AP_Scripting: added align_box and align_center
allows for alignment of maneuvers to the ends or center of the aerobatic box
This commit is contained in:
Andrew Tridgell
parent
bd4255f654
commit
814104cb33
@ -36,6 +36,7 @@ AEROM_THR_BOOST = bind_add_param('THR_BOOST', 18, 50)
|
||||
AEROM_YAW_ACCEL = bind_add_param('YAW_ACCEL', 19, 1500)
|
||||
AEROM_LKAHD = bind_add_param('LKAHD', 20, 0.5)
|
||||
AEROM_PATH_SCALE = bind_add_param('PATH_SCALE', 21, 1.0)
|
||||
AEROM_BOX_WIDTH = bind_add_param('BOX_WIDTH', 22, 400)
|
||||
|
||||
-- cope with old param values
|
||||
if AEROM_ANG_ACCEL:get() < 100 and AEROM_ANG_ACCEL:get() > 0 then
|
||||
@ -489,6 +490,22 @@ function roll_sequence(_seq)
|
||||
return self
|
||||
end
|
||||
|
||||
--[[ given a path function get_pos() calculate the extents of the path
|
||||
along the X axis as a tuple
|
||||
--]]
|
||||
function get_extents_x(get_pos)
|
||||
local p = get_pos(0)
|
||||
local min_x = p:x()
|
||||
local max_x = min_x
|
||||
for t=0, 1, 0.02 do
|
||||
p = get_pos(t)
|
||||
min_x = math.min(min_x, p:x())
|
||||
max_x = math.max(max_x, p:x())
|
||||
end
|
||||
return { min_x, max_x }
|
||||
end
|
||||
|
||||
|
||||
--[[
|
||||
all path components inherit from PathComponent
|
||||
--]]
|
||||
@ -510,6 +527,19 @@ function PathComponent()
|
||||
function self.get_throttle_boost(t)
|
||||
return self.thr_boost or false
|
||||
end
|
||||
|
||||
--[[ get the extents of the path on x axis. Can be overridden by a
|
||||
more efficient and accurate path specific function
|
||||
--]]
|
||||
local extents = nil
|
||||
function self.get_extents_x()
|
||||
if extents ~= nil then
|
||||
return extents
|
||||
end
|
||||
extents = get_extents_x(self.get_pos)
|
||||
return extents
|
||||
end
|
||||
|
||||
return self
|
||||
end
|
||||
|
||||
@ -563,6 +593,66 @@ function path_straight(_distance)
|
||||
return self
|
||||
end
|
||||
|
||||
--[[
|
||||
path component that aligns to within the aerobatic box
|
||||
--]]
|
||||
function path_align_box(_alignment)
|
||||
local self = PathComponent()
|
||||
self.name = "path_align_box"
|
||||
local distance = nil
|
||||
local alignment = _alignment
|
||||
function self.get_pos(t)
|
||||
return makeVector3f(distance*t, 0, 0)
|
||||
end
|
||||
function self.get_length()
|
||||
return distance
|
||||
end
|
||||
function self.set_next_extents(extents, start_pos, start_orientation)
|
||||
local box_half = AEROM_BOX_WIDTH:get()/2
|
||||
local start_x = start_pos:x()
|
||||
local next_max_x = extents[2]
|
||||
if math.abs(math.deg(start_orientation:get_euler_yaw())) > 90 then
|
||||
-- we are on a reverse path
|
||||
distance = (box_half * alignment) + start_x - next_max_x
|
||||
else
|
||||
-- we are on a forward path
|
||||
distance = (box_half * alignment) - start_x - next_max_x
|
||||
end
|
||||
distance = math.max(distance, 0.01)
|
||||
end
|
||||
return self
|
||||
end
|
||||
|
||||
--[[
|
||||
path component that aligns so the center of the next maneuver is
|
||||
centered within the aerobatic box
|
||||
--]]
|
||||
function path_align_center()
|
||||
local self = PathComponent()
|
||||
self.name = "path_align_center"
|
||||
local distance = nil
|
||||
local alignment = _alignment
|
||||
function self.get_pos(t)
|
||||
return makeVector3f(distance*t, 0, 0)
|
||||
end
|
||||
function self.get_length()
|
||||
return distance
|
||||
end
|
||||
function self.set_next_extents(extents, start_pos, start_orientation)
|
||||
local start_x = start_pos:x()
|
||||
local next_mid_x = (extents[1]+extents[2])*0.5
|
||||
if math.abs(math.deg(start_orientation:get_euler_yaw())) > 90 then
|
||||
-- we are on a reverse path
|
||||
distance = start_x - next_mid_x
|
||||
else
|
||||
-- we are on a forward path
|
||||
distance = - start_x - next_mid_x
|
||||
end
|
||||
distance = math.max(distance, 0.01)
|
||||
end
|
||||
return self
|
||||
end
|
||||
|
||||
--[[
|
||||
path component that does a vertical arc over a given angle
|
||||
--]]
|
||||
@ -710,6 +800,9 @@ function Path(_path_component, _roll_component)
|
||||
function self.get_throttle_boost(t)
|
||||
return self.thr_boost or false
|
||||
end
|
||||
function self.set_next_extents(extents, start_pos, start_orientation)
|
||||
path_component.set_next_extents(extents, start_pos, start_orientation)
|
||||
end
|
||||
return self
|
||||
end
|
||||
|
||||
@ -755,7 +848,7 @@ function path_composer(_name, _subpaths)
|
||||
if sp.name then
|
||||
-- we are being called with a list of Path objects
|
||||
cache_sp = sp
|
||||
message = nil
|
||||
message = sp.message
|
||||
else
|
||||
-- we are being called with a list function/argument tuples
|
||||
local args = subpaths[i][2]
|
||||
@ -774,7 +867,21 @@ function path_composer(_name, _subpaths)
|
||||
start_roll_correction[i] = roll_correction
|
||||
|
||||
local sp = self.subpath(i)
|
||||
|
||||
lengths[i] = sp.get_length()
|
||||
if lengths[i] == nil and i < num_sub_paths then
|
||||
local saved_message = message
|
||||
local sp2 = self.subpath(i+1)
|
||||
local next_extents = sp2.get_extents_x()
|
||||
if next_extents ~= nil then
|
||||
sp.set_next_extents(next_extents, start_pos[i], start_orientation[i])
|
||||
lengths[i] = sp.get_length()
|
||||
-- solidify this subpath now that it has its length calculated
|
||||
subpaths[i] = sp
|
||||
subpaths[i].message = saved_message
|
||||
end
|
||||
end
|
||||
|
||||
total_length = total_length + lengths[i]
|
||||
|
||||
local spos = quat_earth_to_body(orientation, sp.get_pos(1.0))
|
||||
@ -893,6 +1000,15 @@ function path_composer(_name, _subpaths)
|
||||
return sp.get_throttle_boost(t)
|
||||
end
|
||||
|
||||
local extents = nil
|
||||
function self.get_extents_x()
|
||||
if extents ~= nil then
|
||||
return extents
|
||||
end
|
||||
extents = get_extents_x(self.get_pos)
|
||||
return extents
|
||||
end
|
||||
|
||||
return self
|
||||
end
|
||||
|
||||
@ -957,7 +1073,6 @@ function straight_roll(length, num_rolls, arg3, arg4)
|
||||
end
|
||||
|
||||
--[[
|
||||
|
||||
fly straight until we are distance meters from the composite path
|
||||
origin in the maneuver frame along the X axis. If we are already
|
||||
past that position then return immediately
|
||||
@ -971,6 +1086,22 @@ function straight_align(distance, arg2, arg3, arg4, start_pos, start_orientation
|
||||
})
|
||||
end
|
||||
|
||||
--[[
|
||||
fly straight so that the next maneuver in the sequence ends at
|
||||
the given proportion of the aerobatic box
|
||||
--]]
|
||||
function align_box(alignment, arg2, arg3, arg4)
|
||||
return Path(path_align_box(alignment), roll_angle(0))
|
||||
end
|
||||
|
||||
--[[
|
||||
fly straight so that the next maneuver in the sequence is centered
|
||||
in the aerobatic box
|
||||
--]]
|
||||
function align_center(arg1, arg2, arg3, arg4)
|
||||
return Path(path_align_center(), roll_angle(0))
|
||||
end
|
||||
|
||||
function immelmann_turn(r, arg2, arg3, arg4)
|
||||
local rabs = math.abs(r)
|
||||
return make_paths("immelmann_turn", {
|
||||
@ -1279,11 +1410,10 @@ end
|
||||
function procedure_turn(radius, bank_angle, step_out, arg4)
|
||||
local rabs = math.abs(radius)
|
||||
return make_paths("procedure_turn", {
|
||||
{ path_straight(rabs), roll_angle(0) },
|
||||
{ path_horizontal_arc(radius, 90), roll_angle_entry_exit(bank_angle) },
|
||||
{ path_straight(step_out), roll_angle(0) },
|
||||
{ path_horizontal_arc(-radius, 270), roll_angle_entry_exit(-bank_angle) },
|
||||
{ path_straight(4*rabs), roll_angle(0) },
|
||||
{ path_straight(3*rabs), roll_angle(0) },
|
||||
})
|
||||
end
|
||||
|
||||
@ -2465,6 +2595,8 @@ load_table["p23_15"] = p23_15
|
||||
load_table["p23_16"] = p23_16
|
||||
load_table["p23_17"] = p23_17
|
||||
load_table["funny_loop"] = funny_loop
|
||||
load_table["align_box"] = align_box
|
||||
load_table["align_center"] = align_center
|
||||
|
||||
|
||||
--[[
|
||||
|
||||
@ -11,42 +11,45 @@ name: SuperAirShow
|
||||
message: Loop
|
||||
loop 25 0 1
|
||||
|
||||
straight_align 80
|
||||
align_box 1
|
||||
message: HalfReverseCubanEight
|
||||
half_reverse_cuban_eight 25
|
||||
|
||||
straight_align 80
|
||||
message: ScaleFigureEight
|
||||
align_center
|
||||
scale_figure_eight -40 -45
|
||||
|
||||
message: Immelmann
|
||||
align_box 1
|
||||
immelmann_turn 30
|
||||
|
||||
straight_align -40
|
||||
message: StraightAlign
|
||||
message: Roll
|
||||
align_center
|
||||
straight_roll 80 2
|
||||
|
||||
straight_align 120 0
|
||||
message: Split-S
|
||||
align_box 1
|
||||
split_s 30
|
||||
straight_align 0
|
||||
|
||||
message: RollingCircle
|
||||
align_center
|
||||
rolling_circle -50 2
|
||||
straight_align -50
|
||||
|
||||
message: HumptyBump
|
||||
align_box 1
|
||||
humpty_bump 20 60
|
||||
straight_align 80
|
||||
|
||||
message: HalfCubanEight
|
||||
align_box 1
|
||||
half_cuban_eight 25
|
||||
straight_align 75
|
||||
|
||||
align_center
|
||||
message: BarrelRoll
|
||||
barrel_roll 30 100 2
|
||||
|
||||
message: ProcedureTurn
|
||||
align_box 1
|
||||
procedure_turn 30 45 30
|
||||
|
||||
# get back to the start point
|
||||
|
||||
Loading…
Reference in New Issue
Block a user