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AP_Scripting: change set_target_posvel_circle example tart location calculation

This commit is contained in:
Emre Saldiran 2021-03-25 12:23:30 +03:00 committed by Randy Mackay
parent 22c936140e
commit 9e97c2e095
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_Scripting/examples/set_target_posvel_circle.lua
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@ -28,7 +28,7 @@ function circle()
local cur_freq = 0
-- increase target speed lineary with time until ramp_up_time_s is reached
if time <= ramp_up_time_s then
cur_freq = omega_radps*time/ramp_up_time_s
cur_freq = omega_radps*(time/ramp_up_time_s)^2
else
cur_freq = omega_radps
end
@ -69,10 +69,14 @@ function update()
end
else
-- calculate test starting location in NED
local home = ahrs:get_home()
local cur_loc = ahrs:get_position()
if home and cur_loc then
test_start_location = home:get_distance_NED(cur_loc)
local cur_loc = ahrs:get_position()
if cur_loc then
test_start_location = cur_loc.get_vector_from_origin_NEU(cur_loc)
if test_start_location then
test_start_location:x(test_start_location:x() * 0.01)
test_start_location:y(test_start_location:y() * 0.01)
test_start_location:z(-test_start_location:z() * 0.01)
end
end
-- reset some variable as soon as we are not in guided mode