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AP_Scripting: make most object functions local

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This commit is contained in:
Andrew Tridgell 2022-12-01 19:19:12 +11:00
parent aa865e1f9b
commit aa8ff87ad2
1 changed files with 38 additions and 39 deletions
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77
libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
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@ -96,7 +96,7 @@ local function TrickDef(id, arg1, arg2, arg3, arg4)
end
-- constrain a value between limits
function constrain(v, vmin, vmax)
local function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
@ -106,7 +106,7 @@ function constrain(v, vmin, vmax)
return v
end
function sq(x)
local function sq(x)
return x*x
end
@ -149,7 +149,7 @@ local last_named_float_t = 0
local path_var = {}
function wrap_360(angle)
local function wrap_360(angle)
local res = math.fmod(angle, 360.0)
if res < 0 then
res = res + 360.0
@ -157,7 +157,7 @@ function wrap_360(angle)
return res
end
function wrap_180(angle)
local function wrap_180(angle)
local res = wrap_360(angle)
if res > 180 then
res = res - 360
@ -165,13 +165,13 @@ function wrap_180(angle)
return res
end
function wrap_pi(angle)
local function wrap_pi(angle)
local angle_deg = math.deg(angle)
local angle_wrapped = wrap_180(angle_deg)
return math.rad(angle_wrapped)
end
function wrap_2pi(angle)
local function wrap_2pi(angle)
local angle_deg = math.deg(angle)
local angle_wrapped = wrap_360(angle_deg)
return math.rad(angle_wrapped)
@ -181,7 +181,7 @@ end
--[[
calculate an alpha for a first order low pass filter
--]]
function calc_lowpass_alpha(dt, time_constant)
local function calc_lowpass_alpha(dt, time_constant)
local rc = time_constant/(math.pi*2)
return dt/(dt+rc)
end
@ -189,7 +189,7 @@ end
--[[ get the c.y element of the DCM body to earth matrix, which gives
the projection of the vehicle y axis in the down direction
--]]
function get_ahrs_dcm_c_y()
local function get_ahrs_dcm_c_y()
local ahrs_quat = ahrs:get_quaternion()
local q1 = ahrs_quat:q1()
local q2 = ahrs_quat:q2()
@ -300,7 +300,7 @@ end
local speed_PI = speed_controller(SPD_P, SPD_I, THR_PIT_FF, 100.0, 0.0, 100.0)
function sgn(x)
local function sgn(x)
local eps = 0.000001
if (x > eps) then
return 1.0
@ -311,7 +311,7 @@ function sgn(x)
end
end
function get_wp_location(i)
local function get_wp_location(i)
local m = mission:get_item(i)
local loc = Location()
loc:lat(m:x())
@ -323,7 +323,7 @@ function get_wp_location(i)
return loc
end
function resolve_jump(i)
local function resolve_jump(i)
local m = mission:get_item(i)
while m:command() == DO_JUMP do
i = math.floor(m:param1())
@ -335,7 +335,7 @@ end
--[[
Wrapper to construct a Vector3f{x, y, z} from (x, y, z)
--]]
function makeVector3f(x, y, z)
local function makeVector3f(x, y, z)
local vec = Vector3f()
vec:x(x)
vec:y(y)
@ -347,7 +347,7 @@ end
get quaternion rotation between vector1 and vector2
with thanks to https://stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
--]]
function vectors_to_quat_rotation(vector1, vector2)
local function vectors_to_quat_rotation(vector1, vector2)
local v1 = vector1:copy()
local v2 = vector2:copy()
v1:normalize()
@ -367,7 +367,7 @@ end
--[[
get path rate from two tangents and delta time
--]]
function tangents_to_rate(t1, t2, dt)
local function tangents_to_rate(t1, t2, dt)
local q_delta = vectors_to_quat_rotation(t1, t2)
local rate_rads = Vector3f()
q_delta:to_axis_angle(rate_rads)
@ -378,7 +378,7 @@ end
--[[
create a class that inherits from a base class
--]]
function inheritsFrom(baseClass, _name)
local function inheritsFrom(baseClass, _name)
local new_class = { name = _name }
local class_mt = { __index = new_class }
@ -407,7 +407,7 @@ end
--[[
rotate a vector by a quaternion
--]]
function quat_earth_to_body(quat, v)
local function quat_earth_to_body(quat, v)
local v = v:copy()
quat:earth_to_body(v)
return v
@ -416,7 +416,7 @@ end
--[[
rotate a vector by a inverse quaternion
--]]
function quat_body_to_earth(quat, v)
local function quat_body_to_earth(quat, v)
local v = v:copy()
quat:inverse():earth_to_body(v)
return v
@ -425,7 +425,7 @@ end
--[[
copy a quaternion
--]]
function quat_copy(q)
local function quat_copy(q)
return q:inverse():inverse()
end
@ -439,7 +439,7 @@ end
--[[
roll component that goes through a fixed total angle at a fixed roll rate
--]]
_roll_angle = inheritsFrom(nil, 'roll_angle')
local _roll_angle = inheritsFrom(nil, 'roll_angle')
function _roll_angle:get_roll(t)
if self.angle == nil then
return 0
@ -459,7 +459,7 @@ end
degrees/s, then holds that angle, then banks back to zero at
AEROM_ENTRY_RATE degrees/s
--]]
_roll_angle_entry_exit = inheritsFrom(nil, "roll_angle_entry_exit")
local _roll_angle_entry_exit = inheritsFrom(nil, "roll_angle_entry_exit")
function _roll_angle_entry_exit:get_roll(t, time_s)
local entry_s = math.abs(self.angle) / AEROM_ENTRY_RATE:get()
local entry_t = entry_s / time_s
@ -491,8 +491,7 @@ end
roll component that banks to _angle over AEROM_ENTRY_RATE
degrees/s, then holds that angle
--]]
_roll_angle_entry = inheritsFrom(nil, "roll_angle_entry")
local _roll_angle_entry = inheritsFrom(nil, "roll_angle_entry")
function _roll_angle_entry:get_roll(t, time_s)
local entry_s = math.abs(self.angle) / AEROM_ENTRY_RATE:get()
local entry_t = entry_s / time_s
@ -515,7 +514,7 @@ end
roll component that holds angle until the end of the subpath, then
rolls back to 0 at the AEROM_ENTRY_RATE
--]]
_roll_angle_exit = inheritsFrom(nil, "roll_angle_exit")
local _roll_angle_exit = inheritsFrom(nil, "roll_angle_exit")
function _roll_angle_exit:get_roll(t, time_s)
local entry_s = math.abs(angle) / AEROM_ENTRY_RATE:get()
local entry_t = entry_s / time_s
@ -537,7 +536,7 @@ end
--[[
implement a sequence of rolls, specified as a list of {proportion, roll_angle} pairs
--]]
_roll_sequence = inheritsFrom(nil, "roll_sequence")
local _roll_sequence = inheritsFrom(nil, "roll_sequence")
function _roll_sequence:get_roll(t)
for i = 1, #self.seq do
if t <= self.end_t[i] then
@ -546,7 +545,7 @@ function _roll_sequence:get_roll(t)
end
end
-- we've gone past the end
return self.start_ang[#seq] + self.seq[#self.seq][2]
return self.start_ang[#self.seq] + self.seq[#self.seq][2]
end
function roll_sequence(seq)
@ -574,7 +573,7 @@ end
--[[ given a path function get_pos() calculate the extents of the path
along the X axis as a tuple
--]]
function get_extents_x(obj)
local function get_extents_x(obj)
local p = obj:get_pos(0)
local min_x = p:x()
local max_x = min_x
@ -590,7 +589,7 @@ end
--[[
all path components inherit from PathComponent
--]]
_PathComponent = inheritsFrom(nil)
local _PathComponent = inheritsFrom(nil)
function _PathComponent:get_pos(t)
return makeVector3f(0, 0, 0)
end
@ -614,7 +613,7 @@ function _PathComponent:get_extents_x()
return self.extents
end
function PathComponent()
local function PathComponent()
local self = _PathComponent:create()
return self
end
@ -622,7 +621,7 @@ end
--[[
path component that does a straight horizontal line
--]]
_path_straight = inheritsFrom(_PathComponent, "path_straight")
local _path_straight = inheritsFrom(_PathComponent, "path_straight")
function _path_straight:get_pos(t)
return makeVector3f(self.distance*t, 0, 0)
end
@ -638,7 +637,7 @@ end
--[[
path component that does a straight line then reverses direction
--]]
_path_reverse = inheritsFrom(_PathComponent, "path_reverse")
local _path_reverse = inheritsFrom(_PathComponent, "path_reverse")
function _path_reverse:get_pos(t)
if t < 0.5 then
return makeVector3f(self.distance*t*2, 0, 0)
@ -658,7 +657,7 @@ end
--[[
path component that aligns to within the aerobatic box
--]]
_path_align_box = inheritsFrom(_PathComponent, "path_align_box")
local _path_align_box = inheritsFrom(_PathComponent, "path_align_box")
function _path_align_box:get_pos(t)
return makeVector3f(self.distance*t, 0, 0)
end
@ -689,7 +688,7 @@ end
path component that aligns so the center of the next maneuver is
centered within the aerobatic box
--]]
_path_align_center = inheritsFrom(_PathComponent, "path_align_center")
local _path_align_center = inheritsFrom(_PathComponent, "path_align_center")
function _path_align_center:get_pos(t)
return makeVector3f(self.distance*t, 0, 0)
end
@ -718,7 +717,7 @@ end
--[[
path component that does a vertical arc over a given angle
--]]
_path_vertical_arc = inheritsFrom(_PathComponent, "path_vertical_arc")
local _path_vertical_arc = inheritsFrom(_PathComponent, "path_vertical_arc")
function _path_vertical_arc:get_pos(t)
local t2ang = wrap_2pi(t * math.rad(self.angle))
return makeVector3f(math.abs(self.radius)*math.sin(t2ang), 0, -self.radius*(1.0 - math.cos(t2ang)))
@ -742,7 +741,7 @@ end
--[[
path component that does a horizontal arc over a given angle
--]]
_path_horizontal_arc = inheritsFrom(_PathComponent, "path_horizontal_arc")
local _path_horizontal_arc = inheritsFrom(_PathComponent, "path_horizontal_arc")
function _path_horizontal_arc:get_pos(t)
local t2ang = t * math.rad(self.angle)
return makeVector3f(math.abs(self.radius)*math.sin(t2ang), self.radius*(1.0 - math.cos(t2ang)), -self.height_gain*t)
@ -781,7 +780,7 @@ end
--[[
path component that does a cylinder for a barrel roll
--]]
_path_cylinder = inheritsFrom(_PathComponent, "path_cylinder")
local _path_cylinder = inheritsFrom(_PathComponent, "path_cylinder")
function _path_cylinder:get_pos(t)
local t2ang = t * self.num_spirals * math.pi * 2
local v = makeVector3f(self.length*t, math.abs(self.radius)*math.sin(t2ang+math.pi), -self.radius*(1.0 - math.cos(t2ang)))
@ -817,7 +816,7 @@ end
a Path has the methods of both RollComponent and
PathComponent allowing for a complete description of a subpath
--]]
_Path = inheritsFrom(nil)
local _Path = inheritsFrom(nil)
function _Path:get_roll(t, time_s)
return wrap_180(self.roll_component:get_roll(t, time_s))
end
@ -839,7 +838,7 @@ end
function _Path:set_next_extents(extents, start_pos, start_orientation)
self.path_component:set_next_extents(extents, start_pos, start_orientation)
end
function Path(path_component, roll_component)
local function Path(path_component, roll_component)
local self = _Path:create()
self.name = string.format("%s|%s", path_component.name, roll_component.name)
assert(path_component)
@ -853,7 +852,7 @@ end
--[[
componse multiple sub-paths together to create a full trajectory
--]]
_path_composer = inheritsFrom(nil)
local _path_composer = inheritsFrom(nil)
-- return the subpath with index i. Used to cope with two ways of calling path_composer
function _path_composer:subpath(i)
if i == self.cache_i then
@ -962,7 +961,7 @@ function _path_composer:get_next_segment_start(t)
return self:end_time(i)
end
function path_composer(name, subpaths)
local function path_composer(name, subpaths)
local self = _path_composer:create()
self.name = name
self.subpaths = subpaths