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209 Commits

Author SHA1 Message Date
andypnz d23c35e747 AP_Scripting: tracjectory path improvements 2022-11-01 14:58:32 +11:00
Andrew Tridgell 6b0b3b1a05 AP_Scripting: treat zero loops as 1 2022-11-01 08:33:06 +11:00
Andrew Tridgell 6c785715fa AP_Scripting: fixed initial ground course in aerobatic tricks 
needs ground course to account for wind
 2022-11-01 08:33:06 +11:00
Andrew Tridgell 2224096cff AP_Scripting: added straight_align path primitive 
allows alignment to position within maneuver frame
 2022-11-01 08:32:42 +11:00
Andrew Tridgell dcaea691a2 AP_Scripting: fixed final orientation of climbing_circle 2022-10-31 15:15:16 +11:00
Andrew Tridgell 4dac9bf5ed AP_Scripting: greatly reduce memory in aerobatics 
avoid holding path objects outside of the time they are needed
 2022-10-31 15:14:27 +11:00
Andrew Tridgell 3c101d879e AP_Scripting: correct climbing circle for roll distortion 2022-10-29 21:22:29 +11:00
Andrew Tridgell eb62991632 AP_Scripting: improve timing accuracy 2022-10-29 21:22:29 +11:00
Andrew Tridgell d3ce852050 AP_Scripting: send error as NAMED_VALUE_FLOAT 2022-10-29 21:22:29 +11:00
Andrew Tridgell bcdbfef7d5 AP_Scripting: removed banked_circle 
and fixed helix length calculation
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 01bdc532d6 AP_Scripting: added schedules from Andy 2022-10-29 21:22:29 +11:00
Andrew Tridgell fb7ea3ecac AP_Scripting: filled in all maneuvers in test_all_paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell d88e3d27f6 AP_Scripting: added composition of composed paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell 5a0311c6d8 AP_Scripting: use composer object to prepare for nested composition 2022-10-29 21:22:29 +11:00
Andrew Tridgell 4e154b17a2 AP_Scripting: convert remaining paths to composite functions 2022-10-29 21:22:29 +11:00
Andrew Tridgell 7541eed80c AP_Scripting: fixed height gain/loss in upline/downline 2022-10-29 21:22:29 +11:00
Andrew Tridgell efff5dc7ea AP_Scripting: added throttle lookahead 
anticipate the pitch and add extra throttle ready for the pitch up
 2022-10-29 21:22:29 +11:00
MatthewHampsey a4c544436a AP_Scripting: Added box trajectories, adding warning log for insufficent roll rate 2022-10-29 21:22:29 +11:00
Andrew Tridgell 8bc847fcf1 AP_Scripting: convert more paths to use composer 2022-10-29 21:22:29 +11:00
Andrew Tridgell b1e123df9e AP_Scripting: added entry and exit bank rates 2022-10-29 21:22:29 +11:00
Andrew Tridgell 20f1e8a6e6 AP_Scripting: fixed NED -> ENU in view_paths 
thanks MattH !
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 7c7de7eee6 AP_Scripting: added stall turn 
not really working well
 2022-10-29 21:22:29 +11:00
Andrew Tridgell f509359c24 AP_Scripting: removed debug 2022-10-29 21:22:29 +11:00
Andrew Tridgell f31fa6daf2 AP_Scripting: add Split-S, Upline-45 and Downline-45 2022-10-29 21:22:29 +11:00
Andrew Tridgell 8873f95e52 AP_Scripting: re-implement humpty bump with composition 2022-10-29 21:22:29 +11:00
Andrew Tridgell 9242786d1e AP_Scripting: added path composition 
allow creation of paths from a sequence of sub-paths
 2022-10-29 21:22:29 +11:00
Andrew Tridgell 3dfbca62a6 AP_Scripting: catch NaN in view_path 2022-10-29 21:22:29 +11:00
Andrew Tridgell c0559935ed AP_Scripting: ensure time doesn't go past 1.0 2022-10-29 21:22:29 +11:00
Andrew Tridgell 16583704ed AP_Scripting: make target speed max of current and trim speed 2022-10-29 21:22:29 +11:00
Andrew Tridgell dd390c257d AP_Scripting: remove unused code 2022-10-29 21:22:29 +11:00
Andrew Tridgell 119852b390 AP_Scripting: fixed mirroring for some -ve radius paths 2022-10-29 21:22:29 +11:00
Andrew Tridgell 4b53e16ea2 AP_Scripting: document trajectory scripting 2022-10-29 21:22:29 +11:00
Andrew Tridgell 0ae3b39a66 AP_Scripting: implement tricks on a switch on top of trajectory tracking 
this re-implements tricks on a switch with the new accurate trajectory
tracking code.

It adds new parameters:

 - TRIK_ENABLE=0/1
 - TRIK_COUNT for number of tricks
 - TRIK_ACT_FN for the rc option to use to activate tricks (default 300)
 - TRIK_SEL_FN for the rc option to use to select which trick (default 301)

So if you want to use a 3 position switch on RC7 to activate and use a
knob on RC8 for selection then you would set:

- RC7_OPTION = 300
- RC8_OPTION = 301

then if tricks are enabled the following parameters are created per trick:

 - TRIKn_ID
 - TRIKn_ARG1
 - TRIKn_ARG2
 - TRIKn_ARG3
 - TRIKn_ARG4

You can have a maximum of 11 tricks.

The ID numbers are from the trajectory table. The arguments are path specific.
 2022-10-29 21:22:29 +11:00
MatthewHampsey 51481eff24 AP_Scripting: Made negative radii steer in other direction for remaining trajs 2022-10-25 16:37:19 +11:00
MatthewHampsey d011c8977f AP_Scripting: Fix humpty bump 2022-10-25 16:37:19 +11:00
MatthewHampsey bdce9d5cb3 AP_Scripting: improved trajectory tracking 
with thanks to Paul Riseborough for the algorithmic improvements
 2022-10-23 18:11:15 +11:00
Andrew Tridgell f57935d406 AP_Scripting: update examples for new nav_script_time 2022-10-23 18:11:15 +11:00
Andrew Tridgell 938df192fa AP_Scripting: added rc:get_aux_cached() example 2022-10-11 11:47:04 +11:00
MatthewHampsey 8fb00f02f4 AP_Scripting: Added additional trajs, cuban eight 2022-10-06 15:55:45 +11:00
Randy Mackay 23878faaef AP_Scripting: winch-test example script 2022-10-06 14:39:28 +11:00
Andrew Tridgell ad6bf648e9 AP_Scripting: ALT_OFFSET example for copter 
this was requested by a user that has GCS function for setting
ALT_OFFSET for magnetometer surveys
 2022-10-03 17:31:23 +11:00
MatthewHampsey 10f355b05b AP_Scripting: Fix bug with local variable 2022-10-02 16:58:37 +11:00
MatthewHampsey 7dbc1690e9 AP_Scripting: Added extra argument node 2022-10-02 16:58:37 +11:00
MatthewHampsey 1dba013e4a AP_Scripting:Improve speed controller, various other fixes 2022-10-02 16:58:37 +11:00
Andrew Tridgell 6e308814ad AP_Scripting: added mag_heading example 2022-10-02 08:15:06 +11:00
Andrew Tridgell 7f7b8893e3 AP_Scripting: added EFI_HFE tester 2022-10-02 08:15:06 +11:00
Andrew Tridgell b514f44b7a AP_Scripting: added EFI testing script 2022-10-02 08:15:06 +11:00
Randy Mackay b8042d57de AP_Scripting: add mount-poi example 2022-09-28 17:09:31 +10:00
Andrew Tridgell a653b5e8d1 AP_Scripting: simple script for plane GUIDED follow 2022-09-22 07:59:34 +10:00
MatthewHampsey 255b081a45 AP_Scripting: added aerobatics trajecting tracking script 2022-09-22 05:55:15 +10:00