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AP_Scripting: removed banked_circle

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and fixed helix length calculation
This commit is contained in:
Andrew Tridgell 2022-10-29 15:35:52 +11:00
parent 01bdc532d6
commit bcdbfef7d5
2 changed files with 10 additions and 16 deletions
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2
libraries/AP_Scripting/examples/Aerobatics/Trajectory/README.md
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@ -18,7 +18,7 @@ parameters (described below).
| 3 | Horizontal Rectangle | length | width | radius | bank angle | No |
| 4 | Climbing Circle | radius | height | bank angle | | No |
| 5 | vertical Box | length | height | radius | | No |
| 6 | Banked Circle | radius | bank angle | height | | No |
| 6 | Unused | | | | | No |
| 7 | Straight Roll | length | num rolls | | | No |
| 8 | Rolling Circle | radius | num rolls | | | No |
| 9 | Half Cuban Eight | radius | | | | Yes |

24
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -323,13 +323,16 @@ function roll_angle_entry_exit(_angle)
if entry_t > 0.5 then
entry_t = 0.5
end
if t <= 0 then
return 0
end
if t < entry_t then
return angle * t / entry_t
end
if t < 1.0 - entry_t then
return angle
end
if angle == 0 then
if angle == 0 or t >= 1.0 then
return 0
end
return (1.0 - ((t - (1.0 - entry_t)) / entry_t)) * angle
@ -473,11 +476,10 @@ function path_horizontal_arc(_radius, _angle, _height_gain)
return makeVector3f(math.abs(radius)*math.sin(t2ang), radius*(1.0 - math.cos(t2ang)), -height_gain*t)
end
function self.get_length()
if _height_gain == 0 then
return math.abs(radius) * 2 * math.pi * angle / 360.0
end
-- otherwise integrate to get path length
return integrate_length(self.get_pos)
local circumference = 2 * math.pi * math.abs(radius)
local full_circle_height_gain = height_gain * 360.0 / math.abs(angle)
local helix_length = math.sqrt(full_circle_height_gain*full_circle_height_gain + circumference*circumference)
return helix_length * math.abs(angle) / 360.0
end
function self.get_final_orientation()
local q = Quaternion()
@ -732,12 +734,6 @@ function straight_flight(length, bank_angle, arg3, arg4)
})
end
function banked_circle(radius, bank_angle, height, arg4)
return make_paths("banked_circle", {
{ path_horizontal_arc(radius, 360, height), roll_angle_entry_exit(bank_angle) },
})
end
function scale_figure_eight(r, bank_angle, arg3, arg4)
return make_paths("scale_figure_eight", {
{ path_straight(r), roll_angle(0) },
@ -1031,8 +1027,6 @@ function test_all_paths()
straight_roll(20, 0),
vertical_aerobatic_box(100, 100, 20, 0),
straight_roll(20, 0),
banked_circle(100, 45, 20, 0),
straight_roll(20, 0),
rolling_circle(100, 2, 0, 0),
straight_roll(20, 0),
half_cuban_eight(30),
@ -1457,7 +1451,7 @@ command_table[2] = PathFunction(loop, "Loop")
command_table[3] = PathFunction(horizontal_rectangle, "Horizontal Rectangle")
command_table[4] = PathFunction(climbing_circle, "Climbing Circle")
command_table[5] = PathFunction(vertical_aerobatic_box, "Vertical Box")
command_table[6] = PathFunction(banked_circle, "Banked Circle")
-- 6 was banked circle
command_table[7] = PathFunction(straight_roll, "Axial Roll")
command_table[8] = PathFunction(rolling_circle, "Rolling Circle")
command_table[9] = PathFunction(half_cuban_eight, "Half Cuban Eight")