mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.5 KiB
Lua
91 lines
2.5 KiB
Lua
-- support takeoff with velocity matching for quadplanes
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local PARAM_TABLE_KEY = 35
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local PARAM_TABLE_PREFIX = "SHIPV_"
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local MODE_AUTO = 10
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local NAV_TAKEOFF = 22
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local NAV_VTOL_TAKEOFF = 84
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local ALT_FRAME_ABSOLUTE = 0
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-- bind a parameter to a variable
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function bind_param(name)
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local p = Parameter()
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assert(p:init(name), string.format('could not find %s parameter', name))
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return p
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end
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return bind_param(PARAM_TABLE_PREFIX .. name)
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end
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-- setup SHIPV specific parameters
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assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 3), 'could not add param table')
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SHIPV_ENABLE = bind_add_param('ENABLE', 1, 0)
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local takeoff_vel = nil
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local takeoff_pos = nil
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-- main update function
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function update()
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if SHIPV_ENABLE:get() < 1 then
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return
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end
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local vehicle_mode = vehicle:get_mode()
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if not arming:is_armed() then
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-- when not armed record position and velocity
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takeoff_vel = ahrs:get_velocity_NED()
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takeoff_pos = ahrs:get_position()
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takeoff_pos:change_alt_frame(ALT_FRAME_ABSOLUTE)
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else
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if vehicle_mode == MODE_AUTO and takeoff_pos and takeoff_vel then
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local id = mission:get_current_nav_id()
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if id == NAV_VTOL_TAKEOFF or id == NAV_TAKEOFF then
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local next_WP = vehicle:get_target_location()
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if not next_WP then
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return
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end
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vehicle:set_velocity_match(takeoff_vel:xy())
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local tpos = takeoff_pos:copy()
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tpos:alt(next_WP:alt())
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vehicle:update_target_location(next_WP, tpos)
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else
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takeoff_pos = nil
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takeoff_vel = nil
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end
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end
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end
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end
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function loop()
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update()
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-- run at 20Hz
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return loop, 50
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end
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-- wrapper around update(). This calls update() at 20Hz,
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-- and if update faults then an error is displayed, but the script is not
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-- stopped
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function protected_wrapper()
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local success, err = pcall(update)
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if not success then
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gcs:send_text(0, "Internal Error: " .. err)
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-- when we fault we run the update function again after 1s, slowing it
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-- down a bit so we don't flood the console with errors
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return protected_wrapper, 1000
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end
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return protected_wrapper, 50
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end
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gcs:send_text(0, "Loaded quadplane takeoff velmatch")
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-- start running update loop
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return protected_wrapper()
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