ardupilot/libraries/AP_Scripting/examples/copter-fast-descent.lua

160 lines
6.7 KiB
Lua

-- Copter descends very rapidly in a spiral pattern to a preset altitude above home
--
-- CAUTION: This script only works for Copter
-- this script waits for the vehicle to be changed to Guided mode and then:
-- a) flies a spiral pattern using the velocity and acceleration control
-- b) slows the spiral and stops at the preset altitude
-- c) switches to RTL
-- constants
local copter_guided_mode_num = 4 -- Guided mode is 4 on copter
local copter_rtl_mode_num = 6 -- RTL is 6 on copter
local alt_above_home_min = 50 -- copter will stop at this altitude above home
local circle_radius_rate_max_ms = 1 -- radius expands at max of this many m/s
local circle_radius_accel_mss = 1 -- radius expansion speed accelerates at this many m/s/s
local circle_radius_max = 30 -- target circle's maximum radius
local speed_xy_max = 5 -- max target horizontal speed
local accel_xy = 1 -- horizontal acceleration in m/s^2
local speed_z_max = 10 -- target descent rate is 15m/s
local accel_z = 1 -- target vertical acceleration is 1m/s/s
-- timing and state machine variables
local stage = 0 -- stage of descent
local last_update_ms -- system time of last update
local dt = 0.01 -- update rate of script (0.01 = 100hz)
local interval_ms = 1 -- update interval in ms
local last_print_ms = 0 -- pilot update timer
-- control related variables
local circle_center_pos = Vector3f()-- center of circle position as an offset from EKF origin
local circle_radius = 0 -- target circle's current radius (this is slowly expanded to circle_radius_max)
local circle_radius_rate_ms = 0 -- target circle's radius is increasing at this rate in m/s
local circle_angle_rad = 0 -- current target angle on circle (in radians)
local target_alt_D = 0 -- target altitude in m from EKF origin (Note: down is positive)
local speed_xy = 0 -- target horizontal speed (i.e. tangential velocity or horizontal speed around the circle)
local speed_z = 0 -- target descent rate currently
local target_yaw_deg = 0 -- target yaw in degrees (degrees is more convenient based on interface)
-- the main update function
function update()
-- update dt
local now_ms = millis()
if (last_update_ms) then
dt = (now_ms - last_update_ms):tofloat() / 1000.0
end
if (dt > 1) then
dt = 0
end
last_update_ms = now_ms
-- determine if progress update should be sent to user
local update_user = false
if (now_ms - last_print_ms > 5000) then
last_print_ms = now_ms
update_user = true
end
-- reset stage when disarmed or not in Guided mode
if not arming:is_armed() or (vehicle:get_mode() ~= copter_guided_mode_num) then
stage = 0
if (update_user) then
gcs:send_text(0, "Fast Descent: waiting for Guided" .. string.format(" dt:%6.4f", dt))
end
return update, interval_ms
end
if (stage == 0) then -- Stage0: initialise
local home = ahrs:get_home()
local curr_loc = ahrs:get_position()
if home and curr_loc then
circle_center_pos = ahrs:get_relative_position_NED_origin()
circle_radius_rate_ms = 0 -- reset circle radius expandion rate to zero
circle_radius = 0 -- reset circle radius to zero
circle_angle_rad = ahrs:get_yaw() -- reset starting angle to current heading
target_yaw_deg = math.deg(circle_angle_rad) -- target heading will be kept at original heading
target_alt_D = circle_center_pos:z() -- initialise target alt using current position (Note: down is positive)
speed_xy = 0
speed_z = 0
stage = stage + 1 -- advance to next stage
gcs:send_text(0, "Fast Descent: starting")
end
elseif (stage == 1) then -- Stage1: descend
-- increase circle radius
circle_radius_rate_ms = math.min(circle_radius_rate_ms + (circle_radius_accel_mss * dt), circle_radius_rate_max_ms) -- accelerate radius expansion
circle_radius = math.min(circle_radius + (circle_radius_rate_ms * dt), circle_radius_max) -- increase radius
-- calculate horizontal and vertical speed
if (circle_radius < circle_radius_max) then
speed_xy = math.max(speed_xy - (accel_xy * dt), 0) -- decelerate horizontal speed to zero
speed_z = math.max(speed_z - (accel_z * dt), 0) -- decelerate vertical speed to zero
else
speed_xy = math.min(speed_xy + (accel_xy * dt), speed_xy_max) -- accelerate horizontal speed to max
speed_z = math.min(speed_z + (accel_z * dt), speed_z_max) -- accelerate to max descent rate
end
-- calculate angular velocity
local ang_vel_rads = 0
if (circle_radius >= circle_radius_max) then
ang_vel_rads = speed_xy / circle_radius;
end
-- increment angular position
circle_angle_rad = circle_angle_rad + (ang_vel_rads * dt)
if (circle_angle_rad >= (math.pi * 2)) then
circle_angle_rad = circle_angle_rad - (math.pi * 2)
end
-- calculate target position
local cos_ang = math.cos(circle_angle_rad)
local sin_ang = math.sin(circle_angle_rad)
local target_pos = Vector3f()
target_pos:x(circle_center_pos:x() + (circle_radius * cos_ang))
target_pos:y(circle_center_pos:y() + (circle_radius * sin_ang))
target_alt_D = target_alt_D + (speed_z * dt)
target_pos:z(target_alt_D)
-- calculate target velocity
target_vel = Vector3f()
target_vel:x(speed_xy * -sin_ang)
target_vel:y(speed_xy * cos_ang)
target_vel:z(speed_z)
-- calculate target acceleration
local centrip_accel = 0
if (circle_radius > 0) then
centrip_accel = speed_xy * speed_xy / circle_radius
end
target_accel = Vector3f()
target_accel:x(centrip_accel * -cos_ang)
target_accel:y(centrip_accel * -sin_ang)
-- send targets to vehicle with original yaw target
vehicle:set_target_posvelaccel_NED(target_pos, target_vel, target_accel, true, target_yaw_deg, false, 0, false)
-- advance to stage 2 when below target altitude
local rel_pos_home_NED = ahrs:get_relative_position_NED_home()
if (rel_pos_home_NED) then
if (-rel_pos_home_NED:z() <= alt_above_home_min) then
stage = stage + 1
end
if (update_user) then
gcs:send_text(0, string.format("Fast Descent: alt:%d target:%d", math.floor(-rel_pos_home_NED:z()), math.floor(alt_above_home_min)))
end
else
gcs:send_text(0, "Fast Descent: lost position estimate, aborting")
stage = stage + 1
end
elseif (stage == 2) then -- Stage2: change to RTL mode
vehicle:set_mode(copter_rtl_mode_num)
stage = stage + 1
gcs:send_text(0, "Fast Descent: done!")
end
return update, interval_ms
end
return update()