mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: document trajectory scripting
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Andrew Tridgell
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# Scripted Aerobatics
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The lua script "plane_aerobatics.lua" implements scripted aerobatics,
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allowing fixed wing aircraft to execute a number of aerobatic
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manoeuvres either in AUTO mission or by triggering using pilot commands
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using RC switches.
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## Available Manoeuvres
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The following table gives the available manoeuvres. Each manoeuvre has
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an ID number which is used in the AUTO mission or in the TRIKn_ID
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parameters (described below).
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| ID | Name | Arg1 | Arg2 | Arg3 | Arg4 | Turnaround |
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| -- | ------------------------ | ------ | ---------- | -------| ---- | ---------- |
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| 1 | Figure Eight | radius | bank angle | | | No |
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| 2 | Loop | radius | | | | No |
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| 3 | Horizontal Rectangle | length | width | radius | | No |
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| 4 | Climbing Circle | radius | height | | | No |
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| 5 | vertical Box | length | height | radius | | No |
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| 6 | Banked Circle | radius | bank angle | | | No |
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| 7 | Straight Roll | length | num rolls | | | No |
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| 8 | Rolling Circle | radius | num rolls | | | No |
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| 9 | Half Cuban Eight | radius | | | | Yes |
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| 10 | Half Reverse Cuban Eight | radius | | | | Yes |
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| 11 | Cuban Eight | radius | | | | No |
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| 12 | Humpty Bump | radius | height | | | Yes |
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| 13 | Straight Flight | length | bank angle | | | No |
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| 14 | Scale Figure Eight | radius | bank angle | | | No |
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The "Turnaround" column indicates if the manoeuvre results in a course
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reversal, which impacts how it is used in AUTO missions.
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## Loading the script
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Put the plane_aerobatics.lua script on your microSD card in the
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APM/SCRIPTS directory. You can use MAVFtp to do this.
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Then set
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- SCR_ENABLE = 1
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- SCR_HEAP_SIZE = 200000
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- SCR_VM_I_COUNT = 200000
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You will need to refresh parameters after setting SCR_ENABLE. Then
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reboot to start scripting.
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## Aircraft Setup
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The aircraft needs to be setup to perform well in ACRO mode. You need
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to enable the yaw rate controller by setting:
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- YAW_RATE_ENABLE = 1
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- ACRO_YAW_RATE = 90
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The ACRO_YAW_RATE depends on the capabilities of the aircraft, but
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around 90 degrees/second is reasonable.
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You need to tune the yaw rate controller by flying in AUTOTUNE mode
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and moving the rudder stick from side to side until the yaw rate
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tuning is reported as being finished.
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## Use In AUTO Missions
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To use in an AUTO mission you can create waypoint missions containing
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NAV_SCRIPT_TIME elements (shown as SCRIPT_TIME in MissionPlanner). These mission items take the following arguments:
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- the command ID from the table above
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- the timeout in seconds
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- up to four arguments as shown in the above table
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The aerobatics system will use the location of the previous and next
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waypoints to line up the manoeuvre. You need to plane a normal
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waypoint just before the location where you want to start the
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manoeuvre, then the NAV_SCRIPT_TIME and then a normal waypoint after
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the manoeuvre.
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## Use with "tricks on a switch"
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You can trigger the manoeuvres using RC switches, allowing you to have
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up to 11 tricks pre-programmed on your transmitter ready for use in
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fixed wing flight. You can trigger the tricks in the following flight
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modes:
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- CIRCLE
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- STABILIZE
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- ACRO
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- FBWA
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- FBWB
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- CRUISE
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- LOITER
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To setup tricks you need to first set the parameter TRIK_ENABLE to 1.
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After setting TRIK_ENABLE, either restart scripting or reboot. Then
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set TRIK_COUNT to the number of tricks you want to make available,
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with a maximum of 11.
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After setting TRIK_COUNT, reboot and refresh parameters. You will find
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you will now have 5 parameters per trick.
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- TRIKn_ID
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- TRIKn_ARG1
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- TRIKn_ARG2
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- TRIKn_ARG3
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- TRIKn_ARG4
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The ID parameter is the manoeuvre from the above table, and the arguments are the arguments to each manoeuvre.
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Now you need to setup your two control channels. You should have one 3
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position switch for activating tricks, and one knob or switch to
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select tricks. It is best to use a knob for the trick selector so you can have up to 11 tricks.
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Work out which RC input channel you want to use for activation (a 3 position switch) and set
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- RCn_OPTION = 300
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Then work out what RC input channel you want to use for selection and set
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- RCn_OPTION = 301
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## Flying with tricks
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When the activation channel (the one marked with option 300) is in the
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middle position then when you move the knob it will display the
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currently selected trick.
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To activate a trick you move the activation channel to the top
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position, and the trick will run.
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Moving the activation switch to the bottom position cancels any
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running trick and stops the trick system.
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Changing flight modes will also cancel any active trick.
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