AP_Scripting: sport_aerobatics trick additions and fixes

libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/README.md

@@ -28,8 +28,11 @@ the ground track.
 | 3  | Rolling Circle           | yawrate(dps)    | rollrate(dps)              | No         |
 | 4  | KnifeEdge                | roll angle(deg) | length(sec)                | No         |
 | 5  | Pause                    | length(sec)     | na                         | No         |
+| 6  | KnifeEdge Circle         | yawrate(dps)    | na                         | No         |
+| 7  | 4 point roll             | rollrate(dps)   | pause in sec at each point | No         |
+| 8  | Split-S                  | pitchrate(dps)  | rollrate(dps)              | Yes        |
 
-note: for Rolling Circle, the time it takes to make the circle is 360/yawrate. You should make sure that an integer number of rolls is commanded by the rollrate parameter in that time, ie rollrate should be set to the number of rolls * yawrate.
+note: for Rolling Circle, the time it takes to make the circle is 360/yawrate. You should make sure that an integer number of rolls is commanded by the rollrate parameter in that time, ie rollrate should be set to the number of rolls * yawrate. In most cases negative rate, reverses the direction, ie in Rolls -45 for rollrate would roll left at 45dps.
 
 ## Loading the script
 
@@ -39,7 +42,7 @@ APM/SCRIPTS directory. You can use MAVFtp to do this.
 Then set
 
  - SCR_ENABLE = 1
- - SCR_HEAP_SIZE = 200000
+ - SCR_HEAP_SIZE = 150000
  - SCR_VM_I_COUNT = 100000
 
 You will need to refresh parameters after setting SCR_ENABLE. Then
@@ -68,16 +71,16 @@ NAV_SCRIPT_TIME elements (shown as SCRIPT_TIME in MissionPlanner). These mission
 
  - the command ID from the table above
  - the timeout in seconds
- - up to four arguments as shown in the above table
+ - up to two arguments as shown in the above table
 
 The aerobatics system will use the location of the previous and next
 waypoints to line up the manoeuvre. You need to plan a normal
 waypoint just before the location where you want to start the
-manoeuvre, then the NAV_SCRIPT_TIME with the trick or schedule ID, a timeout that is long enough to allow the trick, and then a normal waypoint after the manoeuvre.
+manoeuvre, then the NAV_SCRIPT_TIME with the trick or schedule ID, a timeout that is long enough to allow the trick, and then a normal waypoint after the manoeuvre. You can have consecutive tricks between waypoints. You can use the PAUSE trick after a framing waypoint to  move the location of the beginning of the trick or to put some time between consecutive tricks.
 
 ## Use with "tricks on a switch"
 
-You can trigger the manoeuvres using RC switches, allowing you to have
+You can trigger the manoeuvres using RC switches (or using the GCS AUX Function tab), allowing you to have
 up to 11 tricks pre-programmed on your transmitter ready for use in
 fixed wing flight. You can trigger the tricks in the following flight
 modes:
@@ -90,7 +93,6 @@ modes:
  - CRUISE
  - LOITER
 
-
 Set TRIKR_COUNT to the number of tricks you want to make available and reboot,
 with a maximum of 11. (Why 11 when fewer than that are available? To allow variants, such as different knife-edges, ie 90 deg and 180 deg inverted flight)
 
@@ -115,21 +117,25 @@ select tricks. It is best to use a knob for the trick selector so you can have u
 Work out which RC input channel you want to use for activation (a 3 position switch) and set
 
  - RCn_OPTION = 300
+ 
+Note: It is not required to setup the 300 function for activation by the Transmitter switch. You can also activate a trick via the GCS. Mission Planner has an AUX Functions tab to enable setting the "300" function from the GCS.
 
 Then work out what RC input channel you want to use for selection and set
 
  - RCn_OPTION = 301
+ 
+ TRIKR_COUNT must be non-zero and an RC channel set to function 301 for Tricks on a Switch to function.
 
 ## Flying with tricks
 
-When the activation channel (the one marked with option 300) is in the
+When the activation channel (the one assigned option 300 or set via the GCS) is in the
-middle position then when you move the knob the GCS will display the
+middle position then when you move the trick selection knob/switch, the GCS will display the
 currently selected trick.
 
-To activate a trick you move the activation channel to the top
+To activate a trick you move the activation channel to the top (high)
 position, and the trick will run.
 
-Moving the activation switch to the bottom position cancels any
+Moving the activation switch to the bottom position (low) cancels any
 running trick and stops the trick system.
 
 Changing flight modes will also cancel any active trick.

libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua

@@ -38,7 +38,7 @@ local wp_yaw_deg = 0
 local initial_height = 0
 local repeat_count = 0
 local running = false
-local roll_stage = 0
+local trick_stage = 0
 
 local function TrickDef(id, arg1, arg2, arg3, arg4)
    local self = {}
@@ -84,23 +84,31 @@ TRIK_ACT_FN = bind_add_param2("_ACT_FN", 3, 300)
 TRIK_COUNT  = bind_add_param2("_COUNT",  4, 3)
 TRICKS = {}
 
+
+function tricks_exist()
+   if rc:find_channel_for_option(TRIK_SEL_FN:get())  
+            and math.floor(TRIK_COUNT:get()) then
+      return true
+   else
+      return false
+   end
+end   
+   
 -- setup parameters for tricks
 count = math.floor(TRIK_COUNT:get())
-count = constrain(count,1,11)
+count = constrain(count,0,11)
-if count > 11 then 
+if tricks_exist() then
-    count = 1
+   for i = 1, count do
+      local k = 5*i
+      local prefix = string.format("%u", i)
+      TRICKS[i] = TrickDef(bind_add_param2(prefix .. "_ID",   k+0, i),
+                          bind_add_param2(prefix .. "_ARG1", k+1, 30),
+                           bind_add_param2(prefix .. "_ARG2", k+2, 0),
+                           bind_add_param2(prefix .. "_ARG3", k+3, 0),
+                           bind_add_param2(prefix .. "_ARG4", k+4, 0))
+   end
+   gcs:send_text(5, string.format("Enabled %u aerobatic tricks", count))   
 end
-for i = 1, count do
-   local k = 5*i
-   local prefix = string.format("%u", i)
-   TRICKS[i] = TrickDef(bind_add_param2(prefix .. "_ID",   k+0, i),
-                        bind_add_param2(prefix .. "_ARG1", k+1, 30),
-                        bind_add_param2(prefix .. "_ARG2", k+2, 0),
-                        bind_add_param2(prefix .. "_ARG3", k+3, 0),
-                        bind_add_param2(prefix .. "_ARG4", k+4, 0))
-end
-gcs:send_text(5, string.format("Enabled %u aerobatic tricks", TRIK_COUNT:get()))   
-
 
 
 -- roll angle error 180 wrap to cope with errors while in inverted segments
@@ -281,39 +289,40 @@ function do_axial_roll(arg1, arg2)
       running = true
       roll_num = 1
       repeat_count = arg2 -1
-      roll_stage = 0
+      trick_stage = 0
       height_PI.reset()
-      --gcs:send_text(5, string.format("Starting roll(s)"))
+      gcs:send_text(5, string.format("Starting %d Roll(s)", arg2))
    end
    local roll_rate = arg1
    local pitch_deg = math.deg(ahrs:get_pitch())
    local roll_deg = math.deg(ahrs:get_roll())
 
-   if roll_stage == 0 then
+   if trick_stage == 0 then
       if roll_deg > 45 then
-         roll_stage = 1
+         trick_stage = 1
       end
-   elseif roll_stage == 1 then
+   elseif trick_stage == 1 then
       if roll_deg > -5 and roll_deg < 5 then
          -- we're done with a roll
-         gcs:send_text(5, string.format("Finished roll %d", roll_num))
+         gcs:send_text(5, string.format("Finished Roll %d", roll_num))
          if repeat_count > 0 then
-            roll_stage = 0
+            trick_stage = 0
             repeat_count = repeat_count - 1
             roll_num = roll_num + 1
          else
          running = false
+         trick = 0
          if vehicle:get_mode() == MODE_AUTO then
             vehicle:nav_script_time_done(last_id)
          else
             vehicle:nav_scripting_enable(255)
          end
-         roll_stage = 2
+         trick_stage = 2
          return
          end
       end
    end
-   if roll_stage < 2 then
+   if trick_stage < 2 then
       throttle = throttle_controller()
       target_pitch = height_PI.update(initial_height)
       pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
@@ -321,21 +330,21 @@ function do_axial_roll(arg1, arg2)
    end
 end
 
-local loop_stage = 0
+
 local target_vel
 
 function do_loop(arg1, arg2)
-   -- do one loop with controllable pitch rate arg1 is pitch rate, arg2 number of loops, 0 indicates 1/2 cuban8 reversal style turnaround
+   -- do one loop with controllable pitch rate arg1 is pitch rate, arg2 number of loops, 0 or less indicates 1/2 cuban8 reversal style turnaround
    if not running then
       running = true
-      loop_stage = 0 
+      trick_stage = 0 
       loop_number = 1
       repeat_count = arg2 -1  
       target_vel = ahrs:get_velocity_NED():length()
-      if arg2 ~=0 then
+      if arg2 > 0 then
-        gcs:send_text(5, string.format("Starting loop"))
+         gcs:send_text(5, string.format("Starting %d Loop(s)",arg2))
       else
-        gcs:send_text(5, string.format("Starting turnaround"))
+        gcs:send_text(5, string.format("Starting Turnaround"))
       end
    end
 
@@ -347,27 +356,27 @@ function do_loop(arg1, arg2)
    local pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
    pitch_rate = constrain(pitch_rate,.5 * arg1, 3 * arg1)
    
-   if loop_stage == 0 then
+   if trick_stage == 0 then
       if pitch_deg > 60 then
-         loop_stage = 1
+         trick_stage = 1
       end
-   elseif loop_stage == 1 then
+   elseif trick_stage == 1 then
       if (math.abs(roll_deg) < 90 and pitch_deg > -5 and pitch_deg < 5 and repeat_count >= 0) then 
          -- we're done with loop
-         gcs:send_text(5, string.format("Finished loop %d", loop_number))
+         gcs:send_text(5, string.format("Finished Loop %d", loop_number))
-         loop_stage = 2  --now recover stage
+         trick_stage = 2  --now recover stage
          height_PI.reset()
       elseif (math.abs(roll_deg) > 90 and pitch_deg > -5 and pitch_deg < 5 and repeat_count < 0) then
-         gcs:send_text(5, string.format("Finished turnaround ")) 
+         gcs:send_text(5, string.format("Finished Turnaround ")) 
-         loop_stage = 2  --now recover stage
+         trick_stage = 2  --now recover stage
          height_PI.reset()
       end
-   elseif loop_stage == 2 then
+   elseif trick_stage == 2 then
          -- recover alt if above or below start and terminate
     if math.abs(ahrs:get_position():alt()*0.01 - initial_height) > 3 then
        throttle, pitch_rate, yaw_rate = recover_alt()
     elseif repeat_count > 0 then
-    loop_stage = 0
+    trick_stage = 0
     repeat_count = repeat_count - 1
     loop_number = loop_number + 1
     else 
@@ -381,7 +390,7 @@ function do_loop(arg1, arg2)
     end
   end
   throttle = throttle_controller()
-  if loop_stage == 2 or loop_stage == 0 then 
+  if trick_stage == 2 or trick_stage == 0 then 
      level_type = 0
   else
      level_type = 1
@@ -394,19 +403,19 @@ function do_loop(arg1, arg2)
    vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0)
 end
 
-local rolling_circle_stage = 0
+
-local rolling_circle_yaw = 0
+local circle_yaw_deg = 0
-local rolling_circle_last_ms = 0
+local circle_last_ms = 0
 
 function do_rolling_circle(arg1, arg2)
    -- constant roll rate circle roll, arg1 yaw rate, positive to right, neg to left, arg2 is roll rate
    if not running then
       running = true
-      rolling_circle_stage = 0
+      trick_stage = 0
-      rolling_circle_yaw_deg = 0
+      circle_yaw_deg = 0
-      rolling_circle_last_ms = millis()
+      circle_last_ms = millis()
       height_PI.reset()
-      --gcs:send_text(5, string.format("Starting rolling circle"))
+      gcs:send_text(5, string.format("Starting Rolling Circle"))
    end
    local yaw_rate_dps = arg1
    local roll_rate_dps = arg2
@@ -414,33 +423,33 @@ function do_rolling_circle(arg1, arg2)
    local roll_deg = math.deg(ahrs:get_roll())
    local yaw_deg = math.deg(ahrs:get_yaw())
    local now_ms = millis()
-   local dt = (now_ms - rolling_circle_last_ms):tofloat() * 0.001
+   local dt = (now_ms - circle_last_ms):tofloat() * 0.001
-   rolling_circle_last_ms = now_ms
+   circle_last_ms = now_ms
 
-   rolling_circle_yaw_deg = rolling_circle_yaw_deg + yaw_rate_dps * dt
+   circle_yaw_deg = circle_yaw_deg + yaw_rate_dps * dt
 
-   if rolling_circle_stage == 0 then
+   if trick_stage == 0 then
-      if math.abs(rolling_circle_yaw_deg) > 10.0 then
+      if math.abs(circle_yaw_deg) > 10.0 then
-         rolling_circle_stage = 1
+         trick_stage = 1
       end
-   elseif rolling_circle_stage == 1 then
+   elseif trick_stage == 1 then
-      if math.abs(rolling_circle_yaw_deg) >= 360.0 then
+      if math.abs(circle_yaw_deg) >= 360.0 then
          running = false
          -- we're done
-         gcs:send_text(5,"Finished rolling circle")
+         gcs:send_text(5,"Finished Rolling Circle")
          if vehicle:get_mode() == MODE_AUTO then
             vehicle:nav_script_time_done(last_id)
          else
             vehicle:nav_scripting_enable(255)
          end
-         rolling_circle_stage = 2
+         trick_stage = 2
          return
       end
    end
-   if rolling_circle_stage < 2 then
+   if trick_stage < 2 then
       target_pitch = height_PI.update(initial_height)
       vel = ahrs:get_velocity_NED()
-      pitch_rate, yaw_rate = pitch_controller(target_pitch, wrap_360(rolling_circle_yaw_deg+initial_yaw_deg), PITCH_TCONST:get())
+      pitch_rate, yaw_rate = pitch_controller(target_pitch, wrap_360(circle_yaw_deg+initial_yaw_deg), PITCH_TCONST:get())
       throttle = throttle_controller()
       throttle = constrain(throttle, 0, 100.0)
       vehicle:set_target_throttle_rate_rpy(throttle, roll_rate_dps, pitch_rate, yaw_rate)
@@ -455,7 +464,7 @@ function do_knife_edge(arg1,arg2)
         running = true
         height_PI.reset()
         knife_edge_s = now
-        gcs:send_text(5, string.format("%d Knife edge", arg1))
+        gcs:send_text(5, string.format("Starting %d Knife Edge", arg1))
     end
     local i=0
     if (now - knife_edge_s) < arg2 then
@@ -474,7 +483,7 @@ function do_knife_edge(arg1,arg2)
         throttle = throttle_controller()
         vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
     else
-        gcs:send_text(5, string.format("Finished Knife edge", arg1))
+        gcs:send_text(5, string.format("Finished Knife Edge", arg1))
         running = false
         if vehicle:get_mode() == MODE_AUTO then
            vehicle:nav_script_time_done(last_id)
@@ -504,6 +513,7 @@ function do_pause(arg1,arg2)
         vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
     else 
         running = false
+        gcs:send_text(5, string.format("Pause Over"))
         if vehicle:get_mode() == MODE_AUTO then
            vehicle:nav_script_time_done(last_id)
         else
@@ -514,7 +524,191 @@ function do_pause(arg1,arg2)
 end
 
 
+local circle_yaw = 0
+local circle_last_ms = 0
 
+function do_knifedge_circle(arg1, arg2)
+   -- constant roll angle circle , arg1 yaw rate, positive to right, neg to left, arg2 is not used
+   if not running then
+      running = true
+      trick_stage = 0
+      circle_yaw_deg = 0
+      circle_last_ms = millis()
+      height_PI.reset()
+      gcs:send_text(5, string.format("Staring KnifeEdge Circle"))
+   end
+   local yaw_rate_dps = arg1
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local yaw_deg = math.deg(ahrs:get_yaw())
+   local now_ms = millis()
+   local dt = (now_ms - circle_last_ms):tofloat() * 0.001
+   circle_last_ms = now_ms
+   circle_yaw_deg = circle_yaw_deg + yaw_rate_dps * dt
+   if trick_stage == 0 then
+      if math.abs(circle_yaw_deg) > 10.0 then
+         trick_stage = 1
+      end
+   elseif trick_stage == 1 then
+      if math.abs(circle_yaw_deg) >= 360.0 then
+         running = false
+         -- we're done
+         gcs:send_text(5,"Finished KnifeEdge Circle")
+         if vehicle:get_mode() == MODE_AUTO then
+            vehicle:nav_script_time_done(last_id)
+         else
+            vehicle:nav_scripting_enable(255)
+         end
+         trick_stage = 2
+         return
+      end
+   end
+   if trick_stage < 2 then
+        local roll_deg = math.deg(ahrs:get_roll())
+        if arg1 >0 then
+           angle = 90
+        else
+           angle = -90
+        end
+        local roll_angle_error = (angle - roll_deg)
+        if math.abs(roll_angle_error) > 180 then
+         if roll_angle_error > 0 then
+           roll_angle_error = roll_angle_error - 360
+         else 
+           roll_angle_error= roll_angle_error +360
+         end 
+        end
+      roll_rate_dps = roll_angle_error/RLL2SRV_TCONST:get()
+      target_pitch = height_PI.update(initial_height)
+      vel = ahrs:get_velocity_NED()
+      pitch_rate, yaw_rate = pitch_controller(target_pitch, wrap_360(circle_yaw_deg+initial_yaw_deg), PITCH_TCONST:get())
+      throttle = throttle_controller()
+      throttle = constrain(throttle, 0, 100.0)
+      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate_dps, pitch_rate, yaw_rate)
+   end
+end
+
+function hold_roll_angle (angle)
+   local roll_deg = math.deg(ahrs:get_roll())
+   local roll_angle_error = (angle - roll_deg)
+   if math.abs(roll_angle_error) > 180 then
+      if roll_angle_error > 0 then
+         roll_angle_error = roll_angle_error - 360
+      else 
+         roll_angle_error= roll_angle_error +360
+      end 
+   end
+   return roll_angle_error/RLL2SRV_TCONST:get()
+end
+
+local roll_ms = 0
+function do_4point_roll(arg1, arg2)
+   -- constant roll rate axial roll with pauses at 90 deg intervals, arg1 roll rate, arg2 is pause time in sec
+   arg2 = arg2 * 1000
+   if not running then
+      running = true
+      trick_stage = 0
+      height_PI.reset()
+      gcs:send_text(5, string.format("Starting 4pt Roll"))
+   end
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local roll_deg = math.deg(ahrs:get_roll())
+
+   if trick_stage == 0 then
+      roll_rate = arg1
+      if roll_deg >= 90 then
+         trick_stage = 1
+         roll_ms = millis()
+      end
+   elseif trick_stage == 1 then
+      roll_rate = hold_roll_angle(90)
+      if (millis() - roll_ms > arg2) then
+         trick_stage = 2
+      end
+   elseif trick_stage == 2 then
+      roll_rate = arg1
+      if roll_deg >= 175 or roll_deg <= -175 then
+         trick_stage = 3
+         roll_ms = millis()
+      end
+   elseif trick_stage == 3 then
+      roll_rate = hold_roll_angle(180)
+      if (millis() - roll_ms >arg2) then
+         trick_stage = 4
+      end
+   elseif trick_stage == 4 then
+      roll_rate = arg1
+      if roll_deg >=-90 and roll_deg < 175 then
+         trick_stage = 5
+         roll_ms = millis()
+      end
+   elseif trick_stage == 5 then   
+      roll_rate = hold_roll_angle(-90)
+      if (millis() - roll_ms >arg2) then
+         trick_stage = 6
+      end
+   elseif trick_stage == 6 then
+      roll_rate = arg1 
+      if roll_deg > -5 and roll_deg < 5 then
+         -- we're done with a roll
+         trick_stage = 7
+         gcs:send_text(5, "Finished 4 pt Roll")
+         running = false
+         if vehicle:get_mode() == MODE_AUTO then
+            vehicle:nav_script_time_done(last_id)
+         else
+            vehicle:nav_scripting_enable(255)
+         end
+      end
+   end
+   if trick_stage < 7 then
+      throttle = throttle_controller()
+      target_pitch = height_PI.update(initial_height)
+      pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
+      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+   end
+end
+
+function do_split_s(arg1, arg2)
+   -- roll inverted at arg2 rate, then 1/2 loop at arg1 pitch rate
+   if not running then
+      running = true
+      trick_stage = 0   --roll inverted, pitch level
+      height_PI.reset()
+      gcs:send_text(5, string.format("Starting Split-S"))
+   end
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local roll_deg = math.deg(ahrs:get_roll())
+   if trick_stage == 0 then 
+      roll_rate = arg2
+      wp_yaw_deg = math.deg(ahrs:get_yaw())
+      target_pitch = height_PI.update(initial_height)
+      pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())   
+      if roll_deg >=175 or roll_deg <= -175 then
+         trick_stage = 1 --start the pitch rate, wings level
+      end
+   elseif trick_stage == 1 then
+      if math.abs(pitch_deg) > 85 and  math.abs(pitch_deg) < 95 then
+         roll_rate = 0
+      else
+         roll_rate = earth_frame_wings_level(1)
+      end
+      pitch_rate = arg1
+      if (math.abs(roll_deg) < 90 and pitch_deg > -5 and pitch_deg < 5) then
+          trick_stage = 2 --trick over
+          gcs:send_text(5, string.format("Finished Split-S ")) 
+          height_PI.reset()
+          running = false
+          if vehicle:get_mode() == MODE_AUTO then
+             vehicle:nav_script_time_done(last_id)
+          else
+             vehicle:nav_scripting_enable(255)
+          end
+      end
+   end 
+   throttle = throttle_controller() 
+   vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0) 
+end
+ 
 function get_wp_location(i)
    local m = mission:get_item(i)
    local loc = Location()
@@ -598,6 +792,10 @@ end
  name[2] = "Loop(s)/Turnaround"
  name[3] = "Rolling Circle"
  name[4] = "Knife-Edge"
+ name[5] = "Pause"
+ name[6] = "Knife Edge Circle"
+ name[7] = "4pt Roll"
+ name[8] = "Split-S"
 --[[
    check for running a trick
 --]]
@@ -626,8 +824,9 @@ function check_trick()
    end
    if running then
       -- let the task finish
-      return id
+      return selection
    end
+   -- trick action changed state
    if action ~= last_trick_action_state then
       last_trick_selection = selection
       last_trick_action_state = action
@@ -640,19 +839,17 @@ function check_trick()
          gcs:send_text(5, string.format("%s selected ", name[id]))
          return 0
       end
-      if action == 2 then
+      -- action changed to execute
+      if action == 2 and vehicle:get_likely_flying() then
          last_trick_selection = selection
          local current_mode = vehicle:get_mode()
          if not vehicle:nav_scripting_enable(current_mode) then
             gcs:send_text(0, string.format("Tricks not available in this mode"))
             return 0
          end
-         if id ~= 2 then
-            gcs:send_text(5, string.format("%s started ", name[id])) 
-         end
          wp_yaw_deg = math.deg(ahrs:get_yaw())
          initial_height = ahrs:get_position():alt()*0.01
-         return id     
+         return selection     
       end
    end
    return 0
@@ -669,18 +866,25 @@ function do_trick(cmd,arg1,arg2)
          do_knife_edge(arg1,arg2)
       elseif cmd == 5 then
          do_pause(arg1,arg2)
+      elseif cmd == 6 then
+         do_knifedge_circle(arg1,arg2)
+      elseif cmd == 7 then
+         do_4point_roll(arg1,arg2)
+      elseif cmd == 8 then
+         do_split_s(arg1,arg2)
       end
 end
 
 function update()
    if vehicle:get_mode() == MODE_AUTO then
-      check_auto_mission() 
+      check_auto_mission() --run a trick mission item
-   else
+   elseif tricks_exist() then
       trick = check_trick() 
-      if trick ~=0 then  
+      if trick ~=0 then 
+      id = TRICKS[trick].id:get()
       arg1 = TRICKS[trick].args[1]:get()
       arg2 = TRICKS[trick].args[2]:get()
-      do_trick(trick,arg1,arg2)
+      do_trick(id,arg1,arg2)
       end
    end
   return update, 10