mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.3 KiB
Lua
91 lines
3.3 KiB
Lua
-- Copter perform a simple maneuver in response to a NAV_SCRIPT_TIME mission command while the vehicle is in Auto mode
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--
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-- Create a simple mission like below
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-- TAKEOFF, Alt:10m
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-- NAV_SCRIPT_TIME, command=0 (not used in this script), timeout=30 (seconds), arg1=5 (square width in meters), arg2=10 (square height in meters)
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-- RETURN-TO-LAUNCH
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--
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-- Arm the vehicle (in Loiter mode), switch to Auto and raise the throttle
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-- The vehicle should climb to 10m
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-- This lua script will be fly the vehicle in square pattern in clockwise direction at the current altitude
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-- "arg1" specifies the width (e.g. East-West) in meters
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-- "arg2" specifies the height (e.g. North-South) in meters
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-- Once the vehicle completes the square or the timeout expires the mission will continue and the vehicle should RTL home
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local running = false
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local last_id = -1 -- unique id used to detect if a new NAV_SCRIPT_TIME command has started
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local start_loc -- vehicle's location when command starts (South-West corner of square)
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local target_loc -- vehicle's target location
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local stage = 0 -- stage0: fly North arg2 meters
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-- stage1: fly East arg1 meters
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-- stage2: fly South arg2 meters
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-- stage3: fly West arg2 meters
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-- stage4: done
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local prev_stage = -1 -- previous stage, used to initate call to move to next corner
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function update()
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id, cmd, arg1, arg2, arg3, arg4 = vehicle:nav_script_time()
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if id then
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-- handle start of new command
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if id ~= last_id then
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start_loc = ahrs:get_location() -- initialise south-west corner of square
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if start_loc then
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running = true
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last_id = id
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stage = 0 -- start heading North
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prev_stage = -1
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else
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gcs:send_text(0, "nav-script-time: failed to get location")
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running = false
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end
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end
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-- set waypoint target according to stage
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if (running and stage ~= prev_stage) then
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prev_stage = stage
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local corner_loc = start_loc:copy() -- initialise target location to starting location
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if (stage == 0) then
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corner_loc:offset(arg2, 0) -- North West corner
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end
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if (stage == 1) then
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corner_loc:offset(arg2, arg1) -- North East corner
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end
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if (stage == 2) then
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corner_loc:offset(0, arg1) -- South East corner
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end
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-- stage 3 is back to start_loc
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if vehicle:set_target_location(corner_loc) then
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target_loc = corner_loc
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else
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gcs:send_text(0, "nav-script-time: failed to set target")
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vehicle:nav_script_time_done(last_id)
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running = false
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end
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end
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-- advance stage if we have reached within 1m of target
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if running then
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local curr_loc = ahrs:get_location()
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if curr_loc then
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local dist_m = curr_loc:get_distance(target_loc)
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if (dist_m < 1.0) then
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stage = stage + 1
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if stage == 4 then
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vehicle:nav_script_time_done(last_id)
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running = false
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end
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end
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else
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gcs:send_text(0, "nav-script-time: failed to get location")
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end
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end
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else
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-- no active command
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running = false
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end
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return update, 100 -- update at 10hz
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end
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return update()
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