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Commit Graph

751 Commits

Author SHA1 Message Date
Andrew Tridgell
65746de112 AP_Scripting: enable load() function in lua scripts 
can be used to parse user supplied lua
 2022-11-28 06:23:29 +11:00
Andrew Tridgell
31b9299ad3 AP_Scripting: added function loading in aerobatic schedule text files 
this allows for new maneuvers to be added inside the schedule
 2022-11-28 06:23:29 +11:00
Andrew Tridgell
c30cd27000 AP_Scripting: added a stall turn test 2022-11-26 10:54:39 +11:00
Andrew Tridgell
2d02a3344d AP_Scripting: treat message attribute like any other attribute 
simplfies txt schedule processing
 2022-11-26 10:54:39 +11:00
Andrew Tridgell
38556ab8c8 AP_Scripting: removed test_all_paths from aerobatics 
not used
 2022-11-26 10:54:39 +11:00
Andrew Tridgell
a85e9b2eb1 AP_Scripting: removed speed override in aerobatics 
will be replaced with an attrib when needed again for aerobatic landing
 2022-11-26 10:54:39 +11:00
Andrew Tridgell
133dcf240b AP_Scripting: simplify path attribute handling 
avoid needing a separate accessor function for each attribute
 2022-11-26 10:54:39 +11:00
Andrew Tridgell
1aedb709e0 AP_Scripting: added real stall turn 
reverses path at low throttle
 2022-11-26 10:54:39 +11:00
Andrew Tridgell
814104cb33 AP_Scripting: added align_box and align_center 
allows for alignment of maneuvers to the ends or center of the
aerobatic box
 2022-11-24 19:37:59 +11:00
Andrew Tridgell
bd4255f654 AP_Scripting: allow "thr_boost: true" in text aerobatic schedules 
likes this:

  message: Loop
  thr_boost: true
  loop 30
 2022-11-24 16:52:15 +11:00
Iampete1
c1cd095508 AP_Scripting: remove lua acess to ap object creation 2022-11-23 19:48:21 +11:00
Henry Wurzburg
92cc5e87aa AP_Scripting: add initial announcement to plane_aerobatics.lua 2022-11-22 10:57:40 +11:00
Henry Wurzburg
fafdf4d46d AP_Scripting: update readme on plane_aerobatics 2022-11-21 16:54:13 +11:00
Andrew Tridgell
15820ec5f8 AP_Scripting: added set_orient and funny_loop 
this allows much tighter control over path orientation during a sequence
 2022-11-20 18:24:24 +11:00
Paul Riseborough
e09ae7bc43 AP_Scripting: re-work multi-point roll using roll_sequence 2022-11-20 18:23:05 +11:00
Andrew Tridgell
486787937a AP_Scripting: added roll_sequence to simplify complex manuevers 
allows for complex roll sequences within manuevers
 2022-11-20 18:23:05 +11:00
Andrew Tridgell
b2a38c0c60 AP_Scripting: added AEROM_PATH_SCALE 
and add some docs on parameters
 2022-11-19 19:04:34 +11:00
MatthewHampsey
97bcc11f68 AP_Scripting: Added side_step maneuver 2022-11-18 05:42:26 +11:00
MatthewHampsey
3fd212063c AP_Scripting: Fixed barrel roll arc 2022-11-18 05:41:23 +11:00
Andrew Tridgell
b0b9c969da AP_Scripting: implement path lookahead for aerobatics 
this implements lookahead, which takes account of the response time of
the vehicle to changing rate demands in pitch and yaw
 2022-11-16 13:04:20 +11:00
Peter Barker
1203f118d7 AP_Scripting: allow FRSky to be compiled out 2022-11-15 18:44:45 +11:00
Iampete1
6086402528 AP_Scripting: use helpers for full range return types to save flash 2022-11-15 10:33:51 +11:00
Andrew Tridgell
71828602e5 AP_Scripting: add more of p23 schedule 
thanks to Andy! Fixes the cross-box roll references
 2022-11-14 20:35:31 +11:00
Andrew Tridgell
93353442a4 AP_Scripting: fixed crossbox-humpty aerobatics 2022-11-14 20:35:31 +11:00
Andrew Tridgell
a8318fc9bb AP_Scripting: added multi_point_roll 2022-11-14 14:28:33 +11:00
Paul Riseborough
2b1098c2b8 AP_Scripting: Add four and eight point rolls to plane aerobatics script 
Signed-off-by: Paul Riseborough <gncsolns@gmail.com>
 2022-11-14 14:28:33 +11:00
Paul Riseborough
79db2fe4da AP_Scripting: Prevent integrator windup in throttle 2022-11-14 14:28:33 +11:00
Andrew Tridgell
3c9c7fac06 AP_Scripting: added yaw angular accel limit for aerobatics 2022-11-13 16:23:39 +11:00
Andrew Tridgell
af44cbfc30 AP_Scripting: fixed spelling of barrel roll 2022-11-12 07:34:21 +11:00
Andrew Tridgell
64e050da60 AP_Scripting: added barrell_roll 
path OK, but exit orientation is wrong
 2022-11-11 14:19:44 +11:00
Andrew Tridgell
0d9397f451 AP_Scipting: cope with lua update being called too soon 
in CI we occasionally get a loop called too fast (in one log the
micros() timestamp step was zero)
 2022-11-11 08:25:33 +11:00
Andrew Tridgell
c48eeec71d AP_Scripting: added AEROM_THR_MIN and AEROM_THR_BOOST 
allow for better throttle control during maneuvers
 2022-11-11 08:25:33 +11:00
Henry Wurzburg
48404f4e64 AP_Scripting: Update plane_aerobatics README.md 2022-11-10 13:54:56 +11:00
Andrew Tridgell
a1e172c7c3 AP_Scripting: added figure_eight to loadable tricks 2022-11-10 13:53:15 +11:00
Andrew Tridgell
46c6c28419 AP_Scripting: look in multiple directorys for trick txt files 2022-11-10 13:53:15 +11:00
Andrew Tridgell
8c671c8b29 AP_Scripting: removed old aerobatics system 2022-11-10 13:53:15 +11:00
Andrew Tridgell
bf34bea4d6 AP_Scripting: moved aerobatics to applets/Aerobatics/FixedWing/ 2022-11-10 13:53:15 +11:00
Andrew Tridgell
a98b9f2c44 AP_Scripting: removed old AUTO_MIS parameters 
this mechanism not needed any more now we have full schedules
 2022-11-10 12:27:53 +11:00
Andrew Tridgell
8637b2098f AP_Scripting: allow aerobatic sequences to load from a txt file 
this allows for complex sequences to be defined in a file like
"trick72.txt"

the example shows how it is done
 2022-11-09 09:03:37 +11:00
Iampete1
1547c65ff3 AP_Scripting: bindings: logging: add flag to copy format strings 2022-11-08 10:49:43 +11:00
Peter Barker
4fccfdd56f AP_Scripting: include cleanups 2022-11-08 09:49:19 +11:00
Andrew Tridgell
e6af416f94 AP_Scripting: fixed yaw glitch on init in aerobatics 2022-11-08 08:44:23 +11:00
Andrew Tridgell
6a3c7f8cf6 AP_Scripting: get ahrs state once at the start of each loop 
this minimises the impact of slow lua scripting
 2022-11-07 21:22:43 +11:00
Andrew Tridgell
228b4adda0 AP_Scripting: fixed initial tangent 2022-11-07 21:22:43 +11:00
Andrew Tridgell
d7c0a1025e AP_Scripting: use actual_dt for ef rate update 
this seems to work more consistently for now
 2022-11-07 21:22:43 +11:00
Andrew Tridgell
833c18d4ae AP_Scripting: added sideslip filter 2022-11-07 21:22:43 +11:00
Andrew Tridgell
8fc3a725ce AP_Scripting: fixed path rate to use right time scaling 2022-11-07 21:22:43 +11:00
Andrew Tridgell
9874d4196d AP_Scripting: new specific force sideslip control 
and fixed dt handling to match quaternion delta
 2022-11-07 21:22:43 +11:00
Andrew Tridgell
2fb90fb5dd AP_Scripting: fixed chaining of orientations 
use tangent rotation to accumulate orientations
 2022-11-07 21:22:43 +11:00
andypnz
7fa45e343f AP_Scripting: F3A path adjustments 2022-11-07 15:54:51 +11:00
Andrew Tridgell
b924e6dca5 AP_Scripting: tidy airshow and add triple show 
triple show is a demo of how to combine schedules
 2022-11-05 12:19:02 +11:00
Andrew Tridgell
29060be8a9 AP_Scripting: improve knife-edge in aerobatics 
thanks to Paul Riseborough for helping with yaw rate adjustment in knifeedge
 2022-11-05 12:19:02 +11:00
Andrew Tridgell
ec8331ec75 AP_Scripting: log path error 
ready for an autotest
 2022-11-04 07:17:30 +11:00
Iampete1
7e07859ec9 AP_Scripting: add debug print of state memory cost 2022-11-03 09:50:59 +11:00
Iampete1
815adbbc8e AP_Scripting: log memory cost of script load 2022-11-03 09:50:59 +11:00
Andrew Tridgell
94273f1403 AP_Scripting: update docs 2022-11-03 07:31:10 +11:00
Andrew Tridgell
233e8e44cb AP_Scripting: added crossbox humpty maneuvers 2022-11-03 07:29:34 +11:00
Andrew Tridgell
acb627a4a4 AP_Scripting: updates from Andy for p23 2022-11-03 07:29:34 +11:00
Andrew Tridgell
40fdb22423 AP_Scripting: added airshow 
and messages in schedules
 2022-11-02 12:22:30 +11:00
Iampete1
7b844e3974 AP_Scripting: use checker helper for singletons 2022-11-01 17:03:50 +11:00
Iampete1
d673d3b219 AP_Scripting: rework feilds to only use switch for both read and write 2022-11-01 17:03:50 +11:00
Iampete1
5a0c45e090 AP_Scripting: ap object creation functions shared method 2022-11-01 17:03:50 +11:00
Iampete1
84fe2ed829 AP_Scripting: remove memset 0 after malloc 2022-11-01 17:03:50 +11:00
Iampete1
d0f527369d AP_Scripting: remove type specific out of range warnings 2022-11-01 17:03:50 +11:00
Iampete1
06712c9f0b AP_Scripting: rework arg checks to save flash 2022-11-01 17:03:50 +11:00
Iampete1
5711ac9596 AP_Scripting: generator: combine null checks in getter as error is terminal 2022-11-01 17:03:50 +11:00
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
7a03160590 AP_Scripting: capitalise the SCR_HEAP_SIZE parm 2022-10-31 15:14:27 +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
Andrew Tridgell
eb1d27df7b AP_Scripting: adjust EFI_SkyPower for rev 0.3 protocol 2022-10-25 11:44:45 +11:00
Andrew Tridgell
aea9dea005 AP_Scripting: added CANDRV to HFE EFI driver and document 2022-10-25 11:44:45 +11:00
Andrew Tridgell
96852a8eb4 AP_Scripting: added throttle and generator control for EFI_SkyPower driver 
and added documentation for the driver
 2022-10-25 11:44:45 +11:00
WillyZehnder
a7d5f8addc AP_Scripting: bindings: get_alt_frame included 
bindings.desc + docs.lua: get_alt_frame included
 2022-10-25 10:21:05 +11:00
Iampete1
5db30b75e7 AP_Scripting: logging: move to char buffer from lua buffer 2022-10-25 10:09:14 +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
5def680fb9 AP_Scripting: fixed binding for nav_script_time 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
Iampete1
48ce8c4e16 AP_Scripting: binding gen: add number of argument to manual functions and generate docs for manual 2022-10-19 18:35:32 +11:00
Iampete1
a1607b954c AP_Scripting: docs: fix missing 2022-10-19 18:35:32 +11:00
Iampete1
ac633dfe5e AP_Scripting: tests: add docs compare python script 2022-10-19 18:35:32 +11:00
Iampete1
da0ee9a8cb AP_Scripting: set lua nullptr after delete 2022-10-17 08:29:53 +11:00
Iampete1
c801f12a78 AP_Scripting: applets: add Hexsoon LEDs script 2022-10-12 19:04:30 +11:00
Andrew Tridgell
938df192fa AP_Scripting: added rc:get_aux_cached() example 2022-10-11 11:47:04 +11:00
Andrew Tridgell
ac1be8b500 AP_Scripting: added get_aux_cached() RC binding 2022-10-11 11:47:04 +11:00
Andrew Tridgell
19fd2d0b88 AP_Scripting: added relay get() binding 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
Randy Mackay
cf461793d5 AP_Scripting: add winch docs 2022-10-06 14:39:28 +11:00
Randy Mackay
57f8a46339 AP_Scripting: add winch bindings 2022-10-06 14:39:28 +11:00
Andrew Tridgell
b5b1aee954 AP_Scripting: fixed use of clock and time in lua 
not available on stm32
 2022-10-06 10:45:49 +11:00
jackhong12
4a4f361a17 all: use CLASS_NO_COPY() macro 2022-10-04 11:23:04 +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
6555682fa8 AP_Scripting: delay getting EFI backend 
allow for AP_EFI startup after scripting
 2022-10-02 08:15:06 +11:00
Andrew Tridgell
c00c13d011 AP_Scripting: changed bindings to ap_object 2022-10-02 08:15:06 +11:00
Andrew Tridgell
c3499f12c4 AP_Scripting: convert HFE driver to get_backend 2022-10-02 08:15:06 +11:00
Andrew Tridgell
6e308814ad AP_Scripting: added mag_heading example 2022-10-02 08:15:06 +11:00
Andrew Tridgell
1f42453bb4 AP_Scripting: added EFI HFE driver 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
acb18cf946 AP_Scripting: update bindings for new fields 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
Andrew Tridgell
a08c4b6761 AP_Scripting: added EFI_SkyPower driver 2022-10-02 08:15:06 +11:00
Andrew Tridgell
d3c014ca35 AP_Scripting: update docs 2022-10-02 08:15:06 +11:00
Joshua Henderson
d74081b22b AP_Scripting: add scripting EFI bindings 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
Randy Mackay
7f8448e344 AP_Scripting: add Location::offset_bearing_and_pitch binding 2022-09-28 17:09:31 +10:00
Randy Mackay
dd58cb7492 AP_Scripting: add binding for Mount get_attitude_euler 2022-09-28 17:09:31 +10:00
Iampete1
b49ded9f8e AP_Scripting: fix userdata skip check 2022-09-26 08:05:54 +10:00
Andrew Tridgell
a653b5e8d1 AP_Scripting: simple script for plane GUIDED follow 2022-09-22 07:59:34 +10:00
MatthewHampsey
eed638c237 AP_Scripting: Updated docs for added lua bindings 2022-09-22 05:55:15 +10:00
MatthewHampsey
255b081a45 AP_Scripting: added aerobatics trajecting tracking script 2022-09-22 05:55:15 +10:00
MatthewHampsey
d17b528cab AP_Scripting: added new functions to support trajectory script 2022-09-22 05:55:15 +10:00
Peter Barker
7a80c2778b AP_Scripting: add and use AP_RPM_ENABLED 2022-09-20 09:28:27 +10:00
Andrew Tridgell
8ad7d00a35 AP_Scripting: added example script for ship takeoff vel match 
match velocity of the vehicle from when last disarmed
 2022-09-19 07:18:20 +10:00
Iampete1
7b0f74cc7e AP_Scripting: clear alocated i2c devices on scripting stop 2022-09-15 12:40:04 +10:00