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36 lines
1.3 KiB
36 lines
1.3 KiB
-- 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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