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https://github.com/ArduPilot/ardupilot
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AP_Scripting: applets: fix luacheck issues in sport aerobattics and script controller
This commit is contained in:
Iampete1
Peter Hall
parent
044b4bbcfe
commit
50c45cff75
@ -5,11 +5,9 @@ cmd = 3: rolling circle, arg1 = yaw rate, arg2 = roll rate
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cmd = 4: knife edge at any angle, arg1 = roll angle to hold, arg2 = duration
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cmd = 5: pause, holding heading and alt to allow stabilization after a move, arg1 = duration in seconds
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]]--
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-- luacheck: only 0
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---@diagnostic disable: param-type-mismatch
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---@diagnostic disable: need-check-nil
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---@diagnostic disable: cast-local-type
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---@diagnostic disable: undefined-global
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DO_JUMP = 177
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k_throttle = 70
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@ -29,13 +27,12 @@ local HGT_P = bind_add_param('HGT_P',1,1) -- height P gain
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local HGT_I = bind_add_param("HGT_I",2,1) -- height I gain
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local HGT_KE_BIAS = bind_add_param("KE_ADD",3,20) -- height knifeedge addition for pitch
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local THR_PIT_FF = bind_add_param("PIT_FF",4,80) -- throttle FF from pitch
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local SPD_P = bind_add_param("SPD_P",5,5) -- speed P gain
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local SPD_I = bind_add_param("SPD_I",6,25) -- speed I gain
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-- 5 was "SPD_P" speed P gain
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-- 6 was "SPD_I" speed I gain
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local TRIM_THROTTLE = Parameter("TRIM_THROTTLE")
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local RLL2SRV_TCONST = Parameter("RLL2SRV_TCONST")
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local PITCH_TCONST = Parameter("PTCH2SRV_TCONST")
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local last_roll_err = 0.0
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local last_id = 0
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local initial_yaw_deg = 0
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local wp_yaw_deg = 0
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@ -65,10 +62,10 @@ function bind_add_param2(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY2, idx, name, default_value), string.format('could not add param %s', name))
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return Parameter(PARAM_TABLE_PREFIX2 .. name)
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end
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local TRICKS = nil
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local TRIK_SEL_FN = nil
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local TRIK_ACT_FN = nil
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local TRIK_COUNT = nil
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local TRICKS
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local TRIK_SEL_FN
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local TRIK_ACT_FN
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local TRIK_COUNT
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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@ -131,7 +128,7 @@ end
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--roll controller to keep wings level in earth frame. if arg is 0 then level is at only 0 deg, otherwise its at 180/-180 roll also for loops
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function earth_frame_wings_level(arg)
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local roll_deg = math.deg(ahrs:get_roll())
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local roll_angle_error = 0.0
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local roll_angle_error
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if (roll_deg > 90 or roll_deg < -90) and arg ~= 0 then
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roll_angle_error = 180 - roll_deg
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else
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@ -166,7 +163,6 @@ local function PI_controller(kP,kI,iMax)
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-- private fields as locals
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local _kP = kP or 0.0
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local _kI = kI or 0.0
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local _kD = kD or 0.0
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local _iMax = iMax
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local _last_t = nil
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local _I = 0
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@ -254,7 +250,6 @@ local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
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end
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local height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0)
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local speed_PI = PI_controller(SPD_P:get(), SPD_I:get(), 100.0)
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-- a controller to target a zero pitch angle and zero heading change, used in a roll
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-- output is a body frame pitch rate, with convergence over time tconst in seconds
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@ -305,7 +300,6 @@ function do_axial_roll(arg1, arg2)
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gcs:send_text(5, string.format("Starting %d Roll(s)", arg2))
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end
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local roll_rate = arg1
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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if trick_stage == 0 then
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@ -364,7 +358,7 @@ function do_loop(arg1, arg2)
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local roll_deg = math.deg(ahrs:get_roll())
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local vel = ahrs:get_velocity_NED():length()
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local pitch_rate = arg1
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local pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
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pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
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pitch_rate = constrain(pitch_rate,.5 * arg1, 3 * arg1)
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if trick_stage == 0 then
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@ -400,7 +394,6 @@ function do_loop(arg1, arg2)
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return
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end
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end
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throttle = throttle_controller()
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if trick_stage == 2 or trick_stage == 0 then
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level_type = 0
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else
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@ -430,9 +423,6 @@ function do_rolling_circle(arg1, arg2)
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end
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local yaw_rate_dps = arg1
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local roll_rate_dps = arg2
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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local yaw_deg = math.deg(ahrs:get_yaw())
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local now_ms = millis()
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local dt = (now_ms - circle_last_ms):tofloat() * 0.001
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circle_last_ms = now_ms
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@ -467,7 +457,7 @@ function do_rolling_circle(arg1, arg2)
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end
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end
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local knife_edge_ms = 0
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local knife_edge_s = 0
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function do_knife_edge(arg1,arg2)
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-- arg1 is angle +/-180, duration is arg2
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local now = millis():tofloat() * 0.001
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@ -477,7 +467,6 @@ function do_knife_edge(arg1,arg2)
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knife_edge_s = now
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gcs:send_text(5, string.format("Starting %d Knife Edge", arg1))
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end
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local i=0
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if (now - knife_edge_s) < arg2 then
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local roll_deg = math.deg(ahrs:get_roll())
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local roll_angle_error = (arg1 - roll_deg)
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@ -506,7 +495,7 @@ function do_knife_edge(arg1,arg2)
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end
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-- fly level for a time..allows full altitude recovery after trick
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function do_pause(arg1,arg2)
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function do_pause(arg1,_)
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-- arg1 is time of pause in sec, arg2 is unused
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local now = millis():tofloat() * 0.001
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if not running then
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@ -515,7 +504,6 @@ function do_pause(arg1,arg2)
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knife_edge_s = now
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gcs:send_text(5, string.format("%d sec Pause", arg1))
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end
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local i=0
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if (now - knife_edge_s) < arg1 then
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roll_rate = earth_frame_wings_level(0)
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target_pitch = height_PI.update(initial_height)
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@ -534,11 +522,7 @@ function do_pause(arg1,arg2)
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end
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end
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local circle_yaw = 0
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local circle_last_ms = 0
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function do_knifedge_circle(arg1, arg2)
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function do_knifedge_circle(arg1, _)
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-- constant roll angle circle , arg1 yaw rate, positive to right, neg to left, arg2 is not used
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if not running then
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running = true
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@ -549,8 +533,6 @@ function do_knifedge_circle(arg1, arg2)
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gcs:send_text(5, string.format("Staring KnifeEdge Circle"))
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end
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local yaw_rate_dps = arg1
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local pitch_deg = math.deg(ahrs:get_pitch())
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local yaw_deg = math.deg(ahrs:get_yaw())
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local now_ms = millis()
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local dt = (now_ms - circle_last_ms):tofloat() * 0.001
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circle_last_ms = now_ms
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@ -621,7 +603,6 @@ function do_4point_roll(arg1, arg2)
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height_PI.reset()
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gcs:send_text(5, string.format("Starting 4pt Roll"))
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end
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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if trick_stage == 0 then
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@ -844,7 +825,7 @@ function check_trick()
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gcs:send_text(0, string.format("No trick selected"))
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return 0
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end
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local id = TRICKS[selection].id:get()
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id = TRICKS[selection].id:get()
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if action == 1 then
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gcs:send_text(5, string.format("Trick %u selected (%s)", id, name[id]))
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return 0
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@ -2,7 +2,6 @@
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a script to select other lua scripts using an auxillary switch from
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/1 /2 or /3 subdirectories of the scripts directory
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--]]
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-- luacheck: only 0
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---@diagnostic disable: param-type-mismatch
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@ -125,7 +124,7 @@ function remove_scripts(subdir)
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return false
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end
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local ret = false
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for k,v in ipairs(dlist) do
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for _,v in ipairs(dlist) do
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local suffix = v:sub(-4)
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if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
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if not file_exists(subdir .. "/" .. v) then
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@ -148,7 +147,7 @@ function copy_scripts(subdir)
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end
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local ret = false
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local sdir = get_scripts_dir()
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for k, v in ipairs(dlist) do
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for _, v in ipairs(dlist) do
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local suffix = v:sub(-4)
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if compare_strings_ci(suffix,".LUA") and not compare_strings_ci(v,THIS_SCRIPT) then
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local src = subdir .. "/" .. v
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@ -184,12 +183,11 @@ function mission_load(n)
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local index = 0
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local fail = false
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while true and not fail do
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local data = {}
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local line = file:read()
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if not line then
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break
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end
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local ret, _, seq, curr, frame, cmd, p1, p2, p3, p4, x, y, z, autocont = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
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local ret, _, seq, _--[[ curr ]], frame, cmd, p1, p2, p3, p4, x, y, z, _--[[ autocont ]] = string.find(line, "^(%d+)%s+(%d+)%s+(%d+)%s+(%d+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+([-.%d]+)%s+(%d+)")
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if not ret then
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fail = true
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break
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