# trajectory tracking aerobatic control # See README.md for usage # Written by Matthew Hampsey, Andy Palmer and Andrew Tridgell, with controller # assistance from Paul Riseborough, testing by Henry Wurzburg # To use this schedule put the file on your microSD in the root directory # (not the APM directory) with name trick94.txt The schedule can then be # used in auto missions or in TRIKn_ID commands for tricks on a switch # This schedule is set up to be flown Left to Right. The schedule starts downwind - so # the mission should be set up with WP's lined up on the flight line (150m out from the # pilot), and the mission should be triggered when the plane gets to the center marker # heading RIGHT to LEFT. Schedule direction is reversed with aerom_scale = -1 (and # remember to reverse the mission WP's as well). Note the required height is greater # than 400 feet - so only fly at an airfield where there is a 1500 foot clearance # This is an example of a F3A P25 schedule. Some manouvers are flown over the center # line of the runway. Please understand the behaviour by flying in SITL before flying this # schedule with a real aircraft! Your aircraft requires adequate performance to complete # the schedule name: F3AP25 function p25_half_loop(radius, arg2, arg3, arg4) -- half roll for testing inverted manouvers return make_paths("half_loop", { { path_vertical_arc(radius, 180), roll_angle(0) , roll_ref=180 }, }) end function p25_1(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("p25_1", { { path_vertical_arc(-radius, 45), 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 /3), roll_angle(0) }, { path_straight(base /3), roll_angle(180) }, { path_straight(base /3), 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, 45), roll_angle(0) , roll_ref=180}, }) end function p25_2(radius, height, arg3, arg4) -- half square return make_paths("p25_2", { { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight((height-2*radius)/3), roll_angle(0) }, { path_straight((height-2*radius)/3), roll_angle(180) }, { path_straight((height-2*radius)/3), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) }, }) end function p25_3(radius, height, arg3, arg4) -- sq on corner local l = ((height - (2 * radius)) * math.sin(math.rad(45))) -- CHECK return make_paths("p25_3", { { path_vertical_arc(radius, 45), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 45), roll_angle(0) }, }) end function p25_4(radius, height, arg3, arg4) -- figure p local l = (height - (2 * radius)) return make_paths("p23_4", { { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 270), roll_angle(0) }, }) end function p25_5(length, arg2, arg3, arg4) -- roll combination return make_paths("p25_5", { { path_straight(length/9), roll_angle(90) }, { path_straight(length/9), roll_angle(0) }, { path_straight(length/9), roll_angle(90) }, { path_straight(length/9), roll_angle(0) }, { path_straight(length/9), roll_angle(90) }, { path_straight(length/9), roll_angle(-90) }, { path_straight(length/9), roll_angle(0) }, { path_straight(length/9), roll_angle(-90) }, { path_straight(length/9), roll_angle(0) }, { path_straight(length/9), roll_angle(-90) }, }) end function p25_6(radius, height, arg3, arg4) -- stall turn local l = height - 2 * radius return make_paths("p25_6", { { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l-60), roll_angle(0) }, { path_vertical_arc(radius, 180), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(360) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) , roll_ref=180}, }) end function p25_7(radius, length, arg3, arg4) -- double immelmann local l = length - (2 * radius) return make_paths("p25_7", { { path_straight(l/4), roll_angle(0) }, { path_straight(l/4), roll_angle(180) }, { path_vertical_arc(radius, 180), roll_angle(0) }, { path_straight(l/4), roll_angle(-90) }, { path_straight(l/2), roll_angle(0) }, { path_straight(l/4), roll_angle(-90) }, { path_vertical_arc(radius, 180), roll_angle(0) }, { path_straight(l/4), roll_angle(180) , roll_ref=180}, }) end function p25_8(radius, height, arg3, arg4) -- humpty local l = height - (2 * radius) return make_paths("p25_8", { { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/4), roll_angle(0) }, { path_straight(l/4), roll_angle(180) }, { path_straight(l/4), roll_angle(-180) }, { path_straight(l/4), roll_angle(0) }, { path_vertical_arc(-radius, 180), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) }, }) end function p25_9(radius, arg2, arg3, arg4) -- loop return make_paths("p25_9", { { path_vertical_arc(radius, 90), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(90) }, { path_vertical_arc(radius, 90), roll_angle(-90) }, { path_vertical_arc(radius, 90), roll_angle(0) }, }) end function p25_10(radius, height, arg3, arg4) -- half square on corner local l = ((height - (2 * radius)) * math.sin(math.rad(45))) return make_paths("p23_10", { { path_vertical_arc(radius, 45), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 45), roll_angle(0) , roll_ref=180}, }) end function p25_11(radius, height, arg3, arg4) -- double p local l = (height - (2 * radius)) return make_paths("p25_11", { { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(radius, 270), roll_angle(0) }, { path_straight(radius * 2/3), roll_angle(0) }, { path_straight(radius * 2/3), roll_angle(180) }, { path_straight(radius * 2/3), roll_angle(0) }, { path_vertical_arc(radius, 270), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) , roll_ref=180}, }) end function p25_12(radius, height, arg3, arg4) -- inverted tear drop local l = (height - (2 * radius)) local angle_l = l * 1.4 return make_paths("p25_12", { { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_vertical_arc(radius, 225), roll_angle(0) }, { path_straight(angle_l/3), roll_angle(0) }, { path_straight(angle_l/3), roll_angle(180) }, { path_straight(angle_l/3), roll_angle(0) }, { path_vertical_arc(radius, 45), roll_angle(0) , roll_ref=180}, }) end function p25_13(radius, height, arg3, arg4) -- spin local l = (height - (2 * radius)) return make_paths("p25_13", { { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(360) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(180) }, { path_straight(l/5), roll_angle(0) }, { path_vertical_arc(radius, 90), roll_angle(0) , roll_ref=180}, }) end function p25_14(radius, height, arg3, arg4) -- top hat local l = (height - (2 * radius)) return make_paths("p25_14", { { path_vertical_arc(radius, 90), roll_angle(0) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight(radius/2), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0) }, { path_straight(l), roll_angle(0) }, { path_vertical_arc(-radius, 90), roll_angle(0)}, }) end function p25_15(radius, height, arg3, arg4) -- figure z --local l = (height - (2 * radius) + (2 * radius * math.cos(math.rad(45)))) / math.cos(math.rad(45)) local l = (height - (2 * radius)) * 0.72 return make_paths("p25_15", { { path_straight((height - (2 *radius))/20), roll_angle(0) }, { path_vertical_arc(radius, 135), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(180) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 135), roll_angle(0), roll_ref=180}, }) end function p25_16(radius, height, arg3, arg4) -- commet -- NEEDS RADIUS + HEIGHT LOSS included..... local l = (height - (2 * radius)) * 1.36 return make_paths("p25_16", { { path_vertical_arc(-radius, 45), roll_angle(0) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_straight(l/5), roll_angle(90) }, { path_straight(l/5), roll_angle(0) }, { path_vertical_arc(radius, 270), roll_angle(0) }, { path_straight(l/3), roll_angle(0) }, { path_straight(l/3), roll_angle(360) }, { path_straight(l/3), roll_angle(0) }, { path_vertical_arc(-radius, 45), roll_angle(0) }, }) end function p25_17(height, arg2, arg3, arg4) -- dunny pipe local radius = height / 4 return make_paths("p25_17", { { path_vertical_arc(radius, 135), roll_angle(0) }, { path_vertical_arc(radius, 45), roll_angle(90) }, { path_vertical_arc(-radius, 135), roll_angle(0) }, { path_vertical_arc(-radius, 45), roll_angle(90), roll_ref=180 }, }) end function half_roll(arg1, arg2, arg3, arg4) -- half roll for testing inverted manouvers return make_paths("half_roll", { { path_straight(40), roll_angle(180) }, { path_straight(10), roll_angle(0) }, }) end straight_roll 160 0 p25_half_loop 100 align_center message: Triangle p25_1 40 200 align_box 1 message: HalfSquareDown p25_2 40 200 align_center message: SquareonCorner p25_3 40 200 align_box 1 message: FigureP p25_4 70 200 align_center message: RollCombination thr_boost: true p25_5 200 align_box 1 message: StallTurn p25_6 40 200 align_center message: Immelmann p25_7 100 300 align_box 1 message: Humpty p25_8 40 200 align_center message: Loop p25_9 100 align_box 1 message: HalfSquareonCorner p25_10 40 200 align_center message: DoubleP p25_11 50 200 align_box 1 message: InvertedTearDrop p25_12 40 200 align_center message: Spin p25_13 40 200 align_box 1 message: TopHat p25_14 40 200 align_center message: FigureZ p25_15 40 200 align_box 1 message: Commet p25_16 40 200 align_center message: DunnyPipe p25_17 200 straight_roll 50 0 half_roll 0 straight_roll 50 0