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AP_Scripting: removed old aerobatics system

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Andrew Tridgell 2022-11-10 08:15:41 +11:00
parent bf34bea4d6
commit 8c671c8b29
4 changed files with 0 additions and 648 deletions
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324
libraries/AP_Scripting/examples/Aerobatics/Via_Switch/10_loops-and-immelman.lua
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@ -1,324 +0,0 @@
-- loops and returns on switch
TRICK_NUMBER = 10 -- selector number recognized to execute trick, change as desired
-- number of loops controlled by AERO_RPT_COUNT, if 0 it will do an immelman instead, trick returns control after executing even if trick id remains 10
local target_vel -- trick specific global variables
local loop_stage
-------------------------------------------------------------------
-- do not change anything unless noted
local running = false
local not_bound = true
local initial_yaw_deg = 0
local initial_height = 0
local repeat_count
-- constrain a value between limits
function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
if v > vmax then
v = vmax
end
return v
end
function wrap_360(angle) --function returns positive angle modulo360, -710 in returns 10, -10 returns +350
local res = math.fmod(angle, 360.0)
if res < 0 then
res = res + 360.0
end
return res
end
function wrap_180(angle)
local res = wrap_360(angle)
if res > 180 then
res = res - 360
end
return res
end
-- roll angle error 180 wrap to cope with errors while in inverted segments
function roll_angle_error_wrap(roll_angle_error)
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
end
--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
function earth_frame_wings_level(arg)
local roll_deg = math.deg(ahrs:get_roll())
local roll_angle_error = 0.0
if (roll_deg > 90 or roll_deg < -90) and arg ~= 0 then
roll_angle_error = 180 - roll_deg
else
roll_angle_error = - roll_deg
end
return roll_angle_error_wrap(roll_angle_error)/(RLL2SRV_TCONST:get())
end
-- constrain rates to rate controller call
function _set_target_throttle_rate_rpy(throttle,roll_rate, pitch_rate, yaw_rate)
local r_rate = constrain(roll_rate,-RATE_MAX:get(),RATE_MAX:get())
local p_rate = constrain(pitch_rate,-RATE_MAX:get(),RATE_MAX:get())
vehicle:set_target_throttle_rate_rpy(throttle, r_rate, p_rate, yaw_rate)
end
-- a PI controller implemented as a Lua object
local function PI_controller(kP,kI,iMax)
-- the new instance. You can put public variables inside this self
-- declaration if you want to
local self = {}
-- private fields as locals
local _kP = kP or 0.0
local _kI = kI or 0.0
local _kD = kD or 0.0
local _iMax = iMax
local _last_t = nil
local _I = 0
local _P = 0
local _total = 0
local _counter = 0
local _target = 0
local _current = 0
-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
if not _last_t then
_last_t = now
end
local dt = now - _last_t
_last_t = now
local err = target - current
_counter = _counter + 1
local P = _kP * err
_I = _I + _kI * err * dt
if _iMax then
_I = constrain(_I, -_iMax, iMax)
end
local I = _I
local ret = P + I
_target = target
_current = current
_P = P
_total = ret
return ret
end
-- reset integrator to an initial value
function self.reset(integrator)
_I = integrator
end
function self.set_I(I)
_kI = I
end
function self.set_P(P)
_kP = P
end
function self.set_Imax(Imax)
_iMax = Imax
end
-- log the controller internals
function self.log(name, add_total)
-- allow for an external addition to total
logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
end
-- return the instance
return self
end
local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
local self = {}
local kP = kP_param
local kI = kI_param
local KnifeEdge = KnifeEdge_param
local PI = PI_controller(kP:get(), kI:get(), Imax)
function self.update(target)
local target_pitch = PI.update(initial_height, ahrs:get_position():alt()*0.01)
local roll_rad = ahrs:get_roll()
local ke_add = math.abs(math.sin(roll_rad)) * KnifeEdge:get()
target_pitch = target_pitch + ke_add
PI.log("HPI", ke_add)
return constrain(target_pitch,-45,45)
end
function self.reset()
PI.reset(math.max(math.deg(ahrs:get_pitch()), 3.0))
PI.set_P(kP:get())
PI.set_I(kI:get())
end
return self
end
-- a controller to target a zero pitch angle and zero heading change, used in a roll
-- output is a body frame pitch rate, with convergence over time tconst in seconds
function pitch_controller(target_pitch_deg, target_yaw_deg, tconst)
local roll_deg = math.deg(ahrs:get_roll())
local pitch_deg = math.deg(ahrs:get_pitch())
local yaw_deg = math.deg(ahrs:get_yaw())
-- get earth frame pitch and yaw rates
local ef_pitch_rate = (target_pitch_deg - pitch_deg) / tconst
local ef_yaw_rate = wrap_180(target_yaw_deg - yaw_deg) / tconst
local bf_pitch_rate = math.sin(math.rad(roll_deg)) * ef_yaw_rate + math.cos(math.rad(roll_deg)) * ef_pitch_rate
local bf_yaw_rate = math.cos(math.rad(roll_deg)) * ef_yaw_rate - math.sin(math.rad(roll_deg)) * ef_pitch_rate
return bf_pitch_rate, bf_yaw_rate
end
-- a controller for throttle to account for pitch
function throttle_controller()
local pitch_rad = ahrs:get_pitch()
local thr_ff = THR_PIT_FF:get()
local throttle = TRIM_THROTTLE:get() + math.sin(pitch_rad) * thr_ff
return constrain(throttle, TRIM_THROTTLE:get(), 100.0)
end
function bind_param(name)
local p = Parameter()
if p:init(name) then
not_bound = false
return p
else
not_bound = true
end
end
-- recover entry altitude
function recover_alt()
local target_pitch = height_PI.update(initial_height)
local pitch_rate, yaw_rate = pitch_controller(target_pitch, initial_yaw_deg, PITCH_TCONST:get())
throttle = throttle_controller()
return throttle, pitch_rate, yaw_rate
end
----------------------------------------------------------------------------------------------
--every trick needs an init, change as needed...to bind the AERO params it uses(which will depend on the trick), and setup PID controllers used by script
function init()
HGT_P = bind_param("AERO_HGT_P") -- height P gain, required for height controller
HGT_I = bind_param("AERO_HGT_I") -- height I gain, required for height controller
HGT_KE_BIAS = bind_param("AERO_HGT_KE_BIAS") -- height knifeedge addition for pitch
THR_PIT_FF = bind_param("AERO_THR_PIT_FF") -- throttle FF from pitch
TRIM_THROTTLE = bind_param("TRIM_THROTTLE") --usually required for any trick
TRIM_ARSPD_CM = bind_param("TRIM_ARSPD_CM") --usually required for any trick
RATE_MAX = bind_param("AERO_RATE_MAX")
RLL2SRV_TCONST = bind_param("RLL2SRV_TCONST") --usually required for any trick
PITCH_TCONST = bind_param("PTCH2SRV_TCONST") --usually required for any trick
TRICK_ID = bind_param("AERO_TRICK_ID") --- required for any trick
TRICK_RAT = bind_param("AERO_TRICK_RAT") --usually required for any trick
RPT_COUNT = bind_param("AERO_RPT_COUNT") --repeat count for trick
if not_bound then
gcs:send_text(0,string.format("Not bound yet"))
return init, 100
else
gcs:send_text(0,string.format("Params bound,Trick %.0f loaded", TRICK_NUMBER))
height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0) -- this trick needs this height PID controller setup to hold height during the trick
loop_stage = 0
return update, 50
end
end
-----------------------------------------------------------------------------------------------
--every trick will have its own do_trick function to perform the trick...this will change totally for each different trick
function do_loop(arg1)
-- do one loop with controllable pitch rate arg1 is pitch rate, arg2 number of loops, 0 indicates 1/2 cuban8 reversa
local throttle = throttle_controller()
local pitch_deg = math.deg(ahrs:get_pitch())
local roll_deg = math.deg(ahrs:get_roll())
local vel = ahrs:get_velocity_NED():length()
local pitch_rate = arg1
local yaw_rate = 0
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 pitch_deg > 60 then
loop_stage = 1
end
elseif loop_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(0, string.format("Finished loop p=%.1f", pitch_deg))
loop_stage = 2 --now recover stage
repeat_count = repeat_count - 1
elseif (math.abs(roll_deg) > 90 and pitch_deg > -5 and pitch_deg < 5 and repeat_count <= 0) then
gcs:send_text(0, string.format("Finished return p=%.1f", pitch_deg))
loop_stage = 2 --now recover stage
repeat_count = repeat_count - 1
initial_yaw_deg = math.deg(ahrs:get_yaw())
end
elseif loop_stage == 2 then
-- recover alt if above or below start and terminate
if repeat_count > 0 then
--yaw_rate = 0
loop_stage = 0
elseif math.abs(ahrs:get_position():alt()*0.01 - initial_height) > 3 then
throttle, pitch_rate, yaw_rate = recover_alt()
else
running = false
gcs:send_text(0, string.format("Recovered entry alt"))
TRICK_ID:set(0)
return
end
end
throttle = throttle_controller()
if loop_stage == 2 or loop_stage == 0 then level_type = 0 else level_type = 1 end
if math.abs(pitch_deg) > 85 and math.abs(pitch_deg) < 95 then
roll_rate = 0
else
roll_rate = earth_frame_wings_level(level_type)
end
_set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
end
-------------------------------------------------------------------------------------------
--trick should noramlly only have to change the notification text in this routine,initialize trick specific variables, and any parameters needing to be passed to do_trick(..)
function update()
if (TRICK_ID:get() == TRICK_NUMBER) then
local current_mode = vehicle:get_mode()
if arming:is_armed() and running == false then
if not vehicle:nav_scripting_enable(current_mode) then
return update, 50
end
running = true
initial_height = ahrs:get_position():alt()*0.01
initial_yaw_deg = math.deg(ahrs:get_yaw())
height_PI.reset()
repeat_count = RPT_COUNT:get()
-----------------------------------------------trick specific
loop_stage = 0
target_vel = ahrs:get_velocity_NED():length()
gcs:send_text(0, string.format("Loop/Return")) --change announcement as appropriate for trick
-------------------------------------------------------
elseif running == true then
do_loop(TRICK_RAT:get()) -- change arguments as appropriate for trick
end
else
running = false
end
return update, 50
end
return init,1000

243
libraries/AP_Scripting/examples/Aerobatics/Via_Switch/5_knifedges.lua
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@ -1,243 +0,0 @@
-- knife edge on switch
TRICK_NUMBER = 5 -- selector number recognized to execute trick, change as desired
-- knife-edge angle set by AERO_TRICK_ANG, active for as long as trick id = 5
-------------------------------------------------------------------
-- do not change anything below unless noted
local running = false
local not_bound = true
local initial_yaw_deg = 0
local initial_height = 0
local repeat_count
-- constrain a value between limits
function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
if v > vmax then
v = vmax
end
return v
end
function wrap_360(angle) --function returns positive angle modulo360, -710 in returns 10, -10 returns +350
local res = math.fmod(angle, 360.0)
if res < 0 then
res = res + 360.0
end
return res
end
function wrap_180(angle)
local res = wrap_360(angle)
if res > 180 then
res = res - 360
end
return res
end
-- a PI controller implemented as a Lua object
local function PI_controller(kP,kI,iMax)
-- the new instance. You can put public variables inside this self
-- declaration if you want to
local self = {}
-- private fields as locals
local _kP = kP or 0.0
local _kI = kI or 0.0
local _kD = kD or 0.0
local _iMax = iMax
local _last_t = nil
local _I = 0
local _P = 0
local _total = 0
local _counter = 0
local _target = 0
local _current = 0
-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
if not _last_t then
_last_t = now
end
local dt = now - _last_t
_last_t = now
local err = target - current
_counter = _counter + 1
local P = _kP * err
_I = _I + _kI * err * dt
if _iMax then
_I = constrain(_I, -_iMax, iMax)
end
local I = _I
local ret = P + I
_target = target
_current = current
_P = P
_total = ret
return ret
end
-- reset integrator to an initial value
function self.reset(integrator)
_I = integrator
end
function self.set_I(I)
_kI = I
end
function self.set_P(P)
_kP = P
end
function self.set_Imax(Imax)
_iMax = Imax
end
-- log the controller internals
function self.log(name, add_total)
-- allow for an external addition to total
logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
end
-- return the instance
return self
end
local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
local self = {}
local kP = kP_param
local kI = kI_param
local KnifeEdge = KnifeEdge_param
local PI = PI_controller(kP:get(), kI:get(), Imax)
function self.update(target)
local target_pitch = PI.update(initial_height, ahrs:get_position():alt()*0.01)
local roll_rad = ahrs:get_roll()
local ke_add = math.abs(math.sin(roll_rad)) * KnifeEdge:get()
target_pitch = target_pitch + ke_add
PI.log("HPI", ke_add)
return constrain(target_pitch,-45,45)
end
function self.reset()
PI.reset(math.max(math.deg(ahrs:get_pitch()), 3.0))
PI.set_P(kP:get())
PI.set_I(kI:get())
end
return self
end
-- a controller to target a zero pitch angle and zero heading change, used in a roll
-- output is a body frame pitch rate, with convergence over time tconst in seconds
function pitch_controller(target_pitch_deg, target_yaw_deg, tconst)
local roll_deg = math.deg(ahrs:get_roll())
local pitch_deg = math.deg(ahrs:get_pitch())
local yaw_deg = math.deg(ahrs:get_yaw())
-- get earth frame pitch and yaw rates
local ef_pitch_rate = (target_pitch_deg - pitch_deg) / tconst
local ef_yaw_rate = wrap_180(target_yaw_deg - yaw_deg) / tconst
local bf_pitch_rate = math.sin(math.rad(roll_deg)) * ef_yaw_rate + math.cos(math.rad(roll_deg)) * ef_pitch_rate
local bf_yaw_rate = math.cos(math.rad(roll_deg)) * ef_yaw_rate - math.sin(math.rad(roll_deg)) * ef_pitch_rate
return bf_pitch_rate, bf_yaw_rate
end
-- a controller for throttle to account for pitch
function throttle_controller()
local pitch_rad = ahrs:get_pitch()
local thr_ff = THR_PIT_FF:get()
local throttle = TRIM_THROTTLE:get() + math.sin(pitch_rad) * thr_ff
return constrain(throttle, TRIM_THROTTLE:get(), 100.0)
end
function bind_param(name)
local p = Parameter()
if not p:init(name) then
not_bound = true
end
return p
end
----------------------------------------------------------------------------------------------
--every trick needs an init, change as needed...to bind the AERO params it uses(which will depend on the trick), and setup PID controllers used by script
function init()
not_bound = false
HGT_P = bind_param("AERO_HGT_P") -- height P gain, required for height controller
HGT_I = bind_param("AERO_HGT_I") -- height I gain, required for height controller
HGT_KE_BIAS = bind_param("AERO_HGT_KE_BIAS") -- height knifeedge addition for pitch
THR_PIT_FF = bind_param("AERO_THR_PIT_FF") -- throttle FF from pitch
TRIM_THROTTLE = bind_param("TRIM_THROTTLE") --usually required for any trick
TRIM_ARSPD_CM = bind_param("TRIM_ARSPD_CM") --usually required for any trick
RLL2SRV_TCONST = bind_param("RLL2SRV_TCONST") --usually required for any trick
PITCH_TCONST = bind_param("PTCH2SRV_TCONST") --usually required for any trick
KE_ANG = bind_param("AERO_TRICK_ANG") --this particulat trick needs a target angle for the knife-edge its doing
TRICK_ID = bind_param("AERO_TRICK_ID") --- required for any trick
RPT_COUNT = bind_param("AERO_RPT_COUNT") -- if trick can repeat
if not_bound then
gcs:send_text(0,string.format("Not bound yet"))
return init, 100
else
gcs:send_text(0,string.format("Params bound,Trick %.0f loaded", TRICK_NUMBER))
height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0) -- this trick needs this height PID controller setup to hold height during the trick
return update, 1000
end
end
-----------------------------------------------------------------------------------------------
--every trick will have its own do_trick function to perform the trick...this will change totally for each different trick
function do_trick(arg1)
-- arg1 is angle +/-180
local roll_deg = math.deg(ahrs:get_roll())
local roll_angle_error = (arg1 - 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
local roll_rate = roll_angle_error/(RLL2SRV_TCONST:get())
local target_pitch = height_PI.update(initial_height)
local pitch_rate, yaw_rate = pitch_controller(target_pitch, initial_yaw_deg, PITCH_TCONST:get())
local throttle = throttle_controller()
vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
return
end
-------------------------------------------------------------------------------------------
--trick should noramlly only have to change the notification text in this routine,initialize trick specific variables, and any parameters needing to be passed to do_trick(..)
function update()
if (TRICK_ID:get() == TRICK_NUMBER) then
local current_mode = vehicle:get_mode()
if arming:is_armed() and running == false then
if not vehicle:nav_scripting_enable(current_mode) then
return update, 50
end
running = true
initial_height = ahrs:get_position():alt()*0.01
initial_yaw_deg = math.deg(ahrs:get_yaw())
height_PI.reset()
repeat_count = RPT_COUNT:get() --not used in this trick, knife-edge on as long as mode does not change or sw is not lowered
-----------------------------------------------trick specific
gcs:send_text(0, string.format("%d Knife edge", KE_ANG:get())) --change announcement as appropriate for trick
----------------------------------------------------------
elseif running == true then
do_trick(KE_ANG:get()) -- change arguments as appropriate for trick
end
else
running = false
end
return update, 50
end
return init,1000

22
libraries/AP_Scripting/examples/Aerobatics/Via_Switch/README
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@ -1,22 +0,0 @@
Aerobatics via an RC switch
===========================
this requires the lua_trick_selector.lua script
additional individual trick scripts can then be selectively executed via a switch
RCx_OPTION switch 300 is the activations switch to execute a trick
RCx_OPTION switch 301 selects a trick from up to 10 trick scripts to execute
included as templates are two tricks: any angle knife-edge and a loop/return
activation switch when high will start the trick, which may self terminate (loop/return example), or continue indefinitely (knige-edge) until switch is low, when switched from low to mid and held for 0.5 second, the trick number selected by the selection channel is announced
trick is aborted if:
- activation switch is returned low
- flight mode changes
- script hangs, ie does not call the set_target_throttle_rpy(..) function every 50ms
- trick selection is moved to 0 (low)
Only modes defined in the nav_scripting_enable(mode) function call can enable scripting control and current flight mode must match the "mode" argument
Note: for tricks like knifedges which normally are indefinite(could modify this trick for a fixed duration, instead, though) until activation switch is set back low or mode is changed, the exit is totally dependent upon the mode being re-entered....for example, returning to FBWA can result in a change of heading as FBWA re-establishes level depending on knife-edge angle (90 deg has worst heading shift upon FBWA recovery), ACRO shows no change of attitude,CRUISE will re-establish track to last CRUISE target update, etc.

59
libraries/AP_Scripting/examples/Aerobatics/Via_Switch/lua_trick_selector.lua
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@ -1,59 +0,0 @@
-- master control script for selecting aerobatics scripts
-- the two rc channels below must be assigned
local scripting_rc_activation = assert(rc:find_channel_for_option(300), 'no sw assigned for trick activation') -- trick script selection channel
local scripting_rc_selection = assert(rc:find_channel_for_option(301), 'no switch assigned for trick selection') -- trick script activation channel (low:off/stop, mid:report trick ID to GCS, high:do trick
local trick_id = 0 --current trick ID, 0 means no trick, placing any number into the AERO_TRICK_ID param below means execute a script that recognizes it as its trick ID
local sw_current = scripting_rc_activation:norm_input() --current position of scripting_rc_activation switch -1 to 1
local sw_last = sw_current -- last position of scripting scripting_rc_activation switch
-- setup param block for aerobatics, reserving 30 params beginning with AERO_
local PARAM_TABLE_KEY = 72
assert(param:add_table(PARAM_TABLE_KEY, "AERO_", 30), 'could not add param table')
-- this control script uses AERO_TRICK_ID to report the selected trick number from the scripting_rc_selection rc channel
assert(param:add_param(PARAM_TABLE_KEY, 1, 'TRICK_ID', 0), 'could not add param1') -- trick IDs for switch activation
assert(param:add_param(PARAM_TABLE_KEY, 2, 'RPT_COUNT', 0), 'could not add param2') -- trick repeats
assert(param:add_param(PARAM_TABLE_KEY, 3, 'RATE_MAX', 120), 'could not add param3') -- max rates applied to axes(like ACRO rate param)
assert(param:add_param(PARAM_TABLE_KEY, 4, 'HGT_P', 1), 'could not add param4') -- height P gain
assert(param:add_param(PARAM_TABLE_KEY, 5, 'HGT_I', 2), 'could not add param5') -- height I gain
assert(param:add_param(PARAM_TABLE_KEY, 6, 'HGT_KE_BIAS', 20), 'could not add param6') --height knife-edge addition for pitch
assert(param:add_param(PARAM_TABLE_KEY, 7, 'THR_PIT_FF', 80), 'could not add param67') --throttle FF from pitch
assert(param:add_param(PARAM_TABLE_KEY, 8, 'SPD_P', 5), 'could not add param8') -- speed P gain
assert(param:add_param(PARAM_TABLE_KEY, 9, 'SPD_I', 25), 'could not add param9') -- speed I gain
assert(param:add_param(PARAM_TABLE_KEY, 10, 'TRICK_ANG', 90), 'could not add param10') -- knife-edge angle,etc.
assert(param:add_param(PARAM_TABLE_KEY, 11, 'TRICK_RAT', 90), 'could not add param11') -- used for trick loop rate, axial roll rates, etc
local trick_id = Parameter("AERO_TRICK_ID")
local sw_last = 0
local sw_current = 0
local last_selection = 0
function update()
local trick_selection = math.floor(5 * (scripting_rc_selection:norm_input_ignore_trim() +1)) -- produces range of 0 to 10 for selecting trick ID
if trick_selection == 0 then -- anytime trick selection is zero force trick ID to 0, another way to terminate tricks
trick_id:set(trick_selection)
end
sw_current = scripting_rc_activation:norm_input_ignore_trim()
if sw_current == sw_last then
if sw_current > -0.25 and sw_current < 0.75 and last_selection ~= trick_selection then
gcs:send_text(0, string.format("Current trick ID = %.0f",trick_selection))
last_selection = trick_selection
end
return update, 500
else
if sw_current < -0.25 then
trick_id:set(0)
elseif sw_current > 0.75 and arming:is_armed() then --setting trick ID to non-zero should be recognized by trick with that ID to init and execute
trick_id:set(trick_selection)
elseif sw_last < -0.25 and sw_current > -0.25 and sw_current < 0.75 then
gcs:send_text(0, string.format("Current trick ID = %.0f",trick_selection))
end
sw_last = sw_current
return update, 500
end
end
return update, 50