ardupilot/libraries/AP_Scripting/examples/copter-fly-vertical-circle.lua

79 lines
3.0 KiB
Lua

-- command a Copter to takeoff to 5m and fly a vertical circle in the clockwise direction
--
-- CAUTION: This script only works for Copter
-- this script waits for the vehicle to be armed and RC6 input > 1800 and then:
-- a) switches to Guided mode
-- b) takeoff to 5m
-- c) flies a vertical circle using the velocity controller
-- d) switches to RTL mode
local takeoff_alt_above_home = 5
local copter_guided_mode_num = 4
local copter_rtl_mode_num = 6
local stage = 0
local circle_angle = 0
local circle_angle_increment = 1 -- increment the target angle by 1 deg every 0.1 sec (i.e. 10deg/sec)
local circle_speed = 1 -- velocity is always 1m/s
local yaw_cos = 0 -- cosine of yaw at takeoff
local yaw_sin = 0 -- sine of yaw at takeoff
-- the main update function that uses the takeoff and velocity controllers to fly a rough square pattern
function update()
if not arming:is_armed() then -- reset state when disarmed
stage = 0
circle_angle = 0
else
pwm6 = rc:get_pwm(6)
if pwm6 and pwm6 > 1800 then -- check if RC6 input has moved high
if (stage == 0) then -- change to guided mode
if (vehicle:set_mode(copter_guided_mode_num)) then -- change to Guided mode
local yaw_rad = ahrs:get_yaw()
yaw_cos = math.cos(yaw_rad)
yaw_sin = math.sin(yaw_rad)
stage = stage + 1
end
elseif (stage == 1) then -- Stage1: takeoff
if (vehicle:start_takeoff(takeoff_alt_above_home)) then
stage = stage + 1
end
elseif (stage == 2) then -- Stage2: check if vehicle has reached target altitude
local home = ahrs:get_home()
local curr_loc = ahrs:get_position()
if home and curr_loc then
local vec_from_home = home:get_distance_NED(curr_loc)
gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z())))
if (math.abs(takeoff_alt_above_home + vec_from_home:z()) < 1) then
stage = stage + 1
bottom_left_loc = curr_loc -- record location when starting square
end
end
elseif (stage == 3 ) then -- Stage3: fly a vertical circle
-- calculate velocity vector
circle_angle = circle_angle + circle_angle_increment
if (circle_angle >= 360) then
stage = stage + 1
end
local target_vel = Vector3f()
local vel_xy = math.cos(math.rad(circle_angle)) * circle_speed
target_vel:x(yaw_sin * vel_xy)
target_vel:y(yaw_cos * -vel_xy)
target_vel:z(-math.sin(math.rad(circle_angle)) * circle_speed)
-- send velocity request
if not (vehicle:set_target_velocity_NED(target_vel)) then
gcs:send_text(0, "failed to execute velocity command")
end
elseif (stage == 4) then -- Stage4: change to RTL mode
vehicle:set_mode(copter_rtl_mode_num)
stage = stage + 1
gcs:send_text(0, "finished square, switching to RTL")
end
end
end
return update, 100
end
return update()