ardupilot/libraries/AP_Scripting/applets/Aerobatics/FixedWing/Schedules

Scripted Aerobatics Schedules

This directory contains full aerobatic schedules for the ArduPilot fixed wing scripted aerobatics system. If you develop your own schedules please contribute to the project by submitting them for inclusion in this directory.

Usage

To use one of these schedules in SITL copy it (or use a symbolic link) to a file called trickNN.txt in your scripts/ directory (the same directory that plane_aerobatics.lua goes in). The NN is the trick number used in the AUTO mission or with tricks on a switch in the TRIKn_ID parameter.

For example, if you wanted to fly the NewZealand Clubman schedule you could copy NZClubMan.txt to trick94.txt in your scripts directory. Then you could set TRIK3_ID to 94 to make this schedule be trick 3. Or you could put 94 in the NAV_SCRIPT_TIME auto-mission command.

Scaling

Some of these schedules are quite large and you may need to shrink them for your model or flying field. You can use the AEROM_PATH_SCALE parameter to adjust the size. For example, setting AEROM_PATH_SCALE to 0.5 will halve the size of the schedule. This impacts all tricks and schedules.

You can also mirror the schedule by setting AEROM_PATH_SCALE to a negative value. This is good if the schedule is designed to be flown right-to-left and you want to fly it left-to-right due to the wind direction. If you set AEROM_PATH_SCALE to -0.5 then it would do a half-scale mirrored schedule.

Alignment

Two commands are provided to provide alignment within the aerobatic "box": align_center and align_box n. The start of a schedule defines the box center. The AEROM_BOX_WIDTH defines the overall length of the box, modified by AEROM_PATH_SCALE if not "1".

align_center: Delays the start of the next trick until the center of the box.If already past it, in the direction of travel, the trick begins immediately.

align_box n: Delays the start of the next trick until the n*(half box width-radius of trick) point of the box is reached in the direction of travel. If already past it, in the direction of travel, the trick begins immediately. So n = 1 means the end of the box for the next trick placement.

GCS/OSD messages

name : string displays string as the trick name when selected or executed message: string displays the string. Put just preceeding the trick to display it as it begins execution

Throttle Boost

thr_boost = true command demands increased throttle output if the trick requires it for the specific vehicle.