mirror of https://github.com/ArduPilot/ardupilot
25 lines
632 B
Lua
25 lines
632 B
Lua
-- Example of guided mode angle control, yawing back and forth
|
|
|
|
local target_yaw_1 = 45
|
|
local target_yaw_2 = -45
|
|
|
|
local target_roll = 0 -- deg
|
|
local target_pitch = 0 -- deg
|
|
|
|
local climb_rate = 0 -- m/s
|
|
local use_yaw_rate = false
|
|
local yaw_rate = 0 -- degs/s
|
|
|
|
local flipflop = true
|
|
function update()
|
|
if flipflop then
|
|
vehicle:set_target_angle_and_climbrate(target_roll,target_pitch,target_yaw_1,climb_rate,use_yaw_rate,yaw_rate)
|
|
else
|
|
vehicle:set_target_angle_and_climbrate(target_roll,target_pitch,target_yaw_2,climb_rate,use_yaw_rate,yaw_rate)
|
|
end
|
|
flipflop = not flipflop
|
|
return update, 10000
|
|
end
|
|
|
|
return update()
|