mirror of https://github.com/ArduPilot/ardupilot
90 lines
3.1 KiB
Lua
90 lines
3.1 KiB
Lua
-- Commands copter to fly circle trajectory using posvel method in guided mode.
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-- The trajectory start from the current location
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--
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-- CAUTION: This script only works for Copter.
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-- This script start when the in GUIDED mode and above 5 meter.
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-- 1) arm and takeoff to above 5 m
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-- 2) switch to GUIDED mode
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-- 3) the vehilce will follow a circle in clockwise direction with increasing speed until ramp_up_time_s time has passed.
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-- 4) switch out of and into the GUIDED mode any time to restart the trajectory from the start.
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-- Edit these variables
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local rad_xy_m = 10.0 -- circle radius in xy plane in m
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local target_speed_xy_mps = 5.0 -- maximum target speed in m/s
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local ramp_up_time_s = 10.0 -- time to reach target_speed_xy_mps in second
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local sampling_time_s = 0.05 -- sampling time of script
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-- Fixed variables
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local omega_radps = target_speed_xy_mps/rad_xy_m
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local copter_guided_mode_num = 4
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local theta = 0.0
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local time = 0.0
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local test_start_location = Vector3f(0.0, 0.0, 0.0)
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gcs:send_text(0,"Script started")
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gcs:send_text(0,"Trajectory period: " .. tostring(2 * math.rad(180) / omega_radps))
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function circle()
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local cur_freq = 0
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-- increase target speed lineary with time until ramp_up_time_s is reached
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if time <= ramp_up_time_s then
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cur_freq = omega_radps*(time/ramp_up_time_s)^2
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else
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cur_freq = omega_radps
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end
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-- calculate circle reference position and velocity
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theta = theta + cur_freq*sampling_time_s
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local th_s = math.sin(theta)
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local th_c = math.cos(theta)
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local pos = Vector3f()
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pos:x(rad_xy_m*th_s)
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pos:y(-rad_xy_m*(th_c-1))
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pos:z(0)
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local vel = Vector3f()
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vel:x(cur_freq*rad_xy_m*th_c)
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vel:y(cur_freq*rad_xy_m*th_s)
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vel:z(0)
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return pos, vel
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end
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function update()
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if arming:is_armed() and vehicle:get_mode() == copter_guided_mode_num and -test_start_location:z()>=5 then
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-- calculate current position and velocity for circle trajectory
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local target_pos = Vector3f()
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local target_vel = Vector3f()
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target_pos, target_vel = circle()
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-- advance the time
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time = time + sampling_time_s
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-- send posvel request
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if not vehicle:set_target_posvel_NED(target_pos+test_start_location, target_vel) then
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gcs:send_text(0, "Failed to send target posvel at " .. tostring(time) .. " seconds")
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end
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else
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-- calculate test starting location in NED
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local cur_loc = ahrs:get_position()
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if cur_loc then
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test_start_location = cur_loc.get_vector_from_origin_NEU(cur_loc)
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if test_start_location then
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test_start_location:x(test_start_location:x() * 0.01)
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test_start_location:y(test_start_location:y() * 0.01)
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test_start_location:z(-test_start_location:z() * 0.01)
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end
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end
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-- reset some variable as soon as we are not in guided mode
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time = 0
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theta = 0
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end
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return update, sampling_time_s * 1000
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end
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return update() |