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