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AP_Scripting: use the new lua load() functionality in the airshow

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This commit is contained in:
Andrew Tridgell 2022-11-26 11:36:15 +11:00
parent 65746de112
commit ce88ddef07
3 changed files with 51 additions and 23 deletions
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1
libraries/AP_Scripting/applets/Aerobatics/FixedWing/README.md
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@ -43,7 +43,6 @@ the ground track.
| 20 | Procedure Turn | radius | bank angle | step-out | | Yes |
| 21 | Derry Turn | radius | bank angle | | | No |
| 23 | Half Climbing Circle | radius | height | bank angle | | Yes |
| 24 | Crossbox Humpty | radius | height | | | Yes |
| 25 | Laydown Humpty | radius | height | | | Yes |
| 25 | Barrel Roll | radius | length | num spirals | | No |
| 26 | Straight Hold | length | bank angle | | | No |

19
libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
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@ -1157,22 +1157,6 @@ function humpty_bump(r, h, arg3, arg4)
})
end
function crossbox_humpty(r, h, arg3, arg4)
assert(h >= 2*r)
local rabs = math.abs(r)
return make_paths("crossbox_humpty", {
{ path_vertical_arc(r, 90), roll_angle(0) },
{ path_straight((h-2*rabs)/3), roll_angle(0) },
{ path_straight((h-2*rabs)/3), roll_angle(90), roll_ref=90 },
{ path_straight((h-2*rabs)/3), roll_angle(0) },
{ path_vertical_arc(-r, 180), roll_angle(0) },
{ path_straight((h-2*rabs)/3), roll_angle(0) },
{ path_straight((h-2*rabs)/3), roll_angle(90), roll_ref=-90 },
{ path_straight((h-2*rabs)/3), roll_angle(0) },
{ path_vertical_arc(r, 90), roll_angle(0), roll_ref=180 },
})
end
function laydown_humpty(r, h, arg3, arg4)
assert(h >= 2*r)
local rabs = math.abs(r)
@ -2609,7 +2593,7 @@ command_table[20]= PathFunction(procedure_turn, "Procedure Turn")
command_table[21]= PathFunction(derry_turn, "Derry Turn")
-- 22 was Two Point Roll - use multi point roll instead
command_table[23]= PathFunction(half_climbing_circle, "Half Climbing Circle")
command_table[24]= PathFunction(crossbox_humpty, "Crossbox Humpty")
-- 24 was crossbox-humpty
command_table[25]= PathFunction(laydown_humpty, "Laydown Humpty")
command_table[26]= PathFunction(barrel_roll, "Barrel Roll")
command_table[27]= PathFunction(straight_flight, "Straight Hold")
@ -2652,7 +2636,6 @@ load_table["procedure_turn"] = procedure_turn
load_table["derry_turn"] = derry_turn
load_table["two_point_roll"] = two_point_roll
load_table["half_climbing_circle"] = half_climbing_circle
load_table["crossbox_humpty"] = crossbox_humpty
load_table["laydown_humpty"] = laydown_humpty
load_table["straight_align"] = straight_align
load_table["figure_eight"] = figure_eight

54
libraries/AP_Scripting/applets/Aerobatics/FixedWing/trick72.txt
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@ -7,6 +7,51 @@
# you can use name: to give your sequence a name
name: SuperAirShow
# you can add new path functions, following the same syntax
# as in the main plane_aerobatics.lua
function triangular_loop(radius, height, arg3, arg4) -- triangle
local h1 = radius * math.sin(math.rad(45))
local h2 = (2 * radius) - (radius * math.cos(math.rad(45)))
local h3 = height - (2 * radius)
local side = h3 / math.cos(math.rad(45))
--local base = (h3 + (2 * (radius - radius * math.cos(math.rad(45))))) - (2 * radius)
local base = (2 * (h3 + radius)) - 2 * radius
return make_paths("triangular_loop", {
{ path_straight(base * 1/5), roll_angle(180) },
{ path_straight(base * 2/5), roll_angle(0) },
{ path_vertical_arc(radius, 135) , roll_angle(0) },
{ path_straight(side*2/9), roll_angle(0) },
{ path_straight(side*2/9), roll_angle(90) },
{ path_straight(side*1/9), roll_angle(0) },
{ path_straight(side*2/9), roll_angle(90) },
{ path_straight(side*2/9), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight(side*2/9), roll_angle(0) },
{ path_straight(side*2/9), roll_angle(90) },
{ path_straight(side*1/9), roll_angle(0) },
{ path_straight(side*2/9), roll_angle(90) },
{ path_straight(side*2/9), roll_angle(0) },
{ path_vertical_arc(radius, 135), roll_angle(0) },
{ path_straight(base * 2/5), roll_angle(0) },
{ path_straight(base * 1/5), roll_angle(180) },
{ path_straight(base * 2/5), roll_angle(0) },
})
end
# a cross-box tophat, used to get us back on track after the barrell roll
function crossbox_tophat(radius, height, width, arg4) -- top hat
local w = width - 2*radius
return make_paths('crossbox_tophat', {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)), roll_sequence({{1,0}, {1, 90}, {1, 0}}), set_orient=qorient(0,90,90) },
{ path_vertical_arc(-radius, 90), roll_angle(0), set_orient=qorient(180,0,90) },
{ path_straight(w), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(0), set_orient=qorient(0,-90,90) },
{ path_straight((height-2*radius)), roll_sequence({{1,0}, {1, -90}, {1, 0}}), set_orient=qorient(0,-90,180) },
{ path_vertical_arc(radius, 90), roll_angle(0), set_orient=qorient(0,0,180) },
})
end
# you can add messages to display on the GCS/OSD while flying
message: Loop
loop 25 0 1
@ -48,9 +93,10 @@ align_center
message: BarrelRoll
barrel_roll 30 100 2
message: ProcedureTurn
align_box 1
procedure_turn 30 45 30
message: CrossBoxTopHat
crossbox_tophat 20 60 60
# get back to the start point
straight_align 0
align_center
message: TriangularLoop
triangular_loop 20 60