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AP_Scripting: Added extra argument node

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MatthewHampsey 2022-09-22 16:41:18 +10:00 committed by Andrew Tridgell
parent 527b0e5ba9
commit 7dbc1690e9
1 changed files with 23 additions and 4 deletions
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27
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -64,6 +64,9 @@ local roll_stage = 0
local MIN_SPEED = 0.1 local MIN_SPEED = 0.1
local LOOKAHEAD = 1 local LOOKAHEAD = 1
local arg3 = 0
local arg4 = 0
-- constrain a value between limits -- constrain a value between limits
function constrain(v, vmin, vmax) function constrain(v, vmin, vmax)
if v < vmin then if v < vmin then
@ -431,8 +434,11 @@ end
--function aerobatic_box(t, l, w, r): --function aerobatic_box(t, l, w, r):
function horizontal_aerobatic_box(t, arg1, arg2) function horizontal_aerobatic_box(t, arg1, arg2)
--gcs:send_text(0, string.format("t val: %f", t)) local r = math.abs(arg3)
local r = math.min(arg1, arg2)/3.0 if(arg3 <= 0.0) then
gcs:send_text(0, string.format("Invalid radius value of : %f, using default.", arg3))
r = math.min(arg1, arg2)/3.0
end
local l = arg1 - 2*r local l = arg1 - 2*r
local w = arg2 - 2*r local w = arg2 - 2*r
local perim = 2*l + 2*w + 2*math.pi*r local perim = 2*l + 2*w + 2*math.pi*r
@ -740,7 +746,6 @@ function do_path(path, initial_yaw_deg, arg1, arg2)
local t = path_var.path_t local t = path_var.path_t
if t > 1.0 then --done if t > 1.0 then --done
vehicle:nav_script_time_done(last_id)
return false return false
end end
@ -862,6 +867,12 @@ command_table[5]={vertical_aerobatic_box, "Vertical Box"}
command_table[6]={path_banked_circle, "Banked Circle"} command_table[6]={path_banked_circle, "Banked Circle"}
command_table[7]={path_straight_roll, "Axial Roll"} command_table[7]={path_straight_roll, "Axial Roll"}
command_table[8]={path_rolling_circle, "Rolling Circle"} command_table[8]={path_rolling_circle, "Rolling Circle"}
command_table[100]={save_parameters,"Reading parameters"}
function save_parameters(arg1, arg2)
arg3 = arg1
arg4 = arg2
end
function update() function update()
id, cmd, arg1, arg2 = vehicle:nav_script_time() id, cmd, arg1, arg2 = vehicle:nav_script_time()
@ -894,8 +905,16 @@ function update()
wp_yaw_deg = math.deg(loc_prev:get_bearing(loc_next)) wp_yaw_deg = math.deg(loc_prev:get_bearing(loc_next))
initial_yaw_deg = wp_yaw_deg initial_yaw_deg = wp_yaw_deg
end end
local done = not do_path(command_table[cmd][1], initial_yaw_deg, arg1, arg2) local done = false
if(cmd == 100) then
--parameter node
save_parameters(arg1, arg2)
done = true
else
local done = not do_path(command_table[cmd][1], initial_yaw_deg, arg1, arg2)
end
if done then if done then
vehicle:nav_script_time_done(last_id)
gcs:send_text(0, string.format("Finishing %s!", command_table[cmd][2] )) gcs:send_text(0, string.format("Finishing %s!", command_table[cmd][2] ))
running = false running = false
end end