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https://github.com/ArduPilot/ardupilot
synced 2025-02-21 23:33:57 -04:00
AP_Scripting: greatly reduce memory in aerobatics
avoid holding path objects outside of the time they are needed
This commit is contained in:
Andrew Tridgell
parent
db176ac6bb
commit
4dac9bf5ed
@ -558,23 +558,44 @@ function path_composer(_name, _subpaths)
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local angle = 0
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local speed = target_groundspeed()
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local highest_i = 0
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local cache_i = -1
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local cache_sp = nil
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-- return the subpath with index i. Used to cope with two ways of calling path_composer
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function self.subpath(i)
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if i == cache_i then
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return cache_sp
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end
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cache_i = i
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local sp = subpaths[i]
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if sp.name then
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-- we are being called with a list of Path objects
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cache_sp = sp
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else
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-- we are being called with a list function/argument tuples
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local args = subpaths[i][2]
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cache_sp = subpaths[i][1](args[1], args[2], args[3], args[4])
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end
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return cache_sp
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end
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for i = 1, num_sub_paths do
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lengths[i] = subpaths[i].get_length()
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local sp = self.subpath(i)
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lengths[i] = sp.get_length()
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total_length = total_length + lengths[i]
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-- accumulate orientation, position and angle
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start_orientation[i] = orientation
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start_pos[i] = pos
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start_angle[i] = angle
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local spos = subpaths[i].get_pos(1.0)
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local spos = sp.get_pos(1.0)
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orientation:earth_to_body(spos)
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pos = pos + spos
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orientation = orientation * subpaths[i].get_final_orientation()
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angle = angle + subpaths[i].get_roll(1.0, lengths[i]/speed)
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orientation = orientation * sp.get_final_orientation()
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angle = angle + sp.get_roll(1.0, lengths[i]/speed)
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start_speed[i] = speed
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end_speed[i] = subpaths[i].get_speed(1.0)
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end_speed[i] = sp.get_speed(1.0)
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if end_speed[i] == nil then
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end_speed[i] = target_groundspeed()
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end
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@ -607,10 +628,11 @@ function path_composer(_name, _subpaths)
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end
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local subpath_t = (t - start_time[i]) / proportions[i]
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last_subpath_t = { t, subpath_t, i }
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local sp = self.subpath(i)
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if i > highest_i and t < 1.0 and t > 0 then
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highest_i = i
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if AEROM_DEBUG:get() > 0 then
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gcs:send_text(0, string.format("starting %s[%d] %s", self.name, i, subpaths[i].name))
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gcs:send_text(0, string.format("starting %s[%d] %s", self.name, i, sp.name))
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end
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end
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return subpath_t, i
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@ -619,7 +641,8 @@ function path_composer(_name, _subpaths)
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-- return position at time t
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function self.get_pos(t)
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local subpath_t, i = self.get_subpath_t(t)
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pos = subpaths[i].get_pos(subpath_t)
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local sp = self.subpath(i)
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pos = sp.get_pos(subpath_t)
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start_orientation[i]:earth_to_body(pos)
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return pos + start_pos[i]
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end
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@ -631,7 +654,8 @@ function path_composer(_name, _subpaths)
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if speed == nil then
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speed = target_groundspeed()
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end
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angle = subpaths[i].get_roll(subpath_t, lengths[i]/speed)
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local sp = self.subpath(i)
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angle = sp.get_roll(subpath_t, lengths[i]/speed)
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return angle + start_angle[i]
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end
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@ -652,6 +676,7 @@ function path_composer(_name, _subpaths)
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return self
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end
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--[[
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make a list of Path() objects from a list of PathComponent, RollComponent pairs
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--]]
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@ -972,39 +997,39 @@ end
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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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{ 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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@ -1013,55 +1038,54 @@ end
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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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{ 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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straight_roll(20, 0),
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loop(30, 0, 1),
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straight_roll(20, 0),
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horizontal_rectangle(100, 100, 20, 45),
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straight_roll(20, 0),
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climbing_circle(100, 20, 45),
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straight_roll(20, 0),
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vertical_aerobatic_box(100, 100, 20, 0),
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straight_roll(20, 0),
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rolling_circle(100, 2, 0, 0),
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straight_roll(20, 0),
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half_cuban_eight(30),
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straight_roll(20, 0),
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half_reverse_cuban_eight(30),
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straight_roll(20, 0),
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cuban_eight(30),
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straight_roll(20, 0),
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humpty_bump(30, 100),
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straight_flight(100, 45),
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scale_figure_eight(100, 45),
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straight_roll(20, 0),
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immelmann_turn(30, 60),
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straight_roll(20, 0),
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split_s(30, 60),
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straight_roll(20, 0),
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upline_45(20, 50),
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straight_roll(20, 0),
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downline_45(20, 50),
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{ figure_eight, { 100, 45 } },
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{ straight_roll, { 20, 0 } },
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{ loop, { 30, 0, 1 } },
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{ straight_roll, { 20, 0 } },
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{ horizontal_rectangle, { 100, 100, 20, 45 } },
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{ straight_roll, { 20, 0 } },
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{ climbing_circle, { 100, 20, 45 } },
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{ straight_roll, { 20, 0 } },
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{ vertical_aerobatic_box, { 100, 100, 20, 0 } },
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{ straight_roll, { 20, 0 } },
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{ rolling_circle, { 100, 2, 0, 0 } },
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{ straight_roll, { 20, 0 } },
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{ half_cuban_eight, { 30, } },
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{ straight_roll, { 20, 0 } },
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{ half_reverse_cuban_eight, { 30, } },
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{ straight_roll, { 20, 0 } },
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{ cuban_eight, { 30, } },
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{ straight_roll, { 20, 0 } },
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{ humpty_bump, { 30, 100 } },
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{ straight_flight, { 100, 45 } },
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{ scale_figure_eight, { 100, 45 } },
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{ straight_roll, { 20, 0 } },
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{ immelmann_turn, { 30, 60 } },
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{ straight_roll, { 20, 0 } },
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{ split_s, { 30, 60 } },
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{ straight_roll, { 20, 0 } },
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{ upline_45, { 20, 50 } },
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{ straight_roll, { 20, 0 } },
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{ downline_45, { 20, 50 } },
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})
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end
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