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ardupilot/libraries/AP_Scripting/applets/Aerobatics/FixedWing/Schedules/F3AP23.txt

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# 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 trick92.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 P23 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: F3AP23
function half_reverse_cuban_eight(r, arg2, arg3, arg4)
local rabs = math.abs(r)
return make_paths("half_reverse_cuban_eight", {
{ path_vertical_arc(r, 45), roll_angle(0) },
{ path_straight(2*rabs/3), roll_angle(0) },
{ path_straight(2*rabs/3), roll_angle(180) },
{ path_straight(2*rabs/3), roll_angle(0) },
{ path_vertical_arc(-r, 225), roll_angle(0) },
})
end
function p23_1(radius, height, width, arg4) -- top hat
return make_paths("p23_1", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
{ path_straight((height-2*radius)/9), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
{ path_straight((width-2*radius)/3), roll_angle(0) },
{ path_straight((width-2*radius)/3), roll_angle(180) },
{ path_straight((width-2*radius)/3), roll_angle(0) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
{ path_straight((height-2*radius)/9), roll_angle(0) },
{ path_straight((height-2*radius)*2/9), roll_angle(90) },
{ path_straight((height-2*radius)*2/9), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(0) },
})
end
--[[
function p23_1(radius, height, width, arg4) -- top hat
return make_paths("p23_1", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)), roll_sequence({{2,0}, {2, 90}, {1, 0}, {2, 90}, {2, 0}}) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
{ path_straight((width-2*radius)), roll_sequence({{1,0}, {1, 180}, {1, 0}}) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)), roll_sequence({{2,0}, {2, 90}, {1, 0}, {2, 90}, {2, 0}}) },
{ path_vertical_arc(radius, 90), roll_angle(0) },
})
end
--]]
function p23_2(radius, height, arg3, arg4) -- half square
return make_paths("p23_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 p23_3(radius, height, arg3, arg4) -- humpty
return make_paths("p23_3", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((height-2*radius)/8), roll_angle(0) },
{ path_straight((height-2*radius)*6/8), roll_angle(360) },
{ path_straight((height-2*radius)/8), roll_angle(0) },
{ path_vertical_arc(radius, 180), 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 p23_4(radius, height, arg3, arg4) -- on corner
local l = ((height - (2 * radius)) * math.sin(math.rad(45)))
return make_paths("p23_4", {
{ 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) },
})
end
function p23_5(radius, height_gain, arg3, arg4) -- 45 up - should be 1 1/2 snaps....
--local l = (height_gain - 2*radius*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
local l = (height_gain - (2 * radius) + (2 * radius * math.cos(math.rad(45)))) / math.cos(math.rad(45))
return make_paths("p23_5", {
{ path_vertical_arc(-radius, 45), roll_angle(0) },
{ path_straight(l/3), roll_angle(0) },
{ path_straight(l/3), roll_angle(540) },
{ path_straight(l/3), roll_angle(0) },
{ path_vertical_arc(radius, 45), roll_angle(0) },
})
end
function p23_6(radius, height_gain, arg3, arg4) -- 3 sided
local l = (height_gain - 2*radius) / ((2*math.sin(math.rad(45))) + 1)
return make_paths("p23_6", {
{ path_vertical_arc(-radius, 45), roll_angle(0) },
{ path_straight(l), roll_angle(0) },
{ path_vertical_arc(-radius, 45), roll_angle(0) },
{ path_straight(l), roll_angle(0) },
{ path_vertical_arc(-radius, 45), roll_angle(0) },
{ path_straight(l), roll_angle(0) },
{ path_vertical_arc(-radius, 45), roll_angle(0) },
})
end
function p23_7(length, arg2, arg3, arg4) -- roll combination
return make_paths("p23_7", {
{ path_straight(length*5/22), roll_angle(180) },
{ path_straight(length*1/22), roll_angle(0) },
{ path_straight(length*5/22), roll_angle(180) },
{ path_straight(length*5/22), roll_angle(-180) },
{ path_straight(length*1/22), roll_angle(0) },
{ path_straight(length*5/22), roll_angle(-180) },
})
end
function p23_8(radius, height, arg3, arg4) -- immelmann
return make_paths("p23_8", {
{ path_vertical_arc(-radius, 180), roll_angle(0) },
{ path_straight(radius/2), roll_angle(180) },
})
end
function p23_9(radius, height, num_turns, arg4) -- spin (currently a vert down 1/2 roll)
local l = height- (2*radius)
return make_paths("p23_9", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight(l/4), roll_angle(0) },
{ path_straight(l/2), roll_angle(180) },
{ path_straight(l/4), roll_angle(0) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
})
end
function p23_10(radius, height, arg3, arg4) -- humpty
return make_paths("p23_10", {
{ 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, 180), 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 p23_11(radius, height, arg3, arg4) -- laydown loop
local rabs = math.abs(radius)
local vert_length = height - (2 * rabs)
local angle_length = ((2 * rabs) - (2 * (rabs - (rabs * (math.cos(math.rad(45))))))) / math.sin(math.rad(45))
return make_paths("p23_11", {
{ path_vertical_arc(-radius, 45), roll_angle(0) },
{ path_straight(angle_length*2/6), roll_angle(0) },
{ path_straight(angle_length*1/6), roll_angle(180) },
{ path_straight(angle_length*1/6), roll_angle(-180) },
{ path_straight(angle_length*2/6), roll_angle(0) },
{ path_vertical_arc(radius, 315), roll_angle(0) },
{ path_straight(vert_length*2/9), roll_angle(0) },
{ path_straight(vert_length*2/9), roll_angle(90) },
{ path_straight(vert_length*1/9), roll_angle(0) },
{ path_straight(vert_length*2/9), roll_angle(90) },
{ path_straight(vert_length*2/9), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(0) },
})
end
function p23_12(radius, height, arg3, arg4) -- 1/2 square
return make_paths("p23_12", {
{ 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 p23_13(radius, height, arg3, arg4) -- stall turn
return make_paths("p23_13", {
{ 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(90) },
{ path_straight((height-2*radius)/3), roll_angle(0) },
{ 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(90) },
{ path_straight((height-2*radius)/3), roll_angle(0) },
{ path_vertical_arc(-radius, 90), roll_angle(0) },
})
end
function p23_13a(radius, height, arg3, arg4) -- stall turn PLACE HOLDER
assert(height >= 2*radius)
local rabs = math.abs(radius)
return make_paths("P23_13a", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((height-2*rabs)/3), roll_angle(0) },
{ path_straight((height-2*rabs)/3), roll_angle(90), roll_ref=90 },
{ path_straight((height-2*rabs)/3), roll_angle(0) },
{ path_vertical_arc(-radius, 180), roll_angle(0) },
{ path_straight((height-2*rabs)/3), roll_angle(0) },
{ path_straight((height-2*rabs)/3), roll_angle(90), roll_ref=-90 },
{ path_straight((height-2*rabs)/3), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(0), roll_ref=180 },
})
end
function p23_14(r, h, arg3, arg4) -- fighter turn
assert(h >= 2*r)
local rabs = math.abs(r)
local angle_length = (h - ((0.2929 * rabs)) / (math.sin(math.rad(45)))) - rabs
return make_paths("fighter_turn", {
{ path_vertical_arc(r, 45), roll_angle(0) },
{ path_straight((angle_length)/3), roll_angle(0) },
{ path_straight((angle_length)/3), roll_angle(-90), roll_ref=90 },
{ path_straight((angle_length)/3), roll_angle(0) },
{ path_vertical_arc(r, 180), roll_angle(0) },
{ path_straight((angle_length)/3), roll_angle(0) },
{ path_straight((angle_length)/3), roll_angle(90), roll_ref=-90 },
{ path_straight((angle_length)/3), roll_angle(0) },
{ path_vertical_arc(-r, 45), roll_angle(0), roll_ref=180 },
})
end
function p23_15(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("p23_15", {
{ path_straight(base * 1/5), roll_angle(180) },
{ path_straight(base * 2/5), 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, 90), 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 * 2/5), roll_angle(0) },
{ path_straight(base * 1/5), roll_angle(180) },
{ path_straight(base * 2/5), roll_angle(0) },
})
end
function p23_16(radius, height, arg3, arg4) -- sharks tooth
local angle_length = (height - 2 * (radius - (radius * math.cos(math.rad(45))))) / math.cos(math.rad(45))
local vert_length = height - (2 * radius)
return make_paths("p23_16", {
{ path_vertical_arc(radius, 90), roll_angle(0) },
{ path_straight((vert_length)/3), roll_angle(0) },
{ path_straight((vert_length)/3), roll_angle(180) },
{ path_straight((vert_length)/3), roll_angle(0) },
{ path_vertical_arc(radius, 135), roll_angle(0) },
{ path_straight(angle_length*2/9), roll_angle(0) },
{ path_straight(angle_length*2/9), roll_angle(90) },
{ path_straight(angle_length*1/9), roll_angle(0) },
{ path_straight(angle_length*2/9), roll_angle(90) },
{ path_straight(angle_length*2/9), roll_angle(0) },
{ path_vertical_arc(-radius, 45), roll_angle(0), roll_ref=180 },
})
end
function p23_17(radius, arg2, arg3, arg4) -- loop
return make_paths("p23_17", {
{ path_vertical_arc(radius, 135), roll_angle(0) },
{ path_vertical_arc(radius, 90), roll_angle(180) },
{ path_vertical_arc(radius, 135), roll_angle(0), roll_ref=180 },
})
end
straight_roll 160 0
half_reverse_cuban_eight 80
align_center
message: TopHat
p23_1 40 200 200
align_box 1
message: HalfSquareLoop
p23_2 40 200
align_center
message: Humpty
p23_3 40 200
align_box 1
message: HalfSquareonCorner
p23_4 40 200
align_center
message: 45Up
p23_5 40 200
align_box 1
message: HalfEightSidedLoop
p23_6 40 200
align_center
message: RollCombination
thr_boost: true
p23_7 200
align_box 1
message: ImmelmannTurn
p23_8 100
align_center
message: ShouldbeaSpin
p23_9 40 200
align_box 1
message: Humpty
p23_10 40 200
straight_align -91
message: LaydownLoop
p23_11 50 200
align_box 1
message: HalfSquareLoop
p23_12 40 200
align_center
message: StallTurn
p23_13a 40 200
align_box 1
message: FighterTurn
p23_14 40 180
align_center
message: Triangle
p23_15 40 200
align_box 1
message: SharksTooth
p23_16 40 160
align_center
message: Loop
p23_17 100
straight_roll 100 0
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