0 then
highest_i = i
if message ~= nil then
gcs:send_text(0, message)
end
if AEROM_DEBUG:get() > 0 then
gcs:send_text(0, string.format("starting %s[%d] %s", self.name, i, sp.name))
end
@ -754,6 +761,17 @@ function immelmann_turn(r, arg2, arg3, arg4)
})
end
-- immelmann with max roll rate
function immelmann_turn_fast(r, arg2, arg3, arg4)
local rabs = math.abs(r)
local roll_time = 180.0 / ACRO_ROLL_RATE:get()
local roll_dist = target_groundspeed() * roll_time
return make_paths("immelmann_turn_fast", {
{ path_vertical_arc(r, 180), roll_angle(0) },
{ path_straight(roll_dist), roll_angle(180) },
})
end
function humpty_bump(r, h, arg3, arg4)
assert(h >= 2*r)
local rabs = math.abs(r)
@ -1162,6 +1180,31 @@ function f4c_example_l_r() -- positioned for a flight l
})
end
--[[
simple air show
--]]
function air_show1()
return path_composer("AirShow", {
{ loop, { 25, 0, 1 }},
{ straight_align, { 100, 0 } },
{ half_reverse_cuban_eight, { 25 }, message="HalfReverseCubanEight" },
{ straight_align, { 80 } },
{ scale_figure_eight, { -40, -30 }, message="ScaleFigureEight" },
{ immelmann_turn, { 30 }, message="Immelmann" },
{ straight_align, { -60, 0 } },
{ straight_roll, { 120, 2 }, message="Roll" },
{ straight_align, { 120, 0 } },
{ split_s, { 30 }, message="Split-S"},
{ straight_align, { 0 } },
{ rolling_circle, { -50, 3}, message="RollingCircle" },
{ straight_align, { -50, 0 } },
{ humpty_bump, { 20, 60 }, message="HumptyBump" },
{ straight_align, { 80, 0 } },
{ half_cuban_eight, { 25 }, message="HalfCubanEight" },
})
end
function test_all_paths()
return path_composer("test_all_paths", {
{ figure_eight, { 100, 45 } },
@ -1639,7 +1682,7 @@ command_table[2] = PathFunction(loop, "Loop")
command_table[3] = PathFunction(horizontal_rectangle, "Horizontal Rectangle")
command_table[4] = PathFunction(climbing_circle, "Climbing Circle")
command_table[5] = PathFunction(vertical_aerobatic_box, "Vertical Box")
-- 6 was banked circle
command_table[6] = PathFunction(immelmann_turn_fast, "Immelmann Fast")
command_table[7] = PathFunction(straight_roll, "Axial Roll")
command_table[8] = PathFunction(rolling_circle, "Rolling Circle")
command_table[9] = PathFunction(half_cuban_eight, "Half Cuban Eight")
@ -1661,6 +1704,7 @@ command_table[200] = PathFunction(test_all_paths, "Test Suite")
command_table[201] = PathFunction(nz_clubman, "NZ Clubman")
command_table[202] = PathFunction(f3a_p23_l_r, "FAI F3A P23 L to R")
command_table[203] = PathFunction(f4c_example_l_r, "FAI F4C Example L to R")
command_table[204] = PathFunction(air_show1, "AirShow")
-- get a location structure from a waypoint number
function get_location(i)