mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.4 KiB
Lua
39 lines
1.4 KiB
Lua
-- example that does an orbit of a vehicle that is being followed
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-- by adjusting the follow offset X and Y parameters
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-- user settable FOLL_ORB_TIME and FOLL_ORB_RADIUS parameters
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-- are provided for the time for one orbit (in seconds) and the radius
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-- of the orbit
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-- setup param block for FOLL_ extensions
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local PARAM_TABLE_KEY = 83
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local PARAM_TABLE_PREFIX = "FOLL_"
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 2), 'could not add param table')
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function bind_add_param(name, index, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, index, name, default_value), string.format('could not add %s', PARAM_TABLE_PREFIX .. name))
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return Parameter(PARAM_TABLE_PREFIX .. name)
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end
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local FOLL_OFS_X = Parameter("FOLL_OFS_X")
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local FOLL_OFS_Y = Parameter("FOLL_OFS_Y")
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local FOLL_ORB_RADIUS = bind_add_param("ORB_RADIUS", 1, 5)
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local FOLL_ORB_TIME = bind_add_param("ORB_TIME", 2, 10)
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local t = 0
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function update()
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t = t + 0.1
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--gcs:send_text(0, string.format("t=%.2f X=%.2f Y=%.2f", t, FOLL_OFS_X:get(), FOLL_OFS_Y:get()))
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if t > FOLL_ORB_TIME:get() then
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t = t - FOLL_ORB_TIME:get()
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end
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FOLL_OFS_X:set(math.cos((t/FOLL_ORB_TIME:get())*2*math.pi)*FOLL_ORB_RADIUS:get())
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FOLL_OFS_Y:set(math.sin((t/FOLL_ORB_TIME:get())*2*math.pi)*FOLL_ORB_RADIUS:get())
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return update, 100
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end
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gcs:send_text(0, string.format("orbit started"))
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return update, 100
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