mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.3 KiB
Lua
37 lines
1.3 KiB
Lua
-- Maintain a constant ground speed while flying in Circle mode even if the pilot adjusts the radius
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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 in circle mode and then
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-- updates the target rate around the circle (in degrees / sec) to maintain the desired ground speed
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local circle_ground_speed = 6 -- the ground speed in circle mode (m/s)
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function update() -- this is the loop which periodically runs
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-- must be armed, flying and in circle mode
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if (not arming:is_armed()) or (not vehicle:get_likely_flying()) or (vehicle:get_mode() ~= 7) then
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return update, 1000 -- reschedules the loop, 1hz
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end
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-- get circle radius
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local radius = vehicle:get_circle_radius()
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if not radius then
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gcs:send_text(0, "speed-circle.lua: failed to get circle radius")
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return update, 1000
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end
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-- set the rate to give the desired ground speed at the current radius
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local new_rate = 360 * (circle_ground_speed / (radius*math.pi*2))
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new_rate = math.max(new_rate, -90)
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new_rate = math.min(new_rate, 90)
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if not vehicle:set_circle_rate(new_rate) then
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gcs:send_text(0, "speed-circle.lua: failed to set rate")
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else
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gcs:send_text(0, string.format("speed-circle.lua: radius:%f new_rate=%f", radius, new_rate))
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end
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return update, 100 -- reschedules the loop, 10hz
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end
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return update()
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